ColladaUtil.h File Reference

#include <dae.h>
#include <dae/daeErrorHandler.h>
#include <1.5/dom/domCOLLADA.h>
#include <dae/domAny.h>
#include <1.5/dom/domConstants.h>
#include <1.5/dom/domTriangles.h>
#include <dae/daeDocument.h>
#include <1.5/dom/domTypes.h>
#include <1.5/dom/domImage.h>
#include <1.5/dom/domElements.h>
#include <1.5/dom/domKinematics.h>
#include <dae/daeStandardURIResolver.h>
#include <locale>
#include <string>
#include <vector>
#include <list>
#include <map>
#include <sstream>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/date_time/time_facet.hpp>
#include <boost/algorithm/string.hpp>
#include <boost/format.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/array.hpp>
#include <boost/lexical_cast.hpp>
#include <hrpCorba/ORBwrap.h>
#include <hrpCorba/ModelLoader.hh>

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Namespaces
	boost
	Modifications controlling boost library behavior.
	ColladaUtil

Macros
#define	__PRETTY_FUNCTION__   __func__
#define	BOOST_ENABLE_ASSERT_HANDLER
#define	COLLADA_ASSERT(b)   { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw OpenHRP::ModelLoader::ModelLoaderException(ss.str().c_str()); } }

Typedefs
typedef double	ColladaUtil::dReal

Functions
void	boost::assertion_failed (char const *expr, char const *function, char const *file, long line)
void	ColladaUtil::AxisAngleFromQuat (OpenHRP::DblArray4 &rotation, const OpenHRP::DblArray4 &quat)
void	ColladaUtil::AxisAngleTranslationFromPose (OpenHRP::DblArray4 &rotation, OpenHRP::DblArray3 &translation, const OpenHRP::DblArray12 &pose)
void	ColladaUtil::COLLADALOG_DEBUG (const std::string &s)
void	ColladaUtil::COLLADALOG_ERROR (const std::string &s)
void	ColladaUtil::COLLADALOG_INFO (const std::string &s)
void	ColladaUtil::COLLADALOG_VERBOSE (const std::string &s)
void	ColladaUtil::COLLADALOG_WARN (const std::string &s)
void	ColladaUtil::PoseFromAxisAngleTranslation (OpenHRP::DblArray12 &pose, const OpenHRP::DblArray4 &rotation, const OpenHRP::DblArray3 &translation)
void	ColladaUtil::PoseFromQuat (OpenHRP::DblArray12 &pose, const OpenHRP::DblArray4 &quat)
void	ColladaUtil::PoseIdentity (OpenHRP::DblArray12 &pose)
void	ColladaUtil::PoseInverse (OpenHRP::DblArray12 &poseinv, const OpenHRP::DblArray12 &pose)
template<typename T >
void	ColladaUtil::PoseMult (OpenHRP::DblArray12 &mres, const T &m0, const OpenHRP::DblArray12 &m1)
void	ColladaUtil::PoseMultVector (OpenHRP::DblArray3 &vnew, const OpenHRP::DblArray12 &m, const OpenHRP::DblArray3 &v)
void	ColladaUtil::PoseRotateVector (OpenHRP::DblArray3 &vnew, const OpenHRP::DblArray12 &m, const OpenHRP::DblArray3 &v)
template<typename T >
void	ColladaUtil::QuatFromAxisAngle (OpenHRP::DblArray4 &quat, const T &rotation, dReal fanglemult=1)
template<typename T >
void	ColladaUtil::QuatFromMatrix (OpenHRP::DblArray4 &quat, const T &mat)
std::string	ColladaUtil::tolowerstring (const std::string &s)
std::vector< dReal >	ColladaUtil::toVector (const OpenHRP::DblSequence &seq)

Detailed Description

Author

Rosen Diankov (rosen.nosp@m..dia.nosp@m.nkov@.nosp@m.gmai.nosp@m.l.com)

Utilities for the COLLADA reader and writers. Used OpenRAVE files for reference.

Definition in file ColladaUtil.h.

Macro Definition Documentation

__PRETTY_FUNCTION__

#define __PRETTY_FUNCTION__   __func__

Definition at line 71 of file ColladaUtil.h.

BOOST_ENABLE_ASSERT_HANDLER

#define BOOST_ENABLE_ASSERT_HANDLER

Definition at line 50 of file ColladaUtil.h.

COLLADA_ASSERT

#define COLLADA_ASSERT

(

b

)

{ if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw OpenHRP::ModelLoader::ModelLoaderException(ss.str().c_str()); } }

Definition at line 74 of file ColladaUtil.h.