Namespaces
	biped

	quad

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

Typedef Documentation

◆ EndeffectorID

using xpp::EndeffectorID = typedef uint

Definition at line 68 of file endeffectors.h.

◆ EndeffectorsAcc

using xpp::EndeffectorsAcc = typedef Endeffectors<Eigen::Vector3d>

Definition at line 146 of file endeffectors.h.

◆ EndeffectorsPos

using xpp::EndeffectorsPos = typedef Endeffectors<Eigen::Vector3d>

Definition at line 144 of file endeffectors.h.

◆ EndeffectorsVel

using xpp::EndeffectorsVel = typedef Endeffectors<Eigen::Vector3d>

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<double,6,1>

Definition at line 76 of file state.h.

◆ VectorXd

using xpp::VectorXd = typedef Eigen::VectorXd

Definition at line 77 of file state.h.

Enumeration Type Documentation

◆ Coords2D

enum xpp::Coords2D

Enumerator
X_
Y_

Definition at line 45 of file cartesian_declarations.h.

◆ Coords3D

enum xpp::Coords3D

Enumerator
X
Y
Z

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

enum xpp::MotionDerivative

Enumerator
kPos
kVel
kAcc
kJerk

Definition at line 80 of file state.h.

Function Documentation

◆ 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.

Variable Documentation

◆ 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.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ EndeffectorID

◆ EndeffectorsAcc

◆ EndeffectorsPos

◆ EndeffectorsVel

◆ Quaterniond

◆ Vector2d

◆ Vector3d

◆ Vector6d

◆ VectorXd

Enumeration Type Documentation

◆ Coords2D

◆ Coords3D

◆ Coords6D

◆ MotionDerivative

Function Documentation

◆ GetEulerZYXAngles()

◆ GetQuaternionFromEulerZYX()

◆ operator*()

◆ operator+()

◆ operator<<() [1/4]

◆ operator<<() [2/4]

◆ operator<<() [3/4]

◆ operator<<() [4/4]

◆ To2D()

Variable Documentation

◆ AllDim6D

◆ kDim2d

◆ kDim3d

◆ kDim6d