chomp_utils.h File Reference

#include <kdl/jntarray.hpp>
#include <chomp_motion_planner/chomp_robot_model.h>
#include <iostream>
#include <Eigen/Core>

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Namespaces
namespace	chomp
Functions
void	chomp::debugJointArray (KDL::JntArray &joint_array)
template<typename KDLType , typename EigenType >
void	chomp::kdlVecToEigenVec (std::vector< KDLType > &kdl_v, std::vector< Eigen::Map< EigenType > > &eigen_v, int rows, int cols)
template<typename KDLType , typename EigenType >
void	chomp::kdlVecVecToEigenVecVec (std::vector< std::vector< KDLType > > &kdl_vv, std::vector< std::vector< Eigen::Map< EigenType > > > &eigen_vv, int rows, int cols)
Variables
static const int	chomp::DIFF_RULE_LENGTH = 7
static const double	chomp::DIFF_RULES [3][DIFF_RULE_LENGTH]