xpp Namespace Reference

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 StateLinXd &pos)
template<typename T >
std::ostream &	operator<< (std::ostream &stream, Endeffectors< T > endeffectors)
std::ostream &	operator<< (std::ostream &out, const StateAng3d &ori)
std::ostream &	operator<< (std::ostream &out, const State3d &pose)
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

using xpp::EndeffectorID = typedef uint

Definition at line 41 of file endeffectors.h.

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

Definition at line 119 of file endeffectors.h.

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

Definition at line 117 of file endeffectors.h.

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

Definition at line 118 of file endeffectors.h.

using xpp::Quaterniond = typedef Eigen::Quaterniond

Definition at line 51 of file state.h.

using xpp::Vector2d = typedef Eigen::Vector2d

Definition at line 47 of file state.h.

using xpp::Vector3d = typedef Eigen::Vector3d

Definition at line 48 of file state.h.

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

Definition at line 49 of file state.h.

using xpp::VectorXd = typedef Eigen::VectorXd

Definition at line 50 of file state.h.

Enumeration Type Documentation

enum xpp::Coords2D

Enumerator
X_
Y_

Definition at line 45 of file cartesian_declarations.h.

enum xpp::Coords3D

Enumerator
X
Y
Z

Definition at line 49 of file cartesian_declarations.h.

enum xpp::Coords6D

Enumerator
AX
AY
AZ
LX
LY
LZ

Definition at line 59 of file cartesian_declarations.h.

enum xpp::MotionDerivative

Enumerator
kPos
kVel
kAcc
kJerk

Definition at line 53 of file state.h.

Function Documentation

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 206 of file state.h.

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 219 of file state.h.

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

inline

Definition at line 251 of file state.h.

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

inline

Definition at line 242 of file state.h.

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

inline

Definition at line 234 of file state.h.

template<typename T >

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

Definition at line 257 of file endeffectors.h.

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

inline

Definition at line 273 of file state.h.

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

inline

Definition at line 283 of file state.h.

static Coords2D xpp::To2D ( Coords3D  dim )

static

Definition at line 50 of file cartesian_declarations.h.

Variable Documentation

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

static

Definition at line 60 of file cartesian_declarations.h.

constexpr int xpp::kDim2d = 2

static

Definition at line 44 of file cartesian_declarations.h.

constexpr int xpp::kDim3d = 3

static

Definition at line 48 of file cartesian_declarations.h.

constexpr int xpp::kDim6d = 6

static

Definition at line 58 of file cartesian_declarations.h.