utils.h File Reference
Detailed Description
Utility header file.
Definition in file utils.h.
#include <stdio.h>
#include <vector>
#include <stdexcept>
#include "newmatap.h"
#include "newmatio.h"
#include "config.h"
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Go to the source code of this file.
Namespaces | |
| namespace | ROBOOP |
Defines | |
| #define | __UNUSED__ __attribute__((unused)) |
| used to mark rcs strings as expected-to-be-unused so the compiler won't issue a warning | |
| #define | WANT_STRING |
| #define | WANT_STREAM |
| #define | WANT_FSTREAM |
| #define | WANT_MATH |
| #define | M_PI 3.14159265358979 |
Functions | |
| ReturnMatrix | ROBOOP::x_prod_matrix (const ColumnVector &x) |
| Cross product matrix. | |
| ReturnMatrix | ROBOOP::Integ_Trap (const ColumnVector &present, ColumnVector &past, const Real dt) |
| Trapezoidal integration. | |
| void | ROBOOP::Runge_Kutta4 (ReturnMatrix(*xdot)(Real time, const Matrix &xin), const Matrix &xo, Real to, Real tf, int nsteps, RowVector &tout, Matrix &xout) |
| Fixed step size fourth-order Runge-Kutta integrator. | |
| void | ROBOOP::Runge_Kutta4_Real_time (ReturnMatrix(*xdot)(Real time, const Matrix &xin), const Matrix &xo, Real to, Real tf, int nsteps) |
| void | ROBOOP::Runge_Kutta4_Real_time (ReturnMatrix(*xdot)(Real time, const Matrix &xin, bool &exit, bool &init), const Matrix &xo, Real to, Real tf, int nsteps) |
| Fixed step size fourth-order Runge-Kutta integrator. | |
| void | ROBOOP::odeint (ReturnMatrix(*xdot)(Real time, const Matrix &xin), Matrix &xo, Real to, Real tf, Real eps, Real h1, Real hmin, int &nok, int &nbad, RowVector &tout, Matrix &xout, Real dtsav) |
| Integrate the ordinary differential equation xdot from time to to time tf using an adaptive step size strategy. | |
| ReturnMatrix | ROBOOP::sign (const Matrix &x) |
| Sign of a matrix. | |
| short | ROBOOP::sign (const Real x) |
| Sign of real. | |
| ReturnMatrix | ROBOOP::trans (const ColumnVector &a) |
| Translation. | |
| ReturnMatrix | ROBOOP::rotx (const Real alpha) |
| Rotation around x axis. | |
| ReturnMatrix | ROBOOP::roty (const Real beta) |
| Rotation around x axis. | |
| ReturnMatrix | ROBOOP::rotz (const Real gamma) |
| Rotation around z axis. | |
| ReturnMatrix | ROBOOP::rotk (const Real theta, const ColumnVector &k) |
| Rotation around arbitrary axis. | |
| ReturnMatrix | ROBOOP::rpy (const ColumnVector &a) |
| Roll Pitch Yaw rotation. | |
| ReturnMatrix | ROBOOP::eulzxz (const ColumnVector &a) |
| Euler ZXZ rotation. | |
| ReturnMatrix | ROBOOP::rotd (const Real theta, const ColumnVector &k1, const ColumnVector &k2) |
| Rotation around an arbitrary line. | |
| ReturnMatrix | ROBOOP::irotk (const Matrix &R) |
| Obtain axis from a rotation matrix. | |
| ReturnMatrix | ROBOOP::irpy (const Matrix &R) |
| Obtain Roll, Pitch and Yaw from a rotation matrix. | |
| ReturnMatrix | ROBOOP::ieulzxz (const Matrix &R) |
| Obtain Roll, Pitch and Yaw from a rotation matrix. | |
Variables | |
| static const char header_utils_rcsid[] | ROBOOP::__UNUSED__ = "$Id: utils.h,v 1.5 2005/07/26 03:22:09 ejt Exp $" |
| RCS/CVS version. | |
| Real | ROBOOP::fourbyfourident [] |
Used to initialize a  matrix. | |
| Real | ROBOOP::threebythreeident [] |
Used to initialize a  matrix. | |
Define Documentation
| #define __UNUSED__ __attribute__((unused)) |
| #define M_PI 3.14159265358979 |
Definition at line 87 of file utils.h.
Referenced by ROBOOP::Robot::computeSecondERSLink(), ROBOOP::Robot::computeThirdERSLink(), ROBOOP::ieulzxz(), ROBOOP::Robot_basic::inv_kin(), ROBOOP::Robot_basic::inv_kin_orientation(), ROBOOP::mRobot_min_para::inv_kin_puma(), ROBOOP::mRobot::inv_kin_puma(), ROBOOP::Robot::inv_kin_puma(), ROBOOP::mRobot_min_para::inv_kin_rhino(), ROBOOP::mRobot::inv_kin_rhino(), ROBOOP::Robot::inv_kin_rhino(), ROBOOP::irpy(), and ROBOOP::Robot_basic::normalize_angle().
| #define WANT_STREAM |
