hrp Namespace Reference

Classes
class	AbstractVrmlGroup
class	AccelSensor
class	Body
struct	BodyCustomizerInterface
struct	BodyHandleEntity
struct	BodyInterface
class	CFSImpl
class	ColdetLinkPair
class	ColdetModel
class	ColdetModelPair
class	ColdetModelSharedDataSet
class	collision_data
class	CollisionPairInserter
class	CollisionPairInserterBase
class	ConstraintForceSolver
class	CustomizedJointPath
class	EasyScanner
class	Edge
class	ForceSensor
class	ForwardDynamics
class	ForwardDynamicsABM
class	ForwardDynamicsMM
class	ImageConverter
class	InverseKinematics
class	JointNodeSet
class	JointPath
class	Light
class	Link
class	LinkPath
class	LinkTraverse
class	ModelNodeSet
class	ModelNodeSetImpl
class	RangeSensor
class	RateGyroSensor
class	Referenced
class	Sensor
struct	SFImage
class	TMSImpl
struct	triangle3
class	TriangleMeshShaper
struct	trianglePair
class	Triangulator
class	VisionSensor
class	VrmlAnchor
class	VrmlAppearance
	VRML Appearance node. More...
class	VrmlBackground
	VRML Background node. More...
class	VrmlBillboard
class	VrmlBox
	VRML Box node. More...
class	VrmlCollision
class	VrmlColor
	VRML Color node. More...
class	VrmlCone
	VRML Cone node. More...
class	VrmlCoordinate
	VRML Coordinate node. More...
class	VrmlCylinder
	VRML Cylinder node. More...
class	VrmlCylinderSensor
	VRML CylinderSensor node. More...
class	VrmlDirectionalLight
class	VrmlElevationGrid
	VRML ElevationGrid node. More...
class	VrmlExtrusion
	VRML Extrusion node. More...
class	VrmlFog
class	VrmlFontStyle
	VRML FontStyle node. More...
class	VrmlGeometry
	Base class of VRML geometry nodes. More...
class	VrmlGroup
	VRML Group node. More...
class	VrmlImageTexture
	VRML ImageTexture node. More...
class	VrmlIndexedFaceSet
	VRML IndexedFaseSet node. More...
class	VrmlIndexedLineSet
	VRML IndexedLineSet node. More...
class	VrmlInline
	VRML Inline node. More...
class	VrmlLOD
class	VrmlMaterial
	VRML Material node. More...
class	VrmlMovieTexture
	VRML MovieTexture node. More...
class	VrmlNavigationInfo
	VRML NavigationInfo node. More...
class	VrmlNode
	Abstract base class of all vrml nodes. More...
class	VrmlNormal
	VRML Normal node. More...
class	VrmlParser
	Parser for VRML97 format. More...
class	VrmlParserImpl
class	VrmlPixelTexture
	VRML PixelTexture node. More...
class	VrmlPointLight
class	VrmlPointSet
	VRML PointSet node. More...
class	VrmlProto
	VRML Proto definition. More...
class	VrmlProtoInstance
	VRML node which is instance of VRML Prototype. More...
class	VrmlShape
	VRML Shape node. More...
class	VrmlSphere
	VRML Sphere node. More...
class	VrmlSpotLight
class	VrmlSwitch
class	VrmlText
	VRML Text node. More...
class	VrmlTexture
	Base class of VRML Texture nodes. More...
class	VrmlTextureCoordinate
	VRML TextureCoordinate node. More...
class	VrmlTextureTransform
	VRML TextureTransform node. More...
class	VrmlTransform
	VRML Transform node. More...
class	VrmlUnsupportedNode
class	VrmlVariantField
class	VrmlViewpoint
	VRML Viewpoint node. More...
class	VrmlWorldInfo
class	VrmlWriter
class	World
class	WorldBase
Typedefs
typedef boost::intrusive_ptr < AbstractVrmlGroup >	AbstractVrmlGroupPtr
typedef bool(*	BodyCustomizerCalcAnalyticIkFunc )(BodyCustomizerHandle customizerHandle, int ikPathId, const Vector3 &p, const Matrix33 &R)
typedef BodyCustomizerHandle(*	BodyCustomizerCreateFunc )(BodyHandle bodyHandle, const char *modelName)
typedef void(*	BodyCustomizerDestroyFunc )(BodyCustomizerHandle customizerHandle)
typedef const char **(*	BodyCustomizerGetTargetModelNamesFunc )()
typedef void *	BodyCustomizerHandle
typedef int(*	BodyCustomizerInitializeAnalyticIkFunc )(BodyCustomizerHandle customizerHandle, int baseLinkIndex, int targetLinkIndex)
typedef void(*	BodyCustomizerSetVirtualJointForcesFunc )(BodyCustomizerHandle customizerHandle)
typedef double *(*	BodyGetLinkDoubleValuePtrFunc )(BodyHandle bodyHandle, int linkIndex)
typedef int(*	BodyGetLinkIndexFromNameFunc )(BodyHandle bodyHandle, const char *linkName)
typedef const char *(*	BodyGetLinkNameFunc )(BodyHandle bodyHandle, int linkIndex)
typedef void *	BodyHandle
typedef boost::shared_ptr< Body >	BodyPtr
typedef boost::intrusive_ptr < ColdetLinkPair >	ColdetLinkPairPtr
typedef boost::intrusive_ptr < ColdetModelPair >	ColdetModelPairPtr
typedef boost::intrusive_ptr < ColdetModel >	ColdetModelPtr
typedef Eigen::MatrixXd	dmatrix
typedef Eigen::Quaternion< double >	dquaternion
typedef Eigen::VectorXd	dvector
typedef Eigen::Matrix< double, 6, 1 >	dvector6
typedef boost::shared_ptr < EasyScanner >	EasyScannerPtr
typedef std::map< Edge, trianglePair >	EdgeToTriangleMap
typedef boost::shared_ptr < ForwardDynamicsMM >	ForwardDynamicsMMPtr
typedef boost::shared_ptr < ForwardDynamics >	ForwardDynamicsPtr
typedef BodyCustomizerInterface *(*	GetBodyCustomizerInterfaceFunc )(BodyInterface *bodyInterface)
typedef boost::shared_ptr < InverseKinematics >	IInverseKinematicsPtr
typedef Eigen::VectorXi	ivector
typedef std::vector < JointNodeSetPtr >	JointNodeSetArray
typedef boost::shared_ptr < JointNodeSet >	JointNodeSetPtr
typedef boost::shared_ptr < JointPath >	JointPathPtr
typedef Eigen::Matrix3d	Matrix33
typedef Eigen::Matrix4d	Matrix44
typedef std::vector< SFColor >	MFColor
typedef std::vector< SFFloat >	MFFloat
typedef std::vector< SFInt32 >	MFInt32
typedef std::vector< SFNode >	MFNode
typedef std::vector< SFRotation >	MFRotation
typedef std::vector< SFString >	MFString
typedef std::vector< SFTime >	MFTime
typedef std::vector< SFVec2f >	MFVec2f
typedef std::vector< SFVec3f >	MFVec3f
typedef std::vector< SFVec4f >	MFVec4f
typedef boost::shared_ptr < ModelNodeSet >	ModelNodeSetPtr
typedef bool	SFBool
typedef SFVec3f	SFColor
typedef double	SFFloat
typedef int	SFInt32
typedef VrmlNodePtr	SFNode
typedef SFVec4f	SFRotation
typedef std::string	SFString
typedef SFFloat	SFTime
typedef boost::array< SFFloat, 2 >	SFVec2f
typedef boost::array< SFFloat, 3 >	SFVec3f
typedef boost::array< SFFloat, 4 >	SFVec4f
typedef std::map< std::string, VrmlVariantField >	TProtoFieldMap
typedef std::pair< std::string, VrmlVariantField >	TProtoFieldPair
typedef Eigen::Vector2d	Vector2
typedef Eigen::Vector3d	Vector3
typedef Eigen::Vector3d	Vector3Ref
typedef Eigen::Vector4d	Vector4
typedef boost::intrusive_ptr < VrmlAnchor >	VrmlAnchorPtr
typedef boost::intrusive_ptr < VrmlAppearance >	VrmlAppearancePtr
typedef boost::intrusive_ptr < VrmlBackground >	VrmlBackgroundPtr
typedef boost::intrusive_ptr < VrmlBillboard >	VrmlBillboardPtr
typedef boost::intrusive_ptr < VrmlBox >	VrmlBoxPtr
typedef boost::intrusive_ptr < VrmlCollision >	VrmlCollisionPtr
typedef boost::intrusive_ptr < VrmlColor >	VrmlColorPtr
typedef boost::intrusive_ptr < VrmlCone >	VrmlConePtr
typedef boost::intrusive_ptr < VrmlCoordinate >	VrmlCoordinatePtr
typedef boost::intrusive_ptr < VrmlCylinder >	VrmlCylinderPtr
typedef boost::intrusive_ptr < VrmlCylinderSensor >	VrmlCylinderSensorPtr
typedef boost::intrusive_ptr < VrmlDirectionalLight >	VrmlDirectionalLightPtr
typedef boost::intrusive_ptr < VrmlElevationGrid >	VrmlElevationGridPtr
typedef boost::intrusive_ptr < VrmlExtrusion >	VrmlExtrusionPtr
typedef boost::intrusive_ptr < VrmlFog >	VrmlFogPtr
typedef boost::intrusive_ptr < VrmlFontStyle >	VrmlFontStylePtr
typedef boost::intrusive_ptr < VrmlGeometry >	VrmlGeometryPtr
typedef boost::intrusive_ptr < VrmlGroup >	VrmlGroupPtr
typedef boost::intrusive_ptr < VrmlImageTexture >	VrmlImageTexturePtr
typedef boost::intrusive_ptr < VrmlIndexedFaceSet >	VrmlIndexedFaceSetPtr
typedef boost::intrusive_ptr < VrmlIndexedLineSet >	VrmlIndexedLineSetPtr
typedef boost::intrusive_ptr < VrmlInline >	VrmlInlinePtr
typedef boost::intrusive_ptr < VrmlLOD >	VrmlLODPtr
typedef boost::intrusive_ptr < VrmlMaterial >	VrmlMaterialPtr
typedef boost::intrusive_ptr < VrmlMovieTexture >	VrmlMovieTexturePtr
typedef boost::intrusive_ptr < VrmlNavigationInfo >	VrmlNavigationInfoPtr
typedef boost::intrusive_ptr < VrmlNode >	VrmlNodePtr
typedef boost::intrusive_ptr < VrmlNormal >	VrmlNormalPtr
typedef boost::intrusive_ptr < VrmlPixelTexture >	VrmlPixelTexturePtr
typedef boost::intrusive_ptr < VrmlPointLight >	VrmlPointLightPtr
typedef boost::intrusive_ptr < VrmlPointSet >	VrmlPointSetPtr
typedef boost::intrusive_ptr < VrmlProtoInstance >	VrmlProtoInstancePtr
typedef boost::intrusive_ptr < VrmlProto >	VrmlProtoPtr
typedef boost::intrusive_ptr < VrmlShape >	VrmlShapePtr
typedef boost::intrusive_ptr < VrmlSphere >	VrmlSpherePtr
typedef boost::intrusive_ptr < VrmlSpotLight >	VrmlSpotLightPtr
typedef boost::intrusive_ptr < VrmlSwitch >	VrmlSwitchPtr
typedef boost::intrusive_ptr < VrmlText >	VrmlTextPtr
typedef boost::intrusive_ptr < VrmlTextureCoordinate >	VrmlTextureCoordinatePtr
typedef boost::intrusive_ptr < VrmlTexture >	VrmlTexturePtr
typedef boost::intrusive_ptr < VrmlTextureTransform >	VrmlTextureTransformPtr
typedef boost::intrusive_ptr < VrmlTransform >	VrmlTransformPtr
typedef boost::intrusive_ptr < VrmlUnsupportedNode >	VrmlUnsupportedNodePtr
typedef boost::intrusive_ptr < VrmlViewpoint >	VrmlViewpointPtr
typedef boost::intrusive_ptr < VrmlWorldInfo >	VrmlWorldInfoPtr
typedef void(VrmlWriter::*	VrmlWriterNodeMethod )(VrmlNodePtr node)
Enumerations
enum	{   LEFT, TOP, FRONT, BOTTOM,   RIGHT, BACK }
enum	VrmlFieldTypeId {   UNDETERMINED_FIELD_TYPE = 0, SFBOOL, SFINT32, MFINT32,   SFFLOAT, MFFLOAT, SFVEC2F, MFVEC2F,   SFVEC3F, MFVEC3F, SFROTATION, MFROTATION,   SFTIME, MFTIME, SFCOLOR, MFCOLOR,   SFSTRING, MFSTRING, SFNODE, MFNODE,   SFIMAGE }
enum	VrmlNodeCategory {   ANY_NODE = -1, PROTO_DEF_NODE = 0, PROTO_INSTANCE_NODE, TOP_NODE,   BINDABLE_NODE, GROUPING_NODE, CHILD_NODE, APPEARANCE_NODE,   MATERIAL_NODE, TEXTURE_NODE, TEXTURE_TRANSFORM_NODE, SHAPE_NODE,   GEOMETRY_NODE, COORDINATE_NODE, COLOR_NODE, NORMAL_NODE,   TEXTURE_COORDINATE_NODE, FONT_STYLE_NODE, SENSOR_NODE, INLINE_NODE,   LIGHT_NODE, NUM_VRML_NODE_CATEGORIES }
Functions
int	calcEigenVectors (const dmatrix &_a, dmatrix &_evec, dvector &_eval)
void	calcInverse (Matrix33 &inv, const Matrix33 &m)
int	calcPseudoInverse (const dmatrix &_a, dmatrix &_a_pseu, double _sv_ratio)
HRP_UTIL_EXPORT void	calcRodrigues (Matrix44 &out_R, const Vector3 &axis, double q)
HRP_UTIL_EXPORT void	calcRodrigues (Matrix33 &out_R, const Vector3 &axis, double q)
HRP_UTIL_EXPORT void	calcRotFromRpy (Matrix33 &out_R, double r, double p, double y)
int	calcSRInverse (const dmatrix &_a, dmatrix &_a_sr, double _sr_ratio, dmatrix _w)
HRP_UTIL_EXPORT void	calcTransformMatrix (VrmlTransform *transform, Matrix44 &out_T)
Vector3	cross (const Vector3 &v1, const Vector3 &v2)
def	degrees
HRP_UTIL_EXPORT string	deleteURLScheme (string url)
double	det (const dmatrix &_a)
double	dot (const Vector3 &v1, const Vector3 &v2)
template<class VrmlNodeType >
boost::intrusive_ptr < VrmlNodeType >	dynamic_node_cast (VrmlNodePtr node)
HRPMODEL_API BodyCustomizerInterface *	findBodyCustomizer (std::string modelName)
def	findCollisionDetectorFactory
def	findControllerFactory
def	findDynamicsPlugin
def	findDynamicsSimulatorFactory
def	findIoControlPlugin
def	findLogPlugin
def	findModelLoader
def	findObject
def	findOnlineViewer
def	findPlugin
def	findPluginManager
def	findPositionSensor
def	findReceiver
def	findSeqPlugin
def	findSpeakServer
def	findStabilizerPlugin
def	findStateProvider
def	findStereoVision
def	findWalkPlugin
template<class Array >
void	getMatrix33FromRowMajorArray (Matrix33 &m33, const Array &a, size_t top=0)
HRPMODEL_API OpenHRP::ModelLoader_var	getModelLoader (CosNaming::NamingContext_var cxt)
HRPMODEL_API OpenHRP::ModelLoader_var	getModelLoader (CORBA_ORB_var orb)
HRP_UTIL_EXPORT OpenHRP::OnlineViewer_var	getOnlineViewer (int argc, char **argv)
HRP_UTIL_EXPORT OpenHRP::OnlineViewer_var	getOnlineViewer (CORBA_ORB_var orb)
HRP_UTIL_EXPORT OpenHRP::OnlineViewer_var	getOnlineViewer (CosNaming::NamingContext_var cxt)
HRP_UTIL_EXPORT void	getPathFromUrl (string &refUrl, const string &rootDir, string srcUrl)
def	getRootNamingContext
template<class V >
void	getVector3 (Vector3 &v3, const V &v, size_t top=0)
template<class M >
void	getVector3 (Vector3 &v3, const M &m, size_t row, size_t col)
Vector3Ref	getVector3Ref (const double *data)
Matrix33	hat (const Vector3 &c)
def	initCORBA
void	intrusive_ptr_add_ref (Referenced *obj)
void	intrusive_ptr_add_ref (VrmlNode *obj)
void	intrusive_ptr_release (Referenced *obj)
void	intrusive_ptr_release (VrmlNode *obj)
dmatrix	inverse (const dmatrix &M)
Matrix33	inverse (const Matrix33 &m)
HRP_UTIL_EXPORT Matrix33	inverse33 (const Matrix33 &m)
HRP_UTIL_EXPORT bool	isFileProtocol (const string &ref)
HRP_UTIL_EXPORT bool	isOrthogonalMatrix (Matrix33 &m)
HRPMODEL_API int	loadBodyCustomizers (const std::string pathString, BodyInterface *bodyInterface)
HRPMODEL_API int	loadBodyCustomizers (const std::string pathString)
HRPMODEL_API int	loadBodyCustomizers (BodyInterface *bodyInterface)
HRPMODEL_API int	loadBodyCustomizers ()
HRPMODEL_API bool	loadBodyFromBodyInfo (BodyPtr body, OpenHRP::BodyInfo_ptr bodyInfo, bool loadGeometryForCollisionDetection=false, Link *(*f)()=NULL)
HRPMODEL_API bool	loadBodyFromModelLoader (BodyPtr body, const char *url, CORBA_ORB_var orb, bool loadGeometryForCollisionDetection=false)
HRPMODEL_API bool	loadBodyFromModelLoader (BodyPtr body, const char *url, CosNaming::NamingContext_var cxt, bool loadGeometryForCollisionDetection=false)
HRPMODEL_API bool	loadBodyFromModelLoader (BodyPtr body, const char *url, int &argc, char *argv[], bool loadGeometryForCollisionDetection=false)
HRPMODEL_API OpenHRP::BodyInfo_var	loadBodyInfo (const char *url, int &argc, char *argv[])
HRPMODEL_API OpenHRP::BodyInfo_var	loadBodyInfo (const char *url, CORBA_ORB_var orb)
HRPMODEL_API OpenHRP::BodyInfo_var	loadBodyInfo (const char *url, CosNaming::NamingContext_var cxt)
def	loadVRML
static int	max (int a, int b)
static int	min (int a, int b)
Vector3	nomralize (const Vector3 &v)
double	norm2 (const Vector3 &v)
HRP_UTIL_EXPORT Vector3	omegaFromRot (const Matrix33 &r)
HRP_UTIL_EXPORT EasyScanner &	operator>> (EasyScanner &scanner, double &value)
HRP_UTIL_EXPORT EasyScanner &	operator>> (EasyScanner &scanner, int &value)
HRP_UTIL_EXPORT EasyScanner &	operator>> (EasyScanner &scanner, const char *matchString)
HRP_UTIL_EXPORT EasyScanner &	operator>> (EasyScanner &scanner, char matchChar)
HRP_UTIL_EXPORT EasyScanner &	operator>> (EasyScanner &scanner, std::string &str)
HRP_UTIL_EXPORT EasyScanner &	operator>> (EasyScanner &scanner, EasyScanner::Endl endl)
def	radians
Matrix33	rodrigues (const Vector3 &axis, double q)
Matrix33	rotationX (double theta)
Matrix33	rotationY (double theta)
Matrix33	rotationZ (double theta)
Matrix33	rotFromRpy (const Vector3 &rpy)
Matrix33	rotFromRpy (double r, double p, double y)
HRP_UTIL_EXPORT Vector3	rpyFromRot (const Matrix33 &m)
template<class M >
void	setMatrix33 (const Matrix33 &m33, M &m, size_t row=0, size_t col=0)
template<class Array >
void	setMatrix33ToRowMajorArray (const Matrix33 &m33, Array &a, size_t top=0)
template<class M >
void	setTransMatrix33 (const Matrix33 &m33, M &m, size_t row=0, size_t col=0)
template<class V >
void	setVector3 (const Vector3 &v3, V &v, size_t top=0)
template<class V >
void	setVector3 (const Vector3 &v3, const V &v, size_t top=0)
template<class M >
void	setVector3 (const Vector3 &v3, M &m, size_t row, size_t col)
int	solveLinearEquation (const dmatrix &_a, const dvector &_b, dvector &_x, double _sv_ratio)
int	solveLinearEquationLU (dmatrix a, const dmatrix &b, dmatrix &out_x)
int	solveLinearEquationLU (const dmatrix &_a, const dvector &_b, dvector &_x)
int	solveLinearEquationSVD (const dmatrix &_a, const dvector &_b, dvector &_x, double _sv_ratio)
Matrix33	trans (const Matrix33 &m)
def	unbindObject
Matrix33	VVt_prod (const Vector3 &a, const Vector3 &b)
Variables
static const int	BODY_CUSTOMIZER_INTERFACE_VERSION = 1
static const int	BODY_INTERFACE_VERSION = 1
	rootnc = None

---

Detailed Description

Author:

Shin'ichiro Nakaoka

Shin'ichiro Nakaoka

---

Typedef Documentation

typedef boost::intrusive_ptr<AbstractVrmlGroup> hrp::AbstractVrmlGroupPtr

Definition at line 232 of file VrmlNodes.h.

typedef bool(* hrp::BodyCustomizerCalcAnalyticIkFunc)(BodyCustomizerHandle customizerHandle, int ikPathId, const Vector3 &p, const Matrix33 &R)

Definition at line 53 of file BodyCustomizerInterface.h.

typedef BodyCustomizerHandle(* hrp::BodyCustomizerCreateFunc)(BodyHandle bodyHandle, const char *modelName)

Definition at line 45 of file BodyCustomizerInterface.h.

typedef void(* hrp::BodyCustomizerDestroyFunc)(BodyCustomizerHandle customizerHandle)

Definition at line 47 of file BodyCustomizerInterface.h.

typedef const char**(* hrp::BodyCustomizerGetTargetModelNamesFunc)()

Definition at line 44 of file BodyCustomizerInterface.h.

typedef void * hrp::BodyCustomizerHandle

Definition at line 42 of file Body.h.

typedef int(* hrp::BodyCustomizerInitializeAnalyticIkFunc)(BodyCustomizerHandle customizerHandle, int baseLinkIndex, int targetLinkIndex)

Definition at line 48 of file BodyCustomizerInterface.h.

typedef void(* hrp::BodyCustomizerSetVirtualJointForcesFunc)(BodyCustomizerHandle customizerHandle)

Definition at line 55 of file BodyCustomizerInterface.h.

typedef double*(* hrp::BodyGetLinkDoubleValuePtrFunc)(BodyHandle bodyHandle, int linkIndex)

Definition at line 29 of file BodyCustomizerInterface.h.

typedef int(* hrp::BodyGetLinkIndexFromNameFunc)(BodyHandle bodyHandle, const char *linkName)

Definition at line 27 of file BodyCustomizerInterface.h.

typedef const char*(* hrp::BodyGetLinkNameFunc)(BodyHandle bodyHandle, int linkIndex)

Definition at line 28 of file BodyCustomizerInterface.h.

typedef void * hrp::BodyHandle

Definition at line 40 of file Body.h.

typedef boost::shared_ptr< Body > hrp::BodyPtr

Definition at line 315 of file Body.h.

typedef boost::intrusive_ptr<ColdetLinkPair> hrp::ColdetLinkPairPtr

Definition at line 35 of file ColdetLinkPair.h.

typedef boost::intrusive_ptr<ColdetModelPair> hrp::ColdetModelPairPtr

Definition at line 120 of file ColdetModelPair.h.

typedef boost::intrusive_ptr< ColdetModel > hrp::ColdetModelPtr

Definition at line 268 of file ColdetModel.h.

typedef Eigen::MatrixXd hrp::dmatrix

Definition at line 13 of file EigenTypes.h.

typedef Eigen::Quaternion<double> hrp::dquaternion

Definition at line 17 of file EigenTypes.h.

typedef Eigen::VectorXd hrp::dvector

Definition at line 14 of file EigenTypes.h.

typedef Eigen::Matrix<double, 6,1> hrp::dvector6

Definition at line 16 of file EigenTypes.h.

typedef boost::shared_ptr<EasyScanner> hrp::EasyScannerPtr

Definition at line 280 of file EasyScanner.h.

typedef std::map< Edge, trianglePair > hrp::EdgeToTriangleMap

Definition at line 59 of file ColdetModel.h.

typedef boost::shared_ptr<ForwardDynamicsMM> hrp::ForwardDynamicsMMPtr

Definition at line 157 of file ForwardDynamicsCBM.h.

typedef boost::shared_ptr<ForwardDynamics> hrp::ForwardDynamicsPtr

Definition at line 92 of file ForwardDynamics.h.

typedef BodyCustomizerInterface*(* hrp::GetBodyCustomizerInterfaceFunc)(BodyInterface *bodyInterface)

Definition at line 72 of file BodyCustomizerInterface.h.

typedef boost::shared_ptr<InverseKinematics> hrp::IInverseKinematicsPtr

Definition at line 29 of file InverseKinematics.h.

typedef Eigen::VectorXi hrp::ivector

Definition at line 15 of file EigenTypes.h.

typedef std::vector<JointNodeSetPtr> hrp::JointNodeSetArray

Definition at line 50 of file ModelNodeSet.h.

typedef boost::shared_ptr<JointNodeSet> hrp::JointNodeSetPtr

Definition at line 34 of file ModelNodeSet.h.

typedef boost::shared_ptr< JointPath > hrp::JointPathPtr

Definition at line 29 of file Body.h.

typedef Eigen::Matrix3d hrp::Matrix33

Definition at line 12 of file EigenTypes.h.

typedef Eigen::Matrix4d hrp::Matrix44

Definition at line 18 of file Eigen4d.h.

typedef std::vector<SFColor> hrp::MFColor

Definition at line 76 of file VrmlNodes.h.

typedef std::vector<SFFloat> hrp::MFFloat

Definition at line 70 of file VrmlNodes.h.

typedef std::vector<SFInt32> hrp::MFInt32

Definition at line 69 of file VrmlNodes.h.

typedef std::vector<SFNode> hrp::MFNode

Definition at line 158 of file VrmlNodes.h.

typedef std::vector<SFRotation> hrp::MFRotation

Definition at line 74 of file VrmlNodes.h.

typedef std::vector<SFString> hrp::MFString

Definition at line 77 of file VrmlNodes.h.

typedef std::vector<SFTime> hrp::MFTime

Definition at line 75 of file VrmlNodes.h.

typedef std::vector<SFVec2f> hrp::MFVec2f

Definition at line 71 of file VrmlNodes.h.

typedef std::vector<SFVec3f> hrp::MFVec3f

Definition at line 72 of file VrmlNodes.h.

typedef std::vector<SFVec4f> hrp::MFVec4f

Definition at line 73 of file VrmlNodes.h.

typedef boost::shared_ptr<ModelNodeSet> hrp::ModelNodeSetPtr

Definition at line 94 of file ModelNodeSet.h.

typedef bool hrp::SFBool

Definition at line 48 of file VrmlNodes.h.

typedef SFVec3f hrp::SFColor

Definition at line 58 of file VrmlNodes.h.

typedef double hrp::SFFloat

Definition at line 50 of file VrmlNodes.h.

typedef int hrp::SFInt32

Definition at line 49 of file VrmlNodes.h.

typedef VrmlNodePtr hrp::SFNode

Definition at line 157 of file VrmlNodes.h.

typedef SFVec4f hrp::SFRotation

Definition at line 59 of file VrmlNodes.h.

typedef std::string hrp::SFString

Definition at line 52 of file VrmlNodes.h.

typedef SFFloat hrp::SFTime

Definition at line 51 of file VrmlNodes.h.

typedef boost::array<SFFloat, 2> hrp::SFVec2f

Definition at line 54 of file VrmlNodes.h.

typedef boost::array<SFFloat, 3> hrp::SFVec3f

Definition at line 55 of file VrmlNodes.h.

typedef boost::array<SFFloat, 4> hrp::SFVec4f

Definition at line 56 of file VrmlNodes.h.

typedef std::map<std::string, VrmlVariantField> hrp::TProtoFieldMap

Definition at line 854 of file VrmlNodes.h.

typedef std::pair<std::string, VrmlVariantField> hrp::TProtoFieldPair

Definition at line 855 of file VrmlNodes.h.

typedef Eigen::Vector2d hrp::Vector2

Definition at line 10 of file EigenTypes.h.

typedef Eigen::Vector3d hrp::Vector3

Definition at line 11 of file EigenTypes.h.

typedef Eigen::Vector3d hrp::Vector3Ref

Definition at line 19 of file Eigen3d.h.

typedef Eigen::Vector4d hrp::Vector4

Definition at line 21 of file Eigen4d.h.

typedef boost::intrusive_ptr<VrmlAnchor> hrp::VrmlAnchorPtr

Definition at line 710 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlAppearance> hrp::VrmlAppearancePtr

Definition at line 277 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlBackground> hrp::VrmlBackgroundPtr

Definition at line 217 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlBillboard> hrp::VrmlBillboardPtr

Definition at line 720 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlBox> hrp::VrmlBoxPtr

Definition at line 379 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlCollision> hrp::VrmlCollisionPtr

Definition at line 698 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlColor> hrp::VrmlColorPtr

Definition at line 454 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlCone> hrp::VrmlConePtr

Definition at line 393 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlCoordinate> hrp::VrmlCoordinatePtr

Definition at line 457 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlCylinder> hrp::VrmlCylinderPtr

Definition at line 408 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlCylinderSensor> hrp::VrmlCylinderSensorPtr

Definition at line 551 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlDirectionalLight> hrp::VrmlDirectionalLightPtr

Definition at line 773 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlElevationGrid> hrp::VrmlElevationGridPtr

Definition at line 628 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlExtrusion> hrp::VrmlExtrusionPtr

Definition at line 651 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlFog> hrp::VrmlFogPtr

Definition at line 732 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlFontStyle> hrp::VrmlFontStylePtr

Definition at line 437 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlGeometry> hrp::VrmlGeometryPtr

Definition at line 280 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlGroup> hrp::VrmlGroupPtr

Definition at line 250 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlImageTexture> hrp::VrmlImageTexturePtr

Definition at line 350 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlIndexedFaceSet> hrp::VrmlIndexedFaceSetPtr

Definition at line 498 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlIndexedLineSet> hrp::VrmlIndexedLineSetPtr

Definition at line 472 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlInline> hrp::VrmlInlinePtr

Definition at line 274 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlLOD> hrp::VrmlLODPtr

Definition at line 687 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlMaterial> hrp::VrmlMaterialPtr

Definition at line 295 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlMovieTexture> hrp::VrmlMovieTexturePtr

Definition at line 602 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlNavigationInfo> hrp::VrmlNavigationInfoPtr

Definition at line 197 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlNode> hrp::VrmlNodePtr

Definition at line 155 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlNormal> hrp::VrmlNormalPtr

Definition at line 475 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlPixelTexture> hrp::VrmlPixelTexturePtr

Definition at line 582 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlPointLight> hrp::VrmlPointLightPtr

Definition at line 759 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlPointSet> hrp::VrmlPointSetPtr

Definition at line 566 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlProtoInstance> hrp::VrmlProtoInstancePtr

Definition at line 898 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlProto> hrp::VrmlProtoPtr

Definition at line 879 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlShape> hrp::VrmlShapePtr

Definition at line 292 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlSphere> hrp::VrmlSpherePtr

Definition at line 418 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlSpotLight> hrp::VrmlSpotLightPtr

Definition at line 792 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlSwitch> hrp::VrmlSwitchPtr

Definition at line 669 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlText> hrp::VrmlTextPtr

Definition at line 451 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlTextureCoordinate> hrp::VrmlTextureCoordinatePtr

Definition at line 478 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlTexture> hrp::VrmlTexturePtr

Definition at line 298 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlTextureTransform> hrp::VrmlTextureTransformPtr

Definition at line 301 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlTransform> hrp::VrmlTransformPtr

Definition at line 265 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlUnsupportedNode> hrp::VrmlUnsupportedNodePtr

Definition at line 167 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlViewpoint> hrp::VrmlViewpointPtr

Definition at line 182 of file VrmlNodes.h.

typedef boost::intrusive_ptr<VrmlWorldInfo> hrp::VrmlWorldInfoPtr

Definition at line 743 of file VrmlNodes.h.

typedef void(VrmlWriter::* hrp::VrmlWriterNodeMethod)(VrmlNodePtr node)

Definition at line 29 of file hrplib/hrpUtil/VrmlWriter.h.

---

Enumeration Type Documentation

anonymous enum

Enumerator:

LEFT
TOP
FRONT
BOTTOM
RIGHT
BACK

Definition at line 67 of file TriangleMeshShaper.h.

enum hrp::VrmlFieldTypeId

Enumerator:

UNDETERMINED_FIELD_TYPE
SFBOOL
SFINT32
MFINT32
SFFLOAT
MFFLOAT
SFVEC2F
MFVEC2F
SFVEC3F
MFVEC3F
SFROTATION
MFROTATION
SFTIME
MFTIME
SFCOLOR
MFCOLOR
SFSTRING
MFSTRING
SFNODE
MFNODE
SFIMAGE

Definition at line 33 of file VrmlNodes.h.

enum hrp::VrmlNodeCategory

Enumerator:

ANY_NODE
PROTO_DEF_NODE
PROTO_INSTANCE_NODE
TOP_NODE
BINDABLE_NODE
GROUPING_NODE
CHILD_NODE
APPEARANCE_NODE
MATERIAL_NODE
TEXTURE_NODE
TEXTURE_TRANSFORM_NODE
SHAPE_NODE
GEOMETRY_NODE
COORDINATE_NODE
COLOR_NODE
NORMAL_NODE
TEXTURE_COORDINATE_NODE
FONT_STYLE_NODE
SENSOR_NODE
INLINE_NODE
LIGHT_NODE
NUM_VRML_NODE_CATEGORIES

Definition at line 81 of file VrmlNodes.h.

---

Function Documentation

HRP_UTIL_EXPORT int hrp::calcEigenVectors	(	const dmatrix &	_a,
		dmatrix &	_evec,
		dvector &	_eval
	)

Definition at line 308 of file MatrixSolvers.cpp.

void hrp::calcInverse	(	Matrix33 &	inv,
		const Matrix33 &	m
	)		[inline]

Definition at line 32 of file Tvmet2Eigen.h.

HRP_UTIL_EXPORT int hrp::calcPseudoInverse	(	const dmatrix &	_a,
		dmatrix &	_a_pseu,
		double	_sv_ratio
	)

calculate Pseudo-Inverse using SVD(Singular Value Decomposition) by lapack library DGESVD (_a can be non-square matrix)

Definition at line 243 of file MatrixSolvers.cpp.

void hrp::calcRodrigues	(	Matrix44 &	out_R,
		const Vector3 &	axis,
		double	q
	)

Definition at line 16 of file Eigen4d.cpp.

void hrp::calcRodrigues	(	Matrix33 &	out_R,
		const Vector3 &	axis,
		double	q
	)

Definition at line 22 of file Eigen3d.cpp.

void hrp::calcRotFromRpy	(	Matrix33 &	out_R,
		double	r,
		double	p,
		double	y
	)

Definition at line 138 of file Eigen3d.cpp.

HRP_UTIL_EXPORT int hrp::calcSRInverse	(	const dmatrix &	_a,
		dmatrix &	_a_sr,
		double	_sr_ratio,
		dmatrix	_w
	)

Definition at line 342 of file MatrixSolvers.cpp.

void hrp::calcTransformMatrix	(	VrmlTransform *	transform,
		Matrix44 &	out_T
	)

Definition at line 49 of file Eigen4d.cpp.

Vector3 hrp::cross	(	const Vector3 &	v1,
		const Vector3 &	v2
	)		[inline]

Definition at line 15 of file Tvmet2Eigen.h.

def hrp.degrees

(

x

)

Definition at line 160 of file hrp.py.

string hrp::deleteURLScheme

(

string

url

)

Definition at line 25 of file UrlUtil.cpp.

HRP_UTIL_EXPORT double hrp::det

(

const dmatrix &

_a

)

Definition at line 368 of file MatrixSolvers.cpp.

double hrp::dot	(	const Vector3 &	v1,
		const Vector3 &	v2
	)		[inline]

Definition at line 19 of file Tvmet2Eigen.h.

template<class VrmlNodeType >

boost::intrusive_ptr<VrmlNodeType> hrp::dynamic_node_cast

(

VrmlNodePtr

node

)

The upper cast operation that supports the situation where the original pointer is VrmlProtoInstance and you want to get the actual node, the node replaced with the pre-defined node type written in the PROTO definition.

Definition at line 907 of file VrmlNodes.h.

BodyCustomizerInterface * hrp::findBodyCustomizer

(

std::string

modelName

)

Definition at line 287 of file BodyCustomizerInterface.cpp.

def hrp.findCollisionDetectorFactory

(

rnc = None

)

Definition at line 153 of file hrp.py.

def hrp.findControllerFactory	(		name,
			rnc = None
	)

Definition at line 147 of file hrp.py.

def hrp.findDynamicsPlugin	(		name,
			rnc = None
	)

Definition at line 86 of file hrp.py.

def hrp.findDynamicsSimulatorFactory

(

rnc = None

)

Definition at line 141 of file hrp.py.

def hrp.findIoControlPlugin	(		name,
			rnc = None
	)

Definition at line 111 of file hrp.py.

def hrp.findLogPlugin	(		name,
			rnc = None
	)

Definition at line 80 of file hrp.py.

def hrp.findModelLoader

(

rnc = None

)

Definition at line 117 of file hrp.py.

def hrp.findObject	(		objname,
			rnc = None
	)

Definition at line 38 of file hrp.py.

def hrp.findOnlineViewer

(

rnc = None

)

Definition at line 135 of file hrp.py.

def hrp.findPlugin	(		name,
			rnc = None
	)

Definition at line 52 of file hrp.py.

def hrp.findPluginManager	(		name,
			rnc = None
	)

Definition at line 59 of file hrp.py.

def hrp.findPositionSensor

(

rnc = None

)

Definition at line 123 of file hrp.py.

def hrp.findReceiver	(		objname,
			rnc = None
	)

Definition at line 45 of file hrp.py.

def hrp.findSeqPlugin	(		name,
			rnc = None
	)

Definition at line 73 of file hrp.py.

def hrp.findSpeakServer

(

rnc = None

)

Definition at line 129 of file hrp.py.

def hrp.findStabilizerPlugin	(		name,
			rnc = None
	)

Definition at line 104 of file hrp.py.

def hrp.findStateProvider	(		name,
			rnc = None
	)

Definition at line 92 of file hrp.py.

def hrp.findStereoVision

(

rnc = None

)

Definition at line 98 of file hrp.py.

def hrp.findWalkPlugin	(		name,
			rnc = None
	)

Definition at line 66 of file hrp.py.

template<class Array >

void hrp::getMatrix33FromRowMajorArray	(	Matrix33 &	m33,
		const Array &	a,
		size_t	top = 0
	)		[inline]

Definition at line 118 of file Eigen3d.h.

ModelLoader_var hrp::getModelLoader

(

CosNaming::NamingContext_var

cxt

)

Definition at line 664 of file hrplib/hrpModel/ModelLoaderUtil.cpp.

ModelLoader_var hrp::getModelLoader

(

CORBA_ORB_var

orb

)

Definition at line 651 of file hrplib/hrpModel/ModelLoaderUtil.cpp.

OnlineViewer_var hrp::getOnlineViewer	(	int	argc,
		char **	argv
	)

Definition at line 61 of file hrpUtil/OnlineViewerUtil.cpp.

OnlineViewer_var hrp::getOnlineViewer

(

CORBA_ORB_var

orb

)

Definition at line 47 of file hrpUtil/OnlineViewerUtil.cpp.

OnlineViewer_var hrp::getOnlineViewer

(

CosNaming::NamingContext_var

cxt

)

Definition at line 15 of file hrpUtil/OnlineViewerUtil.cpp.

void hrp::getPathFromUrl	(	string &	refUrl,
		const string &	rootDir,
		string	srcUrl
	)

Definition at line 57 of file UrlUtil.cpp.

def hrp.getRootNamingContext

(

corbaloc

)

Definition at line 29 of file hrp.py.

template<class V >

void hrp::getVector3	(	Vector3 &	v3,
		const V &	v,
		size_t	top = 0
	)		[inline]

Definition at line 138 of file Eigen3d.h.

template<class M >

void hrp::getVector3	(	Vector3 &	v3,
		const M &	m,
		size_t	row,
		size_t	col
	)		[inline]

Definition at line 146 of file Eigen3d.h.

Vector3Ref hrp::getVector3Ref

(

const double *

data

)

[inline]

Definition at line 20 of file Eigen3d.h.

Matrix33 hrp::hat

(

const Vector3 &

c

)

[inline]

Definition at line 80 of file Eigen3d.h.

def hrp.initCORBA

(

)

Definition at line 18 of file hrp.py.

void hrp::intrusive_ptr_add_ref

(

hrp::Referenced *

obj

)

[inline]

Definition at line 31 of file Referenced.h.

void hrp::intrusive_ptr_add_ref

(

VrmlNode *

obj

)

[inline]

Definition at line 144 of file VrmlNodes.h.

void hrp::intrusive_ptr_release

(

hrp::Referenced *

obj

)

[inline]

Definition at line 35 of file Referenced.h.

void hrp::intrusive_ptr_release

(

VrmlNode *

obj

)

[inline]

Definition at line 148 of file VrmlNodes.h.

dmatrix hrp::inverse

(

const dmatrix &

M

)

[inline]

Todo:

define dgesv wrapper and use it directly to improve the performance

Definition at line 37 of file MatrixSolvers.h.

Matrix33 hrp::inverse

(

const Matrix33 &

m

)

[inline]

Definition at line 40 of file Tvmet2Eigen.h.

HRP_UTIL_EXPORT Matrix33 hrp::inverse33

(

const Matrix33 &

m

)

[inline]

Definition at line 46 of file Tvmet2Eigen.h.

bool hrp::isFileProtocol

(

const string &

ref

)

Definition at line 105 of file UrlUtil.cpp.

bool hrp::isOrthogonalMatrix

(

Matrix33 &

m

)

Definition at line 152 of file Eigen3d.cpp.

int hrp::loadBodyCustomizers	(	const std::string	pathString,
		BodyInterface *	bodyInterface
	)

DLLs of body customizer in the path are loaded and they are registered to the customizer repository.

The loaded customizers can be obtained by using hrp::findBodyCustomizer() function.

Parameters:

pathString	the path to a DLL file or a directory that contains DLLs
bodyInterface

Definition at line 147 of file BodyCustomizerInterface.cpp.

int hrp::loadBodyCustomizers

(

const std::string

pathString

)

Definition at line 232 of file BodyCustomizerInterface.cpp.

int hrp::loadBodyCustomizers

(

BodyInterface *

bodyInterface

)

The function loads the customizers in the directories specified by the environmental variable HRPMODEL_CUSTOMIZER_PATH

Definition at line 242 of file BodyCustomizerInterface.cpp.

int hrp::loadBodyCustomizers

(

)

Definition at line 281 of file BodyCustomizerInterface.cpp.

bool hrp::loadBodyFromBodyInfo	(	BodyPtr	body,
		OpenHRP::BodyInfo_ptr	bodyInfo,
		bool	loadGeometryForCollisionDetection = false,
		Link *(*)()	f = NULL
	)

Definition at line 619 of file hrplib/hrpModel/ModelLoaderUtil.cpp.

bool hrp::loadBodyFromModelLoader	(	BodyPtr	body,
		const char *	url,
		CORBA_ORB_var	orb,
		bool	loadGeometryForCollisionDetection = false
	)

Definition at line 730 of file hrplib/hrpModel/ModelLoaderUtil.cpp.

bool hrp::loadBodyFromModelLoader	(	BodyPtr	body,
		const char *	url,
		CosNaming::NamingContext_var	cxt,
		bool	loadGeometryForCollisionDetection = false
	)

Definition at line 714 of file hrplib/hrpModel/ModelLoaderUtil.cpp.

bool hrp::loadBodyFromModelLoader	(	BodyPtr	body,
		const char *	url,
		int &	argc,
		char *	argv[],
		bool	loadGeometryForCollisionDetection = false
	)

Definition at line 745 of file hrplib/hrpModel/ModelLoaderUtil.cpp.

BodyInfo_var hrp::loadBodyInfo	(	const char *	url,
		int &	argc,
		char *	argv[]
	)

Definition at line 632 of file hrplib/hrpModel/ModelLoaderUtil.cpp.

BodyInfo_var hrp::loadBodyInfo	(	const char *	url,
		CORBA_ORB_var	orb
	)

Definition at line 638 of file hrplib/hrpModel/ModelLoaderUtil.cpp.

BodyInfo_var hrp::loadBodyInfo	(	const char *	url,
		CosNaming::NamingContext_var	cxt
	)

Definition at line 699 of file hrplib/hrpModel/ModelLoaderUtil.cpp.

def hrp.loadVRML

(

url

)

Definition at line 167 of file hrp.py.

static int hrp::max	(	int	a,
		int	b
	)		[inline, static]

Definition at line 54 of file MatrixSolvers.cpp.

static int hrp::min	(	int	a,
		int	b
	)		[inline, static]

Definition at line 55 of file MatrixSolvers.cpp.

Vector3 hrp::nomralize

(

const Vector3 &

v

)

[inline]

Definition at line 23 of file Tvmet2Eigen.h.

double hrp::norm2

(

const Vector3 &

v

)

[inline]

Definition at line 22 of file Tvmet2Eigen.h.

Vector3 hrp::omegaFromRot

(

const Matrix33 &

r

)

Definition at line 63 of file Eigen3d.cpp.

HRP_UTIL_EXPORT EasyScanner& hrp::operator>>	(	EasyScanner &	scanner,
		double &	value
	)

Definition at line 733 of file EasyScanner.cpp.

HRP_UTIL_EXPORT EasyScanner& hrp::operator>>	(	EasyScanner &	scanner,
		int &	value
	)

Definition at line 743 of file EasyScanner.cpp.

HRP_UTIL_EXPORT EasyScanner& hrp::operator>>	(	EasyScanner &	scanner,
		const char *	matchString
	)

Definition at line 754 of file EasyScanner.cpp.

HRP_UTIL_EXPORT EasyScanner& hrp::operator>>	(	EasyScanner &	scanner,
		char	matchChar
	)

Definition at line 766 of file EasyScanner.cpp.

HRP_UTIL_EXPORT EasyScanner& hrp::operator>>	(	EasyScanner &	scanner,
		std::string &	str
	)

HRP_UTIL_EXPORT EasyScanner& hrp::operator>>	(	EasyScanner &	scanner,
		EasyScanner::Endl	endl
	)

Definition at line 787 of file EasyScanner.cpp.

def hrp.radians

(

x

)

Definition at line 164 of file hrp.py.

Matrix33 hrp::rodrigues	(	const Vector3 &	axis,
		double	q
	)		[inline]

Definition at line 27 of file Eigen3d.h.

Matrix33 hrp::rotationX

(

double

theta

)

[inline]

Definition at line 45 of file Eigen3d.h.

Matrix33 hrp::rotationY

(

double

theta

)

[inline]

Definition at line 55 of file Eigen3d.h.

Matrix33 hrp::rotationZ

(

double

theta

)

[inline]

Definition at line 65 of file Eigen3d.h.

Matrix33 hrp::rotFromRpy

(

const Vector3 &

rpy

)

[inline]

Definition at line 33 of file Eigen3d.h.

Matrix33 hrp::rotFromRpy	(	double	r,
		double	p,
		double	y
	)		[inline]

Definition at line 39 of file Eigen3d.h.

Vector3 hrp::rpyFromRot

(

const Matrix33 &

m

)

Definition at line 99 of file Eigen3d.cpp.

template<class M >

void hrp::setMatrix33	(	const Matrix33 &	m33,
		M &	m,
		size_t	row = 0,
		size_t	col = 0
	)		[inline]

Definition at line 88 of file Eigen3d.h.

template<class Array >

void hrp::setMatrix33ToRowMajorArray	(	const Matrix33 &	m33,
		Array &	a,
		size_t	top = 0
	)		[inline]

Definition at line 105 of file Eigen3d.h.

template<class M >

void hrp::setTransMatrix33	(	const Matrix33 &	m33,
		M &	m,
		size_t	row = 0,
		size_t	col = 0
	)		[inline]

Definition at line 96 of file Eigen3d.h.

template<class V >

void hrp::setVector3	(	const Vector3 &	v3,
		V &	v,
		size_t	top = 0
	)		[inline]

Definition at line 130 of file Eigen3d.h.

template<class V >

void hrp::setVector3	(	const Vector3 &	v3,
		const V &	v,
		size_t	top = 0
	)		[inline]

Definition at line 134 of file Eigen3d.h.

template<class M >

void hrp::setVector3	(	const Vector3 &	v3,
		M &	m,
		size_t	row,
		size_t	col
	)		[inline]

Definition at line 142 of file Eigen3d.h.

HRP_UTIL_EXPORT int hrp::solveLinearEquation	(	const dmatrix &	_a,
		const dvector &	_b,
		dvector &	_x,
		double	_sv_ratio
	)

Unified interface to solve a linear equation

b = a * x, x = b^(-1) * a

Definition at line 230 of file MatrixSolvers.cpp.

HRP_UTIL_EXPORT int hrp::solveLinearEquationLU	(	dmatrix	a,
		const dmatrix &	b,
		dmatrix &	out_x
	)

Definition at line 58 of file MatrixSolvers.cpp.

HRP_UTIL_EXPORT int hrp::solveLinearEquationLU	(	const dmatrix &	_a,
		const dvector &	_b,
		dvector &	_x
	)

solve linear equation using LU decomposition by lapack library DGESVX (_a must be square matrix)

Definition at line 91 of file MatrixSolvers.cpp.

HRP_UTIL_EXPORT int hrp::solveLinearEquationSVD	(	const dmatrix &	_a,
		const dvector &	_b,
		dvector &	_x,
		double	_sv_ratio
	)

solve linear equation using SVD(Singular Value Decomposition) by lapack library DGESVD (_a can be non-square matrix)

Definition at line 157 of file MatrixSolvers.cpp.

Matrix33 hrp::trans

(

const Matrix33 &

m

)

[inline]

Definition at line 18 of file Tvmet2Eigen.h.

def hrp.unbindObject

(

objname

)

Definition at line 12 of file hrp.py.

Matrix33 hrp::VVt_prod	(	const Vector3 &	a,
		const Vector3 &	b
	)		[inline]

Definition at line 24 of file Tvmet2Eigen.h.

---

Variable Documentation

const int hrp::BODY_CUSTOMIZER_INTERFACE_VERSION = 1 [static]

Definition at line 58 of file BodyCustomizerInterface.h.

const int hrp::BODY_INTERFACE_VERSION = 1 [static]

Definition at line 31 of file BodyCustomizerInterface.h.

hrp::rootnc = None

Definition at line 10 of file hrp.py.