iTaSC Namespace Reference

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

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

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 [1/2]

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.

SegmentMap [2/2]

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() [1/3]

int iTaSC::changeBase ( const u_matrix & J_in, const Frame & T, u_matrix & J_out )

inlinestatic

Definition at line 49 of file ublas_types.hpp.

References T, and u_matrix.

changeBase() [2/3]

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

inlinestatic

Definition at line 65 of file ublas_types.hpp.

References T.

changeBase() [3/3]

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, 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.