Namespaces | |
| command | |
| core | |
| detail | |
| internal | |
Classes | |
| class | __sotDebug_init |
| class | AbstractSotExternalInterface |
| struct | AdderVariadic |
| class | AdditionalFunctions |
| This helper class dynamically overloads the "new" shell command to allow creation of tasks and features as well as entities. More... | |
| class | BinaryIntToUint |
| class | BinaryOp |
| struct | BinaryOpHeader |
| struct | BoolOp |
| class | CausalFilter |
| class | ClampWorkspace |
| class | CoMFreezer |
| struct | Comparison |
| struct | Composer |
| class | Contiifstream |
| class | ControlGR |
| class | ControlPD |
| struct | ConvolutionTemporal |
| class | DebugTrace |
| class | Derivator |
| class | Device |
| struct | Diagonalizer |
| class | DoubleConstant |
| class | Event |
| class | ExceptionAbstract |
| class | ExceptionDynamic |
| class | ExceptionFactory |
| class | ExceptionFeature |
| class | ExceptionSignal |
| class | ExceptionTask |
| class | ExceptionTools |
| class | ExpMovingAvg |
| class | ExtractJointMimics |
| class | Feature1D |
| Simple test: the task is defined to be e_2 = .5 . e'.e, with e the mother task. The jacobian is then J_2 = e'.J, J being the jacobian of the mother task. More... | |
| class | FeatureAbstract |
| This class gives the abstract definition of a feature. More... | |
| class | FeatureGeneric |
| Class that defines a generic implementation of the abstract interface for features. More... | |
| class | FeatureJointLimits |
| Class that defines gradient vector for jl avoidance. More... | |
| class | FeatureLineDistance |
| Class that defines point-3d control feature. More... | |
| class | FeaturePose |
| Feature that controls the relative (or absolute) pose between two frames A (or world) and B. More... | |
| class | FeaturePosture |
| class | FeatureReferenceHelper |
| class | FeatureTask |
| class | FeatureVector3 |
| Class that defines point-3d control feature. More... | |
| class | FeatureVisualPoint |
| Class that defines 2D visualPoint visual feature. More... | |
| class | FilterDifferentiator |
| class | FIRFilter |
| class | Flags |
| struct | FootUtil |
| struct | ForceLimits |
| struct | ForceUtil |
| class | GainAdaptive |
| class | GainHyperbolic |
| Hyperbolic gain. It follows the law
The default coefficients are: More... | |
| class | GradientAscent |
| class | GripperControl |
| The goal of this entity is to ensure that the maximal torque will not be exceeded during a grasping task. If the maximal torque is reached, then the current position of the gripper is kept. More... | |
| class | GripperControlPlugin |
| struct | HandUtil |
| class | Header |
| struct | HomoToMatrix |
| struct | HomoToRotation |
| struct | HomoToTwist |
| class | Integrator |
| class | IntegratorAbstract |
| integrates an ODE. If Y is the output and X the input, the following equation is integrated: a_p * d(p)Y / dt^p + .... + a_0 Y = b_m * d(m)X / dt^m + ... . b_0 X a_i are the coefficients of the denominator of the associated transfer function between X and Y, while the b_i are those of the numerator. More... | |
| class | IntegratorEuler |
| integrates an ODE using a naive Euler integration. TODO: change the integration method. For the moment, the highest derivative of the output signal is computed using the previous values of the other derivatives and the input signal, then integrated n times, which will most certainly induce a huge drift for ODEs with a high order at the denominator. More... | |
| struct | Inverser |
| struct | InverserQuaternion |
| struct | InverserRotation |
| class | JointLimitator |
| Filter control vector to avoid exceeding joint maximum values. More... | |
| struct | JointLimits |
| class | JointTrajectoryPoint |
| class | Kalman |
| class | Latch |
| class | MadgwickAHRS |
| class | Mailbox |
| struct | MailboxTimestampedObject |
| struct | MatrixColumnSelector |
| struct | MatrixComparison |
| class | MatrixConstant |
| struct | MatrixHomoToPose |
| struct | MatrixHomoToPoseQuaternion |
| struct | MatrixHomoToPoseRollPitchYaw |
| struct | MatrixHomoToPoseUTheta |
| struct | MatrixHomoToSE3Vector |
| struct | MatrixSelector |
| struct | MatrixToHomo |
| struct | MatrixToQuaternion |
| struct | MatrixToRPY |
| struct | MatrixToUTheta |
| struct | MatrixTranspose |
| class | MemoryTaskSOT |
| class | MotionPeriod |
| class | MultiBound |
| struct | Multiplier |
| struct | Multiplier_FxE__E |
| class | NamedVector |
| class | NeckLimitation |
| struct | Normalize |
| class | OpPointModifier |
| Compute position and jacobian of a local frame attached to a joint. More... | |
| class | ParameterServer |
| class | PeriodicCall |
| class | PeriodicCallEntity |
| class | PoolStorage |
| This singleton class keep tracks of all features and tasks. More... | |
| struct | PoseQuaternionToMatrixHomo |
| struct | PoseRollPitchYawToMatrixHomo |
| struct | PoseRollPitchYawToPoseUTheta |
| struct | PoseUThetaToMatrixHomo |
| struct | QuaternionToMatrix |
| struct | QuaternionToRPY |
| class | RobotSimu |
| struct | RobotUtil |
| struct | RPYToMatrix |
| struct | RPYToQuaternion |
| class | RulesJointTrajectory |
| struct | SE3VectorToMatrixHomo |
| class | Segment |
| class | Sequencer |
| struct | SkewSymToVector |
| class | SmoothReach |
| class | Sot |
| This class implements the Stack of Task. It allows to deal with the priority of the controllers through the shell. More... | |
| class | SotJointTrajectoryEntity |
| This object handles trajectory of quantities and publish them as signals. More... | |
| class | SotLoader |
| This class is loading the control part of the Stack-Of-Tasks. More... | |
| struct | Substraction |
| class | Switch |
| Switch. More... | |
| class | Task |
| Class that defines the basic elements of a task. More... | |
| class | TaskAbstract |
| class | TaskConti |
| class | TaskPD |
| class | TaskUnilateral |
| class | TimeStamp |
| class | timestamp |
| class | Trajectory |
| struct | TypeNameHelper |
| class | UnaryOp |
| struct | UnaryOpHeader |
| struct | UThetaToQuaternion |
| class | VariadicAbstract |
| class | VariadicOp |
| struct | VariadicOpHeader |
| struct | VectorComponent |
| class | VectorConstant |
| struct | VectorMix |
| struct | VectorSelecter |
| struct | VectorStack |
| class | VisualPointProjecter |
| struct | WeightedAdder |
![\[ g(e) = a \frac{\tanh(-b(||e|| - d)) + 1}{2} + c \]](form_63.png)
Enumerations | |
| enum | ControlInput { POSITION_CONTROL = 0, VELOCITY_CONTROL = 1, TORQUE_CONTROL = 2, CONTROL_SIZE = 3 } |
| Define the type of input expected by the robot. More... | |
| enum | Representation_t { SE3Representation, R3xSO3Representation } |
| Enum used to specify what difference operation is used in FeaturePose. More... | |
Variables | |
| __sotDebug_init | __sotDebug_initialisator |
| const std::string | ControlInput_s [] = {"noInteg", "oneInteg", "twoInteg"} |
| std::ofstream | debugfile |
| double | |
| Matrix | |
| static std::map< std::string, RobotUtilShrPtr > | sgl_map_name_to_robot_util |
| SOT_CORE_EXPORT DebugTrace | sotDEBUGFLOW |
| SOT_CORE_EXPORT DebugTrace | sotERRORFLOW |
| vec_double | |
| Vector | |
| ForceLimits | VoidForceLimits |
| JointLimits | VoidJointLimits |
Detailed Description
This is the namespace for a subset of helperd classes related to the implementation of the Stack-Of-Tasks.
Typedef Documentation
◆ const_SigMatrixXd
| typedef const Eigen::Map<const MatrixRXd> dynamicgraph::sot::const_SigMatrixXd |
Definition at line 66 of file matrix-geometry.hh.
◆ const_SigVectorXd
| typedef const Eigen::Map<const Eigen::VectorXd> dynamicgraph::sot::const_SigVectorXd |
Definition at line 67 of file matrix-geometry.hh.
◆ ConstRefMatrix
| typedef const Eigen::Ref<const Eigen::MatrixXd> dynamicgraph::sot::ConstRefMatrix |
Definition at line 72 of file matrix-geometry.hh.
◆ ConstRefVector
| typedef const Eigen::Ref<const Eigen::VectorXd>& dynamicgraph::sot::ConstRefVector |
Definition at line 70 of file matrix-geometry.hh.
◆ ControlValues
Definition at line 38 of file abstract-sot-external-interface.hh.
◆ EntityClassName
Define EntityClassName here rather than in the header file so that it can be used by the macros DEFINE_SIGNAL_**_FUNCTION.
Definition at line 49 of file filter-differentiator.cpp.
◆ FeaturePose_t
Definition at line 169 of file feature-pose.hh.
◆ FeaturePoseSE3_t
Definition at line 170 of file feature-pose.hh.
◆ Index
| typedef Eigen::VectorXd::Index dynamicgraph::sot::Index |
Definition at line 39 of file robot-utils.hh.
◆ MailboxVector
Definition at line 45 of file mailbox-vector.hh.
◆ MatrixForce
| typedef Eigen::Matrix<double, 6, 6> SOT_CORE_EXPORT dynamicgraph::sot::MatrixForce |
Definition at line 81 of file matrix-geometry.hh.
◆ MatrixHomogeneous
| typedef Eigen::Transform<double, 3, Eigen::Affine> SOT_CORE_EXPORT dynamicgraph::sot::MatrixHomogeneous |
Definition at line 75 of file matrix-geometry.hh.
◆ MatrixRotation
| typedef Eigen::Matrix<double, 3, 3> SOT_CORE_EXPORT dynamicgraph::sot::MatrixRotation |
Definition at line 76 of file matrix-geometry.hh.
◆ MatrixRXd
| typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> dynamicgraph::sot::MatrixRXd |
Definition at line 63 of file matrix-geometry.hh.
◆ MatrixTwist
| typedef Eigen::Matrix<double, 6, 6> SOT_CORE_EXPORT dynamicgraph::sot::MatrixTwist |
Definition at line 82 of file matrix-geometry.hh.
◆ Multiplier_double_vector
Definition at line 575 of file operator.hh.
◆ Multiplier_matrix_vector
| typedef Multiplier_FxE__E<dynamicgraph::Matrix, dynamicgraph::Vector> dynamicgraph::sot::Multiplier_matrix_vector |
Definition at line 577 of file operator.hh.
◆ Multiplier_matrixHomo_vector
| typedef Multiplier_FxE__E<MatrixHomogeneous, dynamicgraph::Vector> dynamicgraph::sot::Multiplier_matrixHomo_vector |
Definition at line 579 of file operator.hh.
◆ Multiplier_matrixTwist_vector
| typedef Multiplier_FxE__E<MatrixTwist, dynamicgraph::Vector> dynamicgraph::sot::Multiplier_matrixTwist_vector |
Definition at line 581 of file operator.hh.
◆ Quaternion
| typedef Eigen::Quaternion<double> SOT_CORE_EXPORT dynamicgraph::sot::Quaternion |
Definition at line 85 of file matrix-geometry.hh.
◆ QuaternionMap
| typedef Eigen::Map<Quaternion> SOT_CORE_EXPORT dynamicgraph::sot::QuaternionMap |
Definition at line 86 of file matrix-geometry.hh.
◆ R3xSO3_t
| typedef pinocchio::CartesianProductOperation< pinocchio::VectorSpaceOperationTpl<3, double>, pinocchio::SpecialOrthogonalOperationTpl<3, double> > dynamicgraph::sot::R3xSO3_t |
Definition at line 44 of file test_feature_generic.cpp.
◆ RefMatrix
| typedef Eigen::Ref<Eigen::MatrixXd> dynamicgraph::sot::RefMatrix |
Definition at line 71 of file matrix-geometry.hh.
◆ RefVector
| typedef Eigen::Ref<Eigen::VectorXd> dynamicgraph::sot::RefVector |
Definition at line 69 of file matrix-geometry.hh.
◆ RobotUtilShrPtr
| typedef std::shared_ptr<RobotUtil> dynamicgraph::sot::RobotUtilShrPtr |
Accessors - This should be changed to RobotUtilPtrShared.
Definition at line 299 of file robot-utils.hh.
◆ SE3_t
Definition at line 45 of file test_feature_generic.cpp.
◆ SensorValues
Definition at line 37 of file abstract-sot-external-interface.hh.
◆ SigMatrixXd
| typedef Eigen::Map<MatrixRXd> dynamicgraph::sot::SigMatrixXd |
Definition at line 64 of file matrix-geometry.hh.
◆ SigVectorXd
| typedef Eigen::Map<Eigen::VectorXd> dynamicgraph::sot::SigVectorXd |
Definition at line 65 of file matrix-geometry.hh.
◆ SwitchBool
| typedef Switch<bool, int> dynamicgraph::sot::SwitchBool |
Definition at line 29 of file switch.cpp.
◆ SwitchMatrixHomogeneous
Definition at line 35 of file switch.cpp.
◆ SwitchVector
| typedef Switch<Vector, int> dynamicgraph::sot::SwitchVector |
Definition at line 23 of file switch.cpp.
◆ Vector6
| typedef Vector6d dynamicgraph::sot::Vector6 |
Definition at line 27 of file madgwickahrs.cpp.
◆ Vector7
| typedef Eigen::Matrix<double, 7, 1> SOT_CORE_EXPORT dynamicgraph::sot::Vector7 |
Definition at line 84 of file matrix-geometry.hh.
◆ VectorMultiBound
| typedef std::vector<MultiBound> dynamicgraph::sot::VectorMultiBound |
Definition at line 71 of file multi-bound.hh.
◆ VectorQuaternion
Definition at line 78 of file matrix-geometry.hh.
◆ VectorRollPitchYaw
| typedef Eigen::Vector3d SOT_CORE_EXPORT dynamicgraph::sot::VectorRollPitchYaw |
Definition at line 80 of file matrix-geometry.hh.
◆ VectorRotation
| typedef Eigen::Vector3d SOT_CORE_EXPORT dynamicgraph::sot::VectorRotation |
Definition at line 79 of file matrix-geometry.hh.
◆ VectorUTheta
Definition at line 77 of file matrix-geometry.hh.
Enumeration Type Documentation
◆ ControlInput
◆ Representation_t
Enum used to specify what difference operation is used in FeaturePose.
| Enumerator | |
|---|---|
| SE3Representation | |
| R3xSO3Representation | |
Definition at line 29 of file feature-pose.hh.
Function Documentation
◆ __null_stream()
◆ base_se3_to_sot()
| bool dynamicgraph::sot::base_se3_to_sot | ( | ConstRefVector | pos, |
| ConstRefMatrix | R, | ||
| RefVector | q_sot | ||
| ) |
Definition at line 444 of file robot-utils.cpp.
◆ base_sot_to_urdf()
| bool dynamicgraph::sot::base_sot_to_urdf | ( | ConstRefVector | q_sot, |
| RefVector | q_urdf | ||
| ) |
Definition at line 482 of file robot-utils.cpp.
◆ base_urdf_to_sot()
| bool dynamicgraph::sot::base_urdf_to_sot | ( | ConstRefVector | q_urdf, |
| RefVector | q_sot | ||
| ) |
Definition at line 470 of file robot-utils.cpp.
◆ buildFrom()
|
inline |
Definition at line 88 of file matrix-geometry.hh.
◆ convertVelocity()
template<typename T >
| Vector6d dynamicgraph::sot::convertVelocity | ( | const MatrixHomogeneous & | M, |
| const MatrixHomogeneous & | Mdes, | ||
| const Vector & | faNufafbDes | ||
| ) |
◆ createRobotUtil()
| RobotUtilShrPtr dynamicgraph::sot::createRobotUtil | ( | std::string & | robotName | ) |
Definition at line 535 of file robot-utils.cpp.
◆ DEFINE_SIGNAL_INNER_FUNCTION()
| dynamicgraph::sot::DEFINE_SIGNAL_INNER_FUNCTION | ( | x_dx_ddx | , |
| dynamicgraph::Vector | |||
| ) |
Definition at line 120 of file filter-differentiator.cpp.
◆ DEFINE_SIGNAL_OUT_FUNCTION() [1/4]
| dynamicgraph::sot::DEFINE_SIGNAL_OUT_FUNCTION | ( | imu_quat | , |
| dynamicgraph::Vector | |||
| ) |
Definition at line 101 of file madgwickahrs.cpp.
◆ DEFINE_SIGNAL_OUT_FUNCTION() [2/4]
| dynamicgraph::sot::DEFINE_SIGNAL_OUT_FUNCTION | ( | x_filtered | , |
| dynamicgraph::Vector | |||
| ) |
*************************************************************** /// The following signals depend only on other inner signals, so they just need to copy the interested part of the inner signal they depend on. *************************************************************** ///
Definition at line 136 of file filter-differentiator.cpp.
◆ DEFINE_SIGNAL_OUT_FUNCTION() [3/4]
| dynamicgraph::sot::DEFINE_SIGNAL_OUT_FUNCTION | ( | dx | , |
| dynamicgraph::Vector | |||
| ) |
Definition at line 145 of file filter-differentiator.cpp.
◆ DEFINE_SIGNAL_OUT_FUNCTION() [4/4]
| dynamicgraph::sot::DEFINE_SIGNAL_OUT_FUNCTION | ( | ddx | , |
| dynamicgraph::Vector | |||
| ) |
Definition at line 154 of file filter-differentiator.cpp.
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [1/17]
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | Latch | , |
| "Latch" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [2/17]
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | RobotSimu | , |
| "RobotSimu" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [3/17]
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | DoubleConstant | , |
| "DoubleConstant" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [4/17]
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | VisualPointProjecter | , |
| "VisualPointProjecter" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [5/17]
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | ExpMovingAvg | , |
| "ExpMovingAvg" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [6/17]
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | GradientAscent | , |
| "GradientAscent" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [7/17]
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | Kalman | , |
| "Kalman" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [8/17]
template<>
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SwitchVector | , |
| "SwitchVector" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [9/17]
template<>
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SwitchBool | , |
| "SwitchBoolean" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [10/17]
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | Event | , |
| "Event" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [11/17]
template<>
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | SwitchMatrixHomogeneous | , |
| "SwitchMatrixHomogeneous" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [12/17]
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | MadgwickAHRS | , |
| "MadgwickAHRS" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [13/17]
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | Segment | , |
| "Segment" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [14/17]
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | ParameterServer | , |
| "ParameterServer" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [15/17]
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | FilterDifferentiator | , |
| "FilterDifferentiator" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [16/17]
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | Integrator | , |
| "Integrator" | |||
| ) |
◆ DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN() [17/17]
| dynamicgraph::sot::DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN | ( | FeaturePosture | , |
| "FeaturePosture" | |||
| ) |
◆ force_default_rtn()
| std::string dynamicgraph::sot::force_default_rtn | ( | "Force name not found" | ) |
◆ getListOfRobots()
| std::shared_ptr< std::vector< std::string > > dynamicgraph::sot::getListOfRobots | ( | ) |
Definition at line 507 of file robot-utils.cpp.
◆ getRobotUtil()
| RobotUtilShrPtr dynamicgraph::sot::getRobotUtil | ( | std::string & | robotName | ) |
Definition at line 521 of file robot-utils.cpp.
◆ isNameInRobotUtil()
| bool dynamicgraph::sot::isNameInRobotUtil | ( | std::string & | robotName | ) |
Definition at line 528 of file robot-utils.cpp.
◆ joint_default_rtn()
| std::string dynamicgraph::sot::joint_default_rtn | ( | "Joint name not found" | ) |
◆ operator &()
◆ operator<<() [1/4]
| std::ostream & dynamicgraph::sot::operator<< | ( | std::ostream & | os, |
| const VectorMultiBound & | v | ||
| ) |
Definition at line 228 of file multi-bound.cpp.
◆ operator<<() [2/4]
| ostream& dynamicgraph::sot::operator<< | ( | ostream & | os, |
| const ExceptionAbstract & | error | ||
| ) |
Definition at line 77 of file exception-abstract.cpp.
◆ operator<<() [3/4]
| std::ostream& dynamicgraph::sot::operator<< | ( | std::ostream & | os, |
| const Flags & | fl | ||
| ) |
◆ operator<<() [4/4]
| std::ostream& dynamicgraph::sot::operator<< | ( | std::ostream & | os, |
| const MultiBound & | m | ||
| ) |
Definition at line 146 of file multi-bound.cpp.
◆ operator>>() [1/3]
| std::istream & dynamicgraph::sot::operator>> | ( | std::istream & | os, |
| VectorMultiBound & | v | ||
| ) |
Definition at line 238 of file multi-bound.cpp.
◆ operator>>() [2/3]
| std::istream& dynamicgraph::sot::operator>> | ( | std::istream & | is, |
| Flags & | fl | ||
| ) |
◆ operator>>() [3/3]
| std::istream& dynamicgraph::sot::operator>> | ( | std::istream & | is, |
| MultiBound & | m | ||
| ) |
Definition at line 170 of file multi-bound.cpp.
◆ operator|()
◆ RefVoidRobotUtil()
| RobotUtilShrPtr dynamicgraph::sot::RefVoidRobotUtil | ( | ) |
Definition at line 44 of file robot-utils.cpp.
◆ REGISTER_BINARY_OP() [1/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | Multiplier_double_vector | , |
| Multiply_double_vector | |||
| ) |
◆ REGISTER_BINARY_OP() [2/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | Multiplier_matrix_vector | , |
| Multiply_matrix_vector | |||
| ) |
◆ REGISTER_BINARY_OP() [3/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | Multiplier_matrixHomo_vector | , |
| Multiply_matrixHomo_vector | |||
| ) |
◆ REGISTER_BINARY_OP() [4/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | Multiplier_matrixTwist_vector | , |
| Multiply_matrixTwist_vector | |||
| ) |
◆ REGISTER_BINARY_OP() [5/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | Substraction< dynamicgraph::Matrix > | , |
| Substract_of_matrix | |||
| ) |
◆ REGISTER_BINARY_OP() [6/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | Substraction< dynamicgraph::Vector > | , |
| Substract_of_vector | |||
| ) |
◆ REGISTER_BINARY_OP() [7/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | Substraction< double > | , |
| Substract_of_double | |||
| ) |
◆ REGISTER_BINARY_OP() [8/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | VectorStack | , |
| Stack_of_vector | |||
| ) |
◆ REGISTER_BINARY_OP() [9/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | Composer | , |
| Compose_R_and_T | |||
| ) |
◆ REGISTER_BINARY_OP() [10/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | ConvolutionTemporal | , |
| ConvolutionTemporal | |||
| ) |
◆ REGISTER_BINARY_OP() [11/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | Comparison< double > | , |
| CompareDouble | |||
| ) |
◆ REGISTER_BINARY_OP() [12/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | MatrixComparison< Vector > | , |
| CompareVector | |||
| ) |
◆ REGISTER_BINARY_OP() [13/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | WeightedAdder< dynamicgraph::Matrix > | , |
| WeightAdd_of_matrix | |||
| ) |
◆ REGISTER_BINARY_OP() [14/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | WeightedAdder< dynamicgraph::Vector > | , |
| WeightAdd_of_vector | |||
| ) |
◆ REGISTER_BINARY_OP() [15/15]
| dynamicgraph::sot::REGISTER_BINARY_OP | ( | WeightedAdder< double > | , |
| WeightAdd_of_double | |||
| ) |
◆ REGISTER_UNARY_OP() [1/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | VectorSelecter | , |
| Selec_of_vector | |||
| ) |
◆ REGISTER_UNARY_OP() [2/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | VectorComponent | , |
| Component_of_vector | |||
| ) |
◆ REGISTER_UNARY_OP() [3/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | MatrixSelector | , |
| Selec_of_matrix | |||
| ) |
◆ REGISTER_UNARY_OP() [4/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | MatrixColumnSelector | , |
| Selec_column_of_matrix | |||
| ) |
◆ REGISTER_UNARY_OP() [5/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | MatrixTranspose | , |
| MatrixTranspose | |||
| ) |
◆ REGISTER_UNARY_OP() [6/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | Diagonalizer | , |
| MatrixDiagonal | |||
| ) |
◆ REGISTER_UNARY_OP() [7/35]
◆ REGISTER_UNARY_OP() [8/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | Inverser< MatrixHomogeneous > | , |
| Inverse_of_matrixHomo | |||
| ) |
◆ REGISTER_UNARY_OP() [9/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | Inverser< MatrixTwist > | , |
| Inverse_of_matrixtwist | |||
| ) |
◆ REGISTER_UNARY_OP() [10/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | Normalize | , |
| Norm_of_vector | |||
| ) |
◆ REGISTER_UNARY_OP() [11/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | InverserRotation | , |
| Inverse_of_matrixrotation | |||
| ) |
◆ REGISTER_UNARY_OP() [12/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | InverserQuaternion | , |
| Inverse_of_unitquat | |||
| ) |
◆ REGISTER_UNARY_OP() [13/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | MatrixHomoToPoseUTheta | , |
| MatrixHomoToPoseUTheta | |||
| ) |
◆ REGISTER_UNARY_OP() [14/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | MatrixHomoToSE3Vector | , |
| MatrixHomoToSE3Vector | |||
| ) |
◆ REGISTER_UNARY_OP() [15/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | SE3VectorToMatrixHomo | , |
| SE3VectorToMatrixHomo | |||
| ) |
◆ REGISTER_UNARY_OP() [16/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | SkewSymToVector | , |
| SkewSymToVector | |||
| ) |
◆ REGISTER_UNARY_OP() [17/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | PoseUThetaToMatrixHomo | , |
| PoseUThetaToMatrixHomo | |||
| ) |
◆ REGISTER_UNARY_OP() [18/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | MatrixHomoToPoseQuaternion | , |
| MatrixHomoToPoseQuaternion | |||
| ) |
◆ REGISTER_UNARY_OP() [19/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | PoseQuaternionToMatrixHomo | , |
| PoseQuaternionToMatrixHomo | |||
| ) |
◆ REGISTER_UNARY_OP() [20/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | MatrixHomoToPoseRollPitchYaw | , |
| MatrixHomoToPoseRollPitchYaw | |||
| ) |
◆ REGISTER_UNARY_OP() [21/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | PoseRollPitchYawToMatrixHomo | , |
| PoseRollPitchYawToMatrixHomo | |||
| ) |
◆ REGISTER_UNARY_OP() [22/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | PoseRollPitchYawToPoseUTheta | , |
| PoseRollPitchYawToPoseUTheta | |||
| ) |
◆ REGISTER_UNARY_OP() [23/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | HomoToMatrix | , |
| HomoToMatrix | |||
| ) |
◆ REGISTER_UNARY_OP() [24/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | MatrixToHomo | , |
| MatrixToHomo | |||
| ) |
◆ REGISTER_UNARY_OP() [25/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | HomoToTwist | , |
| HomoToTwist | |||
| ) |
◆ REGISTER_UNARY_OP() [26/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | HomoToRotation | , |
| HomoToRotation | |||
| ) |
◆ REGISTER_UNARY_OP() [27/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | MatrixHomoToPose | , |
| MatrixHomoToPose | |||
| ) |
◆ REGISTER_UNARY_OP() [28/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | RPYToMatrix | , |
| RPYToMatrix | |||
| ) |
◆ REGISTER_UNARY_OP() [29/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | MatrixToRPY | , |
| MatrixToRPY | |||
| ) |
◆ REGISTER_UNARY_OP() [30/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | RPYToQuaternion | , |
| RPYToQuaternion | |||
| ) |
◆ REGISTER_UNARY_OP() [31/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | QuaternionToRPY | , |
| QuaternionToRPY | |||
| ) |
◆ REGISTER_UNARY_OP() [32/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | QuaternionToMatrix | , |
| QuaternionToMatrix | |||
| ) |
◆ REGISTER_UNARY_OP() [33/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | MatrixToQuaternion | , |
| MatrixToQuaternion | |||
| ) |
◆ REGISTER_UNARY_OP() [34/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | MatrixToUTheta | , |
| MatrixToUTheta | |||
| ) |
◆ REGISTER_UNARY_OP() [35/35]
| dynamicgraph::sot::REGISTER_UNARY_OP | ( | UThetaToQuaternion | , |
| UThetaToQuaternion | |||
| ) |
◆ REGISTER_VARIADIC_OP() [1/13]
| dynamicgraph::sot::REGISTER_VARIADIC_OP | ( | VectorMix | , |
| Mix_of_vector | |||
| ) |
◆ REGISTER_VARIADIC_OP() [2/13]
| dynamicgraph::sot::REGISTER_VARIADIC_OP | ( | AdderVariadic< Matrix > | , |
| Add_of_matrix | |||
| ) |
◆ REGISTER_VARIADIC_OP() [3/13]
| dynamicgraph::sot::REGISTER_VARIADIC_OP | ( | AdderVariadic< Vector > | , |
| Add_of_vector | |||
| ) |
◆ REGISTER_VARIADIC_OP() [4/13]
| dynamicgraph::sot::REGISTER_VARIADIC_OP | ( | AdderVariadic< double > | , |
| Add_of_double | |||
| ) |
◆ REGISTER_VARIADIC_OP() [5/13]
| dynamicgraph::sot::REGISTER_VARIADIC_OP | ( | Multiplier< Matrix > | , |
| Multiply_of_matrix | |||
| ) |
◆ REGISTER_VARIADIC_OP() [6/13]
| dynamicgraph::sot::REGISTER_VARIADIC_OP | ( | Multiplier< Vector > | , |
| Multiply_of_vector | |||
| ) |
◆ REGISTER_VARIADIC_OP() [7/13]
| dynamicgraph::sot::REGISTER_VARIADIC_OP | ( | Multiplier< MatrixRotation > | , |
| Multiply_of_matrixrotation | |||
| ) |
◆ REGISTER_VARIADIC_OP() [8/13]
| dynamicgraph::sot::REGISTER_VARIADIC_OP | ( | Multiplier< MatrixHomogeneous > | , |
| Multiply_of_matrixHomo | |||
| ) |
◆ REGISTER_VARIADIC_OP() [9/13]
| dynamicgraph::sot::REGISTER_VARIADIC_OP | ( | Multiplier< MatrixTwist > | , |
| Multiply_of_matrixtwist | |||
| ) |
◆ REGISTER_VARIADIC_OP() [10/13]
| dynamicgraph::sot::REGISTER_VARIADIC_OP | ( | Multiplier< VectorQuaternion > | , |
| Multiply_of_quaternion | |||
| ) |
◆ REGISTER_VARIADIC_OP() [11/13]
| dynamicgraph::sot::REGISTER_VARIADIC_OP | ( | Multiplier< double > | , |
| Multiply_of_double | |||
| ) |
◆ REGISTER_VARIADIC_OP() [12/13]
| dynamicgraph::sot::REGISTER_VARIADIC_OP | ( | BoolOp< 0 > | , |
| And | |||
| ) |
◆ REGISTER_VARIADIC_OP() [13/13]
| dynamicgraph::sot::REGISTER_VARIADIC_OP | ( | BoolOp< 1 > | , |
| Or | |||
| ) |
◆ SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN() [1/2]
| dynamicgraph::sot::SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN | ( | FIRFilter | , |
| double | , | ||
| double | , | ||
| double_double | , | ||
| "FIRFilter" | |||
| ) |
◆ SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN() [2/2]
| FIRFilter dynamicgraph::sot::SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN | ( | FIRFilter | , |
| Vector | , | ||
| Matrix | , | ||
| vec_mat | , | ||
| "FIRFilter" | |||
| ) |
◆ SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER() [1/2]
| dynamicgraph::sot::SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER | ( | IntegratorEuler | , |
| double | , | ||
| double | , | ||
| "IntegratorEulerDoubleDouble" | |||
| ) |
◆ SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER() [2/2]
| IntegratorEulerVectorMatrix dynamicgraph::sot::SOT_FACTORY_TEMPLATE_ENTITY_PLUGIN_EULER | ( | IntegratorEuler | , |
| Vector | , | ||
| double | , | ||
| "IntegratorEulerVectorDouble" | |||
| ) |
◆ sotDEBUGF() [1/2]
|
inline |
◆ sotDEBUGF() [2/2]
|
inline |
◆ sotDEBUGFLOW()
| DebugTrace dynamicgraph::sot::sotDEBUGFLOW | ( | debugfile | ) |
◆ sotERRORF() [1/2]
|
inline |
◆ sotERRORF() [2/2]
|
inline |
◆ sotERRORFLOW()
| DebugTrace dynamicgraph::sot::sotERRORFLOW | ( | debugfile | ) |
◆ sotTDEBUGF() [1/2]
|
inline |
◆ sotTDEBUGF() [2/2]
|
inline |
◆ VoidIndex()
| Index dynamicgraph::sot::VoidIndex | ( | - | 1 | ) |
Variable Documentation
◆ __sotDebug_initialisator
| __sotDebug_init dynamicgraph::sot::__sotDebug_initialisator |
◆ ControlInput_s
| const std::string dynamicgraph::sot::ControlInput_s[] = {"noInteg", "oneInteg", "twoInteg"} |
◆ debugfile
◆ double
| IntegratorEulerVectorMatrix dynamicgraph::sot::double |
Definition at line 49 of file fir-filter.cpp.
◆ Matrix
Definition at line 45 of file integrator-euler.t.cpp.
◆ sgl_map_name_to_robot_util
|
static |
Definition at line 505 of file robot-utils.cpp.
◆ sotDEBUGFLOW
| DebugTrace dynamicgraph::sot::sotDEBUGFLOW(debugfile) |
◆ sotERRORFLOW
| DebugTrace dynamicgraph::sot::sotERRORFLOW(debugfile) |
◆ vec_double
| dynamicgraph::sot::vec_double |
Definition at line 49 of file fir-filter.cpp.
◆ Vector
Definition at line 49 of file fir-filter.cpp.
◆ VoidForceLimits
| ForceLimits dynamicgraph::sot::VoidForceLimits |
Definition at line 40 of file robot-utils.cpp.
◆ VoidJointLimits
| JointLimits dynamicgraph::sot::VoidJointLimits |
Definition at line 41 of file robot-utils.cpp.