eigen_types.hpp File Reference

#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

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>

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::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::MovingFrame::MovingFrame(), 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.

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::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::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.

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