d0/db7/ublas__types_8hpp_source.html

/* SPDX-FileCopyrightText: 2009 Ruben Smits

 *

 * SPDX-License-Identifier: LGPL-2.1-or-later */


#ifndef UBLAS_TYPES_HPP_

#define UBLAS_TYPES_HPP_


#include <boost/numeric/ublas/matrix.hpp>

#include <boost/numeric/ublas/vector.hpp>

#include <boost/numeric/ublas/matrix_proxy.hpp>

#include <boost/numeric/ublas/vector_proxy.hpp>

#include "kdl/frames.hpp"

#include "kdl/tree.hpp"

#include "kdl/chain.hpp"

#include "kdl/jacobian.hpp"

#include "kdl/jntarray.hpp"


namespace iTaSC{


namespace ublas = boost::numeric::ublas;

using KDL::Twist;

using KDL::Frame;

using KDL::Joint;

using KDL::Inertia;

using KDL::SegmentMap;

using KDL::Tree;

using KDL::JntArray;

using KDL::Jacobian;

using KDL::Segment;

using KDL::Rotation;

using KDL::Vector;

using KDL::Chain;


#define u_scalar double

#define u_vector ublas::vector<u_scalar>

#define u_zero_vector ublas::zero_vector<u_scalar>

#define u_matrix ublas::matrix<u_scalar>

#define u_matrix6 ublas::matrix<u_scalar,6,6>

#define u_identity_matrix ublas::identity_matrix<u_scalar>

#define u_scalar_vector ublas::scalar_vector<u_scalar>

#define u_zero_matrix ublas::zero_matrix<u_scalar>

#define u_vector6 ublas::bounded_vector<u_scalar,6>


inline static int changeBase(const u_matrix& J_in, const Frame& T, u_matrix& J_out) {


    if (J_out.size1() != 6 || J_in.size1() != 6 || J_in.size2() != J_out.size2())

        return -1;

    for (unsigned int j = 0; j < J_in.size2(); ++j) {

        ublas::matrix_column<const u_matrix > Jj_in = column(J_in,j);

        ublas::matrix_column<u_matrix > Jj_out = column(J_out,j);

        Twist arg;

        for(unsigned int i=0;i<6;++i)

            arg(i)=Jj_in(i);

        Twist tmp(T*arg);

        for(unsigned int i=0;i<6;++i)

                    Jj_out(i)=tmp(i);

    }

    return 0;

}


inline static int changeBase(const ublas::matrix_range<u_matrix >& J_in, const Frame& T, ublas::matrix_range<u_matrix >& J_out) {


    if (J_out.size1() != 6 || J_in.size1() != 6 || J_in.size2() != J_out.size2())

        return -1;

    for (unsigned int j = 0; j < J_in.size2(); ++j) {

        ublas::matrix_column<const ublas::matrix_range<u_matrix > > Jj_in = column(J_in,j);

        ublas::matrix_column<ublas::matrix_range<u_matrix > > Jj_out = column(J_out,j);

        Twist arg;

        for(unsigned int i=0;i<6;++i)

            arg(i)=Jj_in(i);

        Twist tmp(T*arg);

        for(unsigned int i=0;i<6;++i)

                    Jj_out(i)=tmp(i);

    }

    return 0;

}


}

#endif /* UBLAS_TYPES_HPP_ */

chain.hpp

KDL::Chain
This class encapsulates a serial kinematic interconnection structure. It is build out of segments.
Definition chain.hpp:36

KDL::Frame
represents a frame transformation in 3D space (rotation + translation)
Definition frames.hpp:526

KDL::Inertia
Definition inertia.hpp:37

KDL::Jacobian
Definition jacobian.hpp:33

KDL::JntArray
Definition jntarray.hpp:68

KDL::Joint
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
Definition joint.hpp:43

KDL::Rotation
represents rotations in 3 dimensional space.
Definition frames.hpp:299

KDL::Segment
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and an inertia) with ...
Definition segment.hpp:46

KDL::Tree
This class encapsulates a tree kinematic interconnection structure. It is build out of segments.
Definition tree.hpp:68

KDL::Twist
represents both translational and rotational velocities.
Definition frames.hpp:679

KDL::Vector
A concrete implementation of a 3 dimensional vector class.
Definition frames.hpp:143

frames.hpp

jacobian.hpp

jntarray.hpp

KDL::SegmentMap
std::map< std::string, TreeElement, std::less< std::string >, Eigen::aligned_allocator< std::pair< const std::string, TreeElement > > > SegmentMap
Definition tree.hpp:37

iTaSC
Definition Armature.cpp:14

iTaSC::changeBase
static int changeBase(Eigen::MatrixBase< Derived > &J, const Frame &T)
Definition eigen_types.hpp:68

tree.hpp

u_matrix
#define u_matrix
Definition ublas_types.hpp:42