#include <Eigen/Core>
#include "kdl/frames.hpp"
#include "kdl/tree.hpp"
#include "kdl/chain.hpp"
#include "kdl/jacobian.hpp"
#include "kdl/jntarray.hpp"

Go to the source code of this file.

Classes
class	iTaSC::Range
class	iTaSC::Twist
	represents both translational and rotational velocities. More...
class	iTaSC::Frame
	represents a frame transformation in 3D space (rotation + translation) More...
class	iTaSC::Joint
	This class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties. More...
class	iTaSC::Inertia
class	iTaSC::Tree
	This class encapsulates a tree kinematic interconnection structure. It is build out of segments. More...
class	iTaSC::JntArray
class	iTaSC::Jacobian
class	iTaSC::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	iTaSC::Rotation
	represents rotations in 3 dimensional space. More...
class	iTaSC::Vector
	A concrete implementation of a 3 dimensional vector class. More...
class	iTaSC::Vector2
	2D version of Vector More...
class	iTaSC::Chain
	This class encapsulates a serial kinematic interconnection structure. It is build out of segments. More...

Namespaces
namespace	iTaSC

Macros
#define	e_scalar double
#define	e_vector Eigen::Matrix<e_scalar, Eigen::Dynamic, 1>
#define	e_zero_vector Eigen::Matrix<e_scalar, Eigen::Dynamic, 1>::Zero
#define	e_matrix Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>
#define	e_matrix6 Eigen::Matrix<e_scalar,6,6>
#define	e_identity_matrix Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Identity
#define	e_scalar_vector Eigen::Matrix<e_scalar, Eigen::Dynamic, 1>::Constant
#define	e_zero_matrix Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Zero
#define	e_random_matrix Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Random
#define	e_vector6 Eigen::Matrix<e_scalar,6,1>
#define	e_vector3 Eigen::Matrix<e_scalar,3,1>

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

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

Variables
const Frame	iTaSC::F_identity

Macro Definition Documentation

◆ e_identity_matrix

#define e_identity_matrix Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Identity

Definition at line 43 of file eigen_types.hpp.

Referenced by iTaSC::ConstraintSet::ConstraintSet(), iTaSC::CopyPose::CopyPose(), iTaSC::ControlledObject::initialize(), iTaSC::MovingFrame::MovingFrame(), and iTaSC::ConstraintSet::reset().

◆ e_matrix

#define e_matrix Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>

Definition at line 41 of file eigen_types.hpp.

Referenced by convert_tree(), iTaSC::ConstraintSet::getCf(), iTaSC::ControlledObject::getCq(), iTaSC::ControlledObject::getJq(), iTaSC::UncontrolledObject::getJu(), iTaSC::ControlledObject::getWq(), iTaSC::MovingFrame::MovingFrame(), iTaSC::ControlledObject::setWq(), iTaSC::Solver::solve(), iTaSC::WDLSSolver::solve(), iTaSC::WSDLSSolver::solve(), iTaSC::Scene::update(), iTaSC::Armature::updateJacobian(), and iTaSC::MovingFrame::updateJacobian().

◆ e_matrix6

#define e_matrix6 Eigen::Matrix<e_scalar,6,6>

Definition at line 42 of file eigen_types.hpp.

Referenced by iTaSC::ConstraintSet::getJf().

◆ e_random_matrix

#define e_random_matrix Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Random

Definition at line 46 of file eigen_types.hpp.

◆ e_scalar

#define e_scalar double

Definition at line 38 of file eigen_types.hpp.

Referenced by iTaSC::changeBase(), iTaSC::ConstraintSet::ConstraintSet(), iTaSC::ConstraintSet::ConstraintSet(), iTaSC::ControlledObject::ControlledObject(), iTaSC::ConstraintSet::getMaxTimestep(), iTaSC::ControlledObject::getMaxTimestep(), iTaSC::CopyPose::getMaxTimestep(), iTaSC::ControlledObject::setControlParameter(), iTaSC::Solver::solve(), iTaSC::WDLSSolver::solve(), iTaSC::WSDLSSolver::solve(), KDL::svd_eigen_HH(), and iTaSC::Scene::update().

◆ e_scalar_vector

#define e_scalar_vector Eigen::Matrix<e_scalar, Eigen::Dynamic, 1>::Constant

Definition at line 44 of file eigen_types.hpp.

Referenced by iTaSC::ConstraintSet::ConstraintSet(), iTaSC::ControlledObject::initialize(), and iTaSC::ConstraintSet::reset().

◆ e_vector

#define e_vector Eigen::Matrix<e_scalar, Eigen::Dynamic, 1>

Definition at line 39 of file eigen_types.hpp.

Referenced by iTaSC::ConstraintSet::getControlOutput(), iTaSC::ControlledObject::getControlOutput(), iTaSC::ConstraintSet::getWy(), iTaSC::ControlledObject::getWy(), iTaSC::UncontrolledObject::getXudot(), iTaSC::ConstraintSet::setJointVelocity(), iTaSC::ControlledObject::setJointVelocity(), iTaSC::ConstraintSet::setWy(), iTaSC::Solver::solve(), iTaSC::WDLSSolver::solve(), and iTaSC::WSDLSSolver::solve().

◆ e_vector3

#define e_vector3 Eigen::Matrix<e_scalar,3,1>

Definition at line 48 of file eigen_types.hpp.

◆ e_vector6

#define e_vector6 Eigen::Matrix<e_scalar,6,1>

Definition at line 47 of file eigen_types.hpp.

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

◆ e_zero_matrix

#define e_zero_matrix Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Zero

Definition at line 45 of file eigen_types.hpp.

Referenced by iTaSC::ConstraintSet::ConstraintSet(), iTaSC::WDLSSolver::init(), iTaSC::WSDLSSolver::init(), iTaSC::ControlledObject::initialize(), iTaSC::Scene::initialize(), iTaSC::UncontrolledObject::initialize(), and iTaSC::ConstraintSet::reset().

◆ e_zero_vector

#define e_zero_vector Eigen::Matrix<e_scalar, Eigen::Dynamic, 1>::Zero

Definition at line 40 of file eigen_types.hpp.

Referenced by iTaSC::ConstraintSet::ConstraintSet(), iTaSC::WDLSSolver::init(), iTaSC::WSDLSSolver::init(), iTaSC::ControlledObject::initialize(), iTaSC::Scene::initialize(), iTaSC::UncontrolledObject::initialize(), iTaSC::ConstraintSet::reset(), iTaSC::Scene::update(), and iTaSC::MovingFrame::updateCoordinates().

Classes

Namespaces

Macros

Typedefs

Functions

Variables