iTaSC Namespace Reference

Classes
class	Armature
struct	Timestamp
class	Cache
struct	CacheEntry
struct	CacheChannel
struct	CacheBlock
struct	CacheItem
struct	CacheBufferHeader
struct	CacheBuffer
struct	ConstraintSingleValue
struct	ConstraintValues
class	ConstraintSet
class	ControlledObject
class	CopyPose
class	Distance
class	Range
class	FixedObject
class	MovingFrame
class	Object
class	SceneLock
class	Scene
class	Solver
class	UncontrolledObject
class	WDLSSolver
class	WorldObject
class	WSDLSSolver
class	Twist
	represents both translational and rotational velocities. More...
class	Frame
	represents a frame transformation in 3D space (rotation + translation) More...
class	Joint
	This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties. More...
class	Inertia
class	Tree
	This class encapsulates a tree kinematic interconnection structure. It is build out of segments. More...
class	JntArray
class	Jacobian
class	Segment
	This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with a joint and with "handles", root and tip to connect to other segments. More...
class	Rotation
	represents rotations in 3 dimensional space. More...
class	Vector
	A concrete implementation of a 3 dimensional vector class. More...
class	Vector2
	2D version of Vector More...
class	Chain
	This class encapsulates a serial kinematic interconnection structure. It is build out of segments. More...

Typedefs
typedef unsigned int	CacheTS
typedef bool(*	ConstraintCallback) (const Timestamp &timestamp, struct ConstraintValues *const _values, unsigned int _nvalues, void *_param)
typedef bool(*	MovingFrameCallback) (const Timestamp &timestamp, const Frame &_current, Frame &_next, void *param)
typedef std::map< std::string, TreeElement, std::less< std::string >, Eigen::aligned_allocator< std::pair< const std::string, TreeElement > > >	SegmentMap

Enumerations
enum	ConstraintAction {   ACT_NONE = 0 , ACT_VALUE = 1 , ACT_VELOCITY = 2 , ACT_TOLERANCE = 4 ,   ACT_FEEDBACK = 8 , ACT_ALPHA = 16 }

Functions
void	setCacheTimestamp (Timestamp &timestamp)
template<typename MatrixType>
Eigen::Block< MatrixType >	project (MatrixType &m, Range r)
template<typename MatrixType>
Eigen::Block< MatrixType >	project (MatrixType &m, Range r, Range c)
template<typename Derived>
static int	changeBase (Eigen::MatrixBase< Derived > &J, const Frame &T)

Variables
const unsigned int	maxPoseCacheSize = (2*(3+3*2))
static const unsigned int	distanceCacheSize = sizeof(double)*5 + sizeof(e_scalar)*6
const Frame	F_identity
static const unsigned int	frameCacheSize = (sizeof(((Frame*)0)->p.data)+sizeof(((Frame*)0)->M.data))/sizeof(double)

Typedef Documentation

CacheTS

typedef unsigned int iTaSC::CacheTS

Definition at line 33 of file Cache.hpp.

ConstraintCallback

typedef bool(* iTaSC::ConstraintCallback) (const Timestamp &timestamp, struct ConstraintValues *const _values, unsigned int _nvalues, void *_param)

Definition at line 50 of file ConstraintSet.hpp.

MovingFrameCallback

typedef bool(* iTaSC::MovingFrameCallback) (const Timestamp &timestamp, const Frame &_current, Frame &_next, void *param)

Definition at line 18 of file MovingFrame.hpp.

SegmentMap

typedef std::map<std::string,TreeElement, std::less<std::string>, Eigen::aligned_allocator<std::pair<const std::string, TreeElement> > > KDL::SegmentMap

Definition at line 37 of file tree.hpp.

Enumeration Type Documentation

ConstraintAction

enum iTaSC::ConstraintAction

Enumerator
ACT_NONE
ACT_VALUE
ACT_VELOCITY
ACT_TOLERANCE
ACT_FEEDBACK
ACT_ALPHA

Definition at line 19 of file ConstraintSet.hpp.

Function Documentation

changeBase()

template<typename Derived>

int iTaSC::changeBase ( Eigen::MatrixBase< Derived > & J, const Frame & T )

inlinestatic

Definition at line 68 of file eigen_types.hpp.

References e_scalar, i, and T.

Referenced by iTaSC::Scene::update().

project() [1/2]

template<typename MatrixType>

Eigen::Block< MatrixType > iTaSC::project ( MatrixType & m, Range r )

inline

Definition at line 58 of file eigen_types.hpp.

References iTaSC::Range::count, and iTaSC::Range::start.

Referenced by iTaSC::Scene::initialize(), iTaSC::SceneLock::lockJoint(), iTaSC::SceneLock::lockJoint(), and iTaSC::Scene::update().

project() [2/2]

template<typename MatrixType>

Eigen::Block< MatrixType > iTaSC::project ( MatrixType & m, Range r, Range c )

inline

Definition at line 63 of file eigen_types.hpp.

References iTaSC::Range::count, and iTaSC::Range::start.

setCacheTimestamp()

void iTaSC::setCacheTimestamp ( Timestamp & timestamp )

inline

Definition at line 52 of file Cache.hpp.

References iTaSC::Timestamp::cacheTimestamp, and iTaSC::Timestamp::realTimestamp.

Referenced by iTaSC::Scene::update().

Variable Documentation

distanceCacheSize

const unsigned int iTaSC::distanceCacheSize = sizeof(double)*5 + sizeof(e_scalar)*6

static

Definition at line 17 of file Distance.cpp.

Referenced by iTaSC::Distance::initCache().

F_identity

const KDL::Frame iTaSC::F_identity

extern

Referenced by base_callback(), iTaSC::ConstraintSet::closeLoop(), iTaSC::Distance::closeLoop(), iTaSC::ConstraintSet::ConstraintSet(), iTaSC::ConstraintSet::ConstraintSet(), convert_tree(), iTaSC::Armature::Effector_struct::Effector_struct(), iTaSC::CopyPose::getControlParameters(), iTaSC::Armature::getPose(), iTaSC::FixedObject::getPose(), iTaSC::Object::Object(), and iTaSC::CopyPose::updateControlOutput().

frameCacheSize

const unsigned int iTaSC::frameCacheSize = (sizeof(((Frame*)0)->p.data)+sizeof(((Frame*)0)->M.data))/sizeof(double)

static

Definition at line 13 of file MovingFrame.cpp.

Referenced by iTaSC::MovingFrame::initCache().

maxPoseCacheSize

const unsigned int iTaSC::maxPoseCacheSize = (2*(3+3*2))

Definition at line 17 of file CopyPose.cpp.