xpp Namespace Reference

biped

## Classes

struct  Convert
Converts between xpp-states types and xpp-messages. More...

class  Endeffectors
Data structure to assign values to each endeffector. More...

class  EndeffectorsContact
Bundles the contact state of all endeffectors. More...

class  EndeffectorsMotion
Bundles the position, velocity and acceleration of all endeffectors. as well as appending a EndeffectorMotion specific convenience function. More...

class  Joints
Container to access joint values of each endeffectors. More...

class  RobotStateCartesian
Defines a complete robot state in Cartesian space. More...

class  RobotStateJoint
Defines a complete robot state in joint space. More...

class  State3d
6D-State (linear+angular) of an object in 3-dimensional space, where the angular part is expressed by a Quaternion. More...

class  State3dEuler
6D-state (linear+angular) of an object in 3-dimensional space, where the angular part is expressed by Euler angles. More...

class  StateAng3d
Angular state of an object in 3-dimensional space. More...

class  StateLin1d

class  StateLin2d

class  StateLin3d

class  StateLinXd
Represents position, velocity and acceleration in x-dimensions. More...

## Typedefs

using EndeffectorID = uint

using EndeffectorsAcc = Endeffectors< Eigen::Vector3d >

using EndeffectorsPos = Endeffectors< Eigen::Vector3d >

using EndeffectorsVel = Endeffectors< Eigen::Vector3d >

using Quaterniond = Eigen::Quaterniond

using Vector2d = Eigen::Vector2d

using Vector3d = Eigen::Vector3d

using Vector6d = Eigen::Matrix< double, 6, 1 >

using VectorXd = Eigen::VectorXd

## Enumerations

enum  Coords2D { X_ =0, Y_ }

enum  Coords3D { X =0, Y, Z }

enum  Coords6D {
AX =0, AY, AZ, LX,
LY, LZ
}

enum  MotionDerivative { kPos =0, kVel, kAcc, kJerk }

## Functions

static Vector3d GetEulerZYXAngles (const Quaterniond &q)
Converts an orientation to Euler ZY'X'' convention. More...

static Quaterniond GetQuaternionFromEulerZYX (double yaw, double pitch, double roll)
Converts an orientation to Quaternion from Euler ZY'X'' convention. More...

StateLinXd operator* (double mult, const StateLinXd &rhs)

StateLinXd operator+ (const StateLinXd &lhs, const StateLinXd &rhs)

std::ostream & operator<< (std::ostream &out, const State3d &pose)

std::ostream & operator<< (std::ostream &out, const StateAng3d &ori)

std::ostream & operator<< (std::ostream &out, const StateLinXd &pos)

template<typename T >
std::ostream & operator<< (std::ostream &stream, Endeffectors< T > endeffectors)

static Coords2D To2D (Coords3D dim)

## Variables

static const Coords6D AllDim6D [] = {AX, AY, AZ, LX, LY, LZ}

static constexpr int kDim2d = 2

static constexpr int kDim3d = 3

static constexpr int kDim6d = 6

## ◆ EndeffectorID

 using xpp::EndeffectorID = typedef uint

Definition at line 68 of file endeffectors.h.

## ◆ EndeffectorsAcc

 using xpp::EndeffectorsAcc = typedef Endeffectors

Definition at line 146 of file endeffectors.h.

## ◆ EndeffectorsPos

 using xpp::EndeffectorsPos = typedef Endeffectors

Definition at line 144 of file endeffectors.h.

## ◆ EndeffectorsVel

 using xpp::EndeffectorsVel = typedef Endeffectors

Definition at line 145 of file endeffectors.h.

## ◆ Quaterniond

 using xpp::Quaterniond = typedef Eigen::Quaterniond

Definition at line 78 of file state.h.

## ◆ Vector2d

 using xpp::Vector2d = typedef Eigen::Vector2d

Definition at line 74 of file state.h.

## ◆ Vector3d

 using xpp::Vector3d = typedef Eigen::Vector3d

Definition at line 75 of file state.h.

## ◆ Vector6d

 using xpp::Vector6d = typedef Eigen::Matrix

Definition at line 76 of file state.h.

## ◆ VectorXd

 using xpp::VectorXd = typedef Eigen::VectorXd

Definition at line 77 of file state.h.

## ◆ Coords2D

 enum xpp::Coords2D
Enumerator
X_
Y_

Definition at line 45 of file cartesian_declarations.h.

## ◆ Coords3D

 enum xpp::Coords3D
Enumerator

Definition at line 49 of file cartesian_declarations.h.

## ◆ Coords6D

 enum xpp::Coords6D
Enumerator
AX
AY
AZ
LX
LY
LZ

Definition at line 59 of file cartesian_declarations.h.

## ◆ MotionDerivative

Enumerator
kPos
kVel
kAcc
kJerk

Definition at line 80 of file state.h.

## ◆ GetEulerZYXAngles()

 static Vector3d xpp::GetEulerZYXAngles ( const Quaterniond & q )
static

Converts an orientation to Euler ZY'X'' convention.

First rotate around z-axis, then around new y' axis, finally around newest x'' axis.

Parameters
 q Quaternion expressing current orientation.
Returns
first element is roll angle in radians, then pitch, then yaw

Definition at line 233 of file state.h.

## ◆ GetQuaternionFromEulerZYX()

 static Quaterniond xpp::GetQuaternionFromEulerZYX ( double yaw, double pitch, double roll )
static

Converts an orientation to Quaternion from Euler ZY'X'' convention.

First rotate around z-axis, then around new y' axis, finally around newest x'' axis.

Definition at line 246 of file state.h.

## ◆ operator*()

 StateLinXd xpp::operator* ( double mult, const StateLinXd & rhs )
inline

Definition at line 278 of file state.h.

## ◆ operator+()

 StateLinXd xpp::operator+ ( const StateLinXd & lhs, const StateLinXd & rhs )
inline

Definition at line 269 of file state.h.

## ◆ operator<<() [1/4]

 std::ostream& xpp::operator<< ( std::ostream & out, const State3d & pose )
inline

Definition at line 310 of file state.h.

## ◆ operator<<() [2/4]

 std::ostream& xpp::operator<< ( std::ostream & out, const StateAng3d & ori )
inline

Definition at line 300 of file state.h.

## ◆ operator<<() [3/4]

 std::ostream& xpp::operator<< ( std::ostream & out, const StateLinXd & pos )
inline

Definition at line 261 of file state.h.

## ◆ operator<<() [4/4]

template<typename T >
 std::ostream& xpp::operator<< ( std::ostream & stream, Endeffectors< T > endeffectors )

Definition at line 284 of file endeffectors.h.

## ◆ To2D()

 static Coords2D xpp::To2D ( Coords3D dim )
static

Definition at line 50 of file cartesian_declarations.h.

## ◆ AllDim6D

 const Coords6D xpp::AllDim6D[] = {AX, AY, AZ, LX, LY, LZ}
static

Definition at line 60 of file cartesian_declarations.h.

## ◆ kDim2d

 constexpr int xpp::kDim2d = 2
staticconstexpr

Definition at line 44 of file cartesian_declarations.h.

## ◆ kDim3d

 constexpr int xpp::kDim3d = 3
staticconstexpr

Definition at line 48 of file cartesian_declarations.h.

## ◆ kDim6d

 constexpr int xpp::kDim6d = 6
staticconstexpr

Definition at line 58 of file cartesian_declarations.h.

xpp_states
Author(s): Alexander W. Winkler
autogenerated on Wed Mar 2 2022 01:14:14