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 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 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 (Matrix33 &out_R, const Vector3 &axis, double q)

HRP_UTIL_EXPORT void	calcRodrigues (Matrix44 &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 (x)

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 (rnc=None)

def	findControllerFactory (name, rnc=None)

def	findDynamicsPlugin (name, rnc=None)

def	findDynamicsSimulatorFactory (rnc=None)

def	findIoControlPlugin (name, rnc=None)

def	findLogPlugin (name, rnc=None)

def	findModelLoader (rnc=None)

def	findObject (objname, rnc=None)

def	findOnlineViewer (rnc=None)

def	findPlugin (name, rnc=None)

def	findPluginManager (name, rnc=None)

def	findPositionSensor (rnc=None)

def	findReceiver (objname, rnc=None)

def	findSeqPlugin (name, rnc=None)

def	findSpeakServer (rnc=None)

def	findStabilizerPlugin (name, rnc=None)

def	findStateProvider (name, rnc=None)

def	findStereoVision (rnc=None)

def	findWalkPlugin (name, rnc=None)

template<class Array >
void	getMatrix33FromRowMajorArray (Matrix33 &m33, const Array &a, size_t top=0)

HRPMODEL_API OpenHRP::ModelLoader_var	getModelLoader (CORBA_ORB_var orb)

HRPMODEL_API OpenHRP::ModelLoader_var	getModelLoader (CosNaming::NamingContext_var cxt)

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

HRP_UTIL_EXPORT void	getPathFromUrl (string &refUrl, const string &rootDir, string srcUrl)

def	getRootNamingContext (corbaloc)

template<class M >
void	getVector3 (Vector3 &v3, const M &m, size_t row, size_t col)

template<class V >
void	getVector3 (Vector3 &v3, const V &v, size_t top=0)

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 ()

HRPMODEL_API int	loadBodyCustomizers (BodyInterface *bodyInterface)

HRPMODEL_API int	loadBodyCustomizers (const std::string pathString)

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

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, CORBA_ORB_var orb)

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

HRPMODEL_API OpenHRP::BodyInfo_var	loadBodyInfo (const char url, int &argc, char argv[])

def	loadVRML (url)

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, char matchChar)

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

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

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

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

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

def	radians (x)

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, const V &v, size_t top=0)

template<class M >
void	setVector3 (const Vector3 &v3, M &m, size_t row, size_t col)

template<class V >
void	setVector3 (const Vector3 &v3, V &v, size_t top=0)

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

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

int	solveLinearEquationLU (dmatrix a, const dmatrix &b, dmatrix &out_x)

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

Matrix33	trans (const Matrix33 &m)

def	unbindObject (objname)

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

const typedef char *(	BodyCustomizerGetTargetModelNamesFunc )()

const typedef char (	BodyGetLinkNameFunc )(BodyHandle bodyHandle, int linkIndex)

	rootnc = None

Detailed Description

Author: Shin'ichiro Nakaoka; Shin'ichiro Nakaoka

Typedef Documentation

◆ AbstractVrmlGroupPtr

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

Definition at line 232 of file VrmlNodes.h.

◆ BodyCustomizerCalcAnalyticIkFunc

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

Definition at line 53 of file BodyCustomizerInterface.h.

◆ BodyCustomizerCreateFunc

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

Definition at line 45 of file BodyCustomizerInterface.h.

◆ BodyCustomizerDestroyFunc

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

Definition at line 47 of file BodyCustomizerInterface.h.

◆ BodyCustomizerHandle

typedef void * hrp::BodyCustomizerHandle

Definition at line 42 of file Body.h.

◆ BodyCustomizerInitializeAnalyticIkFunc

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

Definition at line 48 of file BodyCustomizerInterface.h.

◆ BodyCustomizerSetVirtualJointForcesFunc

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

Definition at line 55 of file BodyCustomizerInterface.h.

◆ BodyGetLinkDoubleValuePtrFunc

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

Definition at line 29 of file BodyCustomizerInterface.h.

◆ BodyGetLinkIndexFromNameFunc

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

Definition at line 27 of file BodyCustomizerInterface.h.

◆ BodyHandle

typedef void * hrp::BodyHandle

Definition at line 40 of file Body.h.

◆ BodyPtr

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

Definition at line 315 of file Body.h.

◆ ColdetLinkPairPtr

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

Definition at line 35 of file ColdetLinkPair.h.

◆ ColdetModelPairPtr

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

Definition at line 124 of file ColdetModelPair.h.

◆ ColdetModelPtr

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

Definition at line 268 of file ColdetModel.h.

◆ dmatrix

typedef Eigen::MatrixXd hrp::dmatrix

Definition at line 13 of file EigenTypes.h.

◆ dquaternion

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

Definition at line 17 of file EigenTypes.h.

◆ dvector

typedef Eigen::VectorXd hrp::dvector

Definition at line 14 of file EigenTypes.h.

◆ dvector6

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

Definition at line 16 of file EigenTypes.h.

◆ EasyScannerPtr

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

Definition at line 280 of file EasyScanner.h.

◆ EdgeToTriangleMap

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

Definition at line 59 of file ColdetModel.h.

◆ ForwardDynamicsMMPtr

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

Definition at line 157 of file ForwardDynamicsCBM.h.

◆ ForwardDynamicsPtr

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

Definition at line 92 of file ForwardDynamics.h.

◆ GetBodyCustomizerInterfaceFunc

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

Definition at line 72 of file BodyCustomizerInterface.h.

◆ IInverseKinematicsPtr

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

Definition at line 29 of file InverseKinematics.h.

◆ ivector

typedef Eigen::VectorXi hrp::ivector

Definition at line 15 of file EigenTypes.h.

◆ JointNodeSetArray

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

Definition at line 50 of file ModelNodeSet.h.

◆ JointNodeSetPtr

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

Definition at line 34 of file ModelNodeSet.h.

◆ JointPathPtr

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

Definition at line 29 of file Body.h.

◆ Matrix33

typedef Eigen::Matrix3d hrp::Matrix33

Definition at line 12 of file EigenTypes.h.

◆ Matrix44

typedef Eigen::Matrix4d hrp::Matrix44

Definition at line 18 of file Eigen4d.h.

◆ MFColor

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

Definition at line 76 of file VrmlNodes.h.

◆ MFFloat

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

Definition at line 70 of file VrmlNodes.h.

◆ MFInt32

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

Definition at line 69 of file VrmlNodes.h.

◆ MFNode

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

Definition at line 158 of file VrmlNodes.h.

◆ MFRotation

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

Definition at line 74 of file VrmlNodes.h.

◆ MFString

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

Definition at line 77 of file VrmlNodes.h.

◆ MFTime

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

Definition at line 75 of file VrmlNodes.h.

◆ MFVec2f

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

Definition at line 71 of file VrmlNodes.h.

◆ MFVec3f

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

Definition at line 72 of file VrmlNodes.h.

◆ MFVec4f

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

Definition at line 73 of file VrmlNodes.h.

◆ ModelNodeSetPtr

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

Definition at line 94 of file ModelNodeSet.h.

◆ SFBool

typedef bool hrp::SFBool

Definition at line 48 of file VrmlNodes.h.

◆ SFColor

typedef SFVec3f hrp::SFColor

Definition at line 58 of file VrmlNodes.h.

◆ SFFloat

typedef double hrp::SFFloat

Definition at line 50 of file VrmlNodes.h.

◆ SFInt32

typedef int hrp::SFInt32

Definition at line 49 of file VrmlNodes.h.

◆ SFNode

typedef VrmlNodePtr hrp::SFNode

Definition at line 157 of file VrmlNodes.h.

◆ SFRotation

typedef SFVec4f hrp::SFRotation

Definition at line 59 of file VrmlNodes.h.

◆ SFString

typedef std::string hrp::SFString

Definition at line 52 of file VrmlNodes.h.

◆ SFTime

typedef SFFloat hrp::SFTime

Definition at line 51 of file VrmlNodes.h.

◆ SFVec2f

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

Definition at line 54 of file VrmlNodes.h.

◆ SFVec3f

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

Definition at line 55 of file VrmlNodes.h.

◆ SFVec4f

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

Definition at line 56 of file VrmlNodes.h.

◆ TProtoFieldMap

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

Definition at line 854 of file VrmlNodes.h.

◆ TProtoFieldPair

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

Definition at line 855 of file VrmlNodes.h.

◆ Vector2

typedef Eigen::Vector2d hrp::Vector2

Definition at line 10 of file EigenTypes.h.

◆ Vector3

typedef Eigen::Vector3d hrp::Vector3

Definition at line 11 of file EigenTypes.h.

◆ Vector3Ref

typedef Eigen::Vector3d hrp::Vector3Ref

Definition at line 19 of file Eigen3d.h.

◆ Vector4

typedef Eigen::Vector4d hrp::Vector4

Definition at line 21 of file Eigen4d.h.

◆ VrmlAnchorPtr

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

Definition at line 710 of file VrmlNodes.h.

◆ VrmlAppearancePtr

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

Definition at line 277 of file VrmlNodes.h.

◆ VrmlBackgroundPtr

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

Definition at line 217 of file VrmlNodes.h.

◆ VrmlBillboardPtr

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

Definition at line 720 of file VrmlNodes.h.

◆ VrmlBoxPtr

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

Definition at line 379 of file VrmlNodes.h.

◆ VrmlCollisionPtr

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

Definition at line 698 of file VrmlNodes.h.

◆ VrmlColorPtr

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

Definition at line 454 of file VrmlNodes.h.

◆ VrmlConePtr

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

Definition at line 393 of file VrmlNodes.h.

◆ VrmlCoordinatePtr

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

Definition at line 457 of file VrmlNodes.h.

◆ VrmlCylinderPtr

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

Definition at line 408 of file VrmlNodes.h.

◆ VrmlCylinderSensorPtr

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

Definition at line 551 of file VrmlNodes.h.

◆ VrmlDirectionalLightPtr

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

Definition at line 773 of file VrmlNodes.h.

◆ VrmlElevationGridPtr

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

Definition at line 628 of file VrmlNodes.h.

◆ VrmlExtrusionPtr

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

Definition at line 651 of file VrmlNodes.h.

◆ VrmlFogPtr

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

Definition at line 732 of file VrmlNodes.h.

◆ VrmlFontStylePtr

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

Definition at line 437 of file VrmlNodes.h.

◆ VrmlGeometryPtr

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

Definition at line 280 of file VrmlNodes.h.

◆ VrmlGroupPtr

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

Definition at line 250 of file VrmlNodes.h.

◆ VrmlImageTexturePtr

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

Definition at line 350 of file VrmlNodes.h.

◆ VrmlIndexedFaceSetPtr

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

Definition at line 498 of file VrmlNodes.h.

◆ VrmlIndexedLineSetPtr

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

Definition at line 472 of file VrmlNodes.h.

◆ VrmlInlinePtr

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

Definition at line 274 of file VrmlNodes.h.

◆ VrmlLODPtr

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

Definition at line 687 of file VrmlNodes.h.

◆ VrmlMaterialPtr

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

Definition at line 295 of file VrmlNodes.h.

◆ VrmlMovieTexturePtr

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

Definition at line 602 of file VrmlNodes.h.

◆ VrmlNavigationInfoPtr

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

Definition at line 197 of file VrmlNodes.h.

◆ VrmlNodePtr

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

Definition at line 155 of file VrmlNodes.h.

◆ VrmlNormalPtr

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

Definition at line 475 of file VrmlNodes.h.

◆ VrmlPixelTexturePtr

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

Definition at line 582 of file VrmlNodes.h.

◆ VrmlPointLightPtr

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

Definition at line 759 of file VrmlNodes.h.

◆ VrmlPointSetPtr

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

Definition at line 566 of file VrmlNodes.h.

◆ VrmlProtoInstancePtr

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

Definition at line 898 of file VrmlNodes.h.

◆ VrmlProtoPtr

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

Definition at line 879 of file VrmlNodes.h.

◆ VrmlShapePtr

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

Definition at line 292 of file VrmlNodes.h.

◆ VrmlSpherePtr

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

Definition at line 418 of file VrmlNodes.h.

◆ VrmlSpotLightPtr

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

Definition at line 792 of file VrmlNodes.h.

◆ VrmlSwitchPtr

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

Definition at line 669 of file VrmlNodes.h.

◆ VrmlTextPtr

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

Definition at line 451 of file VrmlNodes.h.

◆ VrmlTextureCoordinatePtr

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

Definition at line 478 of file VrmlNodes.h.

◆ VrmlTexturePtr

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

Definition at line 298 of file VrmlNodes.h.

◆ VrmlTextureTransformPtr

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

Definition at line 301 of file VrmlNodes.h.

◆ VrmlTransformPtr

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

Definition at line 265 of file VrmlNodes.h.

◆ VrmlUnsupportedNodePtr

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

Definition at line 167 of file VrmlNodes.h.

◆ VrmlViewpointPtr

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

Definition at line 182 of file VrmlNodes.h.

◆ VrmlWorldInfoPtr

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

Definition at line 743 of file VrmlNodes.h.

◆ VrmlWriterNodeMethod

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

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

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

Enumerator
LEFT
TOP
FRONT
BOTTOM
RIGHT
BACK

Definition at line 67 of file TriangleMeshShaper.h.

◆ VrmlFieldTypeId

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.

◆ VrmlNodeCategory

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

◆ calcEigenVectors()

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

Definition at line 308 of file MatrixSolvers.cpp.

◆ calcInverse()

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

inline

Definition at line 32 of file Tvmet2Eigen.h.

◆ calcPseudoInverse()

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.

◆ calcRodrigues() [1/2]

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

Definition at line 22 of file Eigen3d.cpp.

◆ calcRodrigues() [2/2]

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

Definition at line 16 of file Eigen4d.cpp.

◆ calcRotFromRpy()

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

Definition at line 138 of file Eigen3d.cpp.

◆ calcSRInverse()

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.

◆ calcTransformMatrix()

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

Definition at line 49 of file Eigen4d.cpp.

◆ cross()

Vector3 hrp::cross	(	const Vector3 &	v1,
		const Vector3 &	v2
	)

inline

Definition at line 15 of file Tvmet2Eigen.h.

◆ degrees()

def hrp.degrees ( x )

Definition at line 160 of file hrp.py.

◆ deleteURLScheme()

string hrp::deleteURLScheme ( string url )

Definition at line 25 of file UrlUtil.cpp.

◆ det()

HRP_UTIL_EXPORT double hrp::det ( const dmatrix & _a )

Definition at line 368 of file MatrixSolvers.cpp.

◆ dot()

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

inline

Definition at line 19 of file Tvmet2Eigen.h.

◆ dynamic_node_cast()

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.

◆ findBodyCustomizer()

BodyCustomizerInterface * hrp::findBodyCustomizer ( std::string modelName )

Definition at line 287 of file BodyCustomizerInterface.cpp.

◆ findCollisionDetectorFactory()

def hrp.findCollisionDetectorFactory ( rnc = None )

Definition at line 153 of file hrp.py.

◆ findControllerFactory()

def hrp.findControllerFactory	(	name,
		rnc = `None`
	)

Definition at line 147 of file hrp.py.

◆ findDynamicsPlugin()

def hrp.findDynamicsPlugin	(	name,
		rnc = `None`
	)

Definition at line 86 of file hrp.py.

◆ findDynamicsSimulatorFactory()

def hrp.findDynamicsSimulatorFactory ( rnc = None )

Definition at line 141 of file hrp.py.

◆ findIoControlPlugin()

def hrp.findIoControlPlugin	(	name,
		rnc = `None`
	)

Definition at line 111 of file hrp.py.

◆ findLogPlugin()

def hrp.findLogPlugin	(	name,
		rnc = `None`
	)

Definition at line 80 of file hrp.py.

◆ findModelLoader()

def hrp.findModelLoader ( rnc = None )

Definition at line 117 of file hrp.py.

◆ findObject()

def hrp.findObject	(	objname,
		rnc = `None`
	)

Definition at line 38 of file hrp.py.

◆ findOnlineViewer()

def hrp.findOnlineViewer ( rnc = None )

Definition at line 135 of file hrp.py.

◆ findPlugin()

def hrp.findPlugin	(	name,
		rnc = `None`
	)

Definition at line 52 of file hrp.py.

◆ findPluginManager()

def hrp.findPluginManager	(	name,
		rnc = `None`
	)

Definition at line 59 of file hrp.py.

◆ findPositionSensor()

def hrp.findPositionSensor ( rnc = None )

Definition at line 123 of file hrp.py.

◆ findReceiver()

def hrp.findReceiver	(	objname,
		rnc = `None`
	)

Definition at line 45 of file hrp.py.

◆ findSeqPlugin()

def hrp.findSeqPlugin	(	name,
		rnc = `None`
	)

Definition at line 73 of file hrp.py.

◆ findSpeakServer()

def hrp.findSpeakServer ( rnc = None )

Definition at line 129 of file hrp.py.

◆ findStabilizerPlugin()

def hrp.findStabilizerPlugin	(	name,
		rnc = `None`
	)

Definition at line 104 of file hrp.py.

◆ findStateProvider()

def hrp.findStateProvider	(	name,
		rnc = `None`
	)

Definition at line 92 of file hrp.py.

◆ findStereoVision()

def hrp.findStereoVision ( rnc = None )

Definition at line 98 of file hrp.py.

◆ findWalkPlugin()

def hrp.findWalkPlugin	(	name,
		rnc = `None`
	)

Definition at line 66 of file hrp.py.

◆ getMatrix33FromRowMajorArray()

template<class Array >

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

inline

Definition at line 118 of file Eigen3d.h.

◆ getModelLoader() [1/2]

ModelLoader_var hrp::getModelLoader ( CORBA_ORB_var orb )

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

◆ getModelLoader() [2/2]

ModelLoader_var hrp::getModelLoader ( CosNaming::NamingContext_var cxt )

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

◆ getOnlineViewer() [1/3]

OnlineViewer_var hrp::getOnlineViewer ( CORBA_ORB_var orb )

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

◆ getOnlineViewer() [2/3]

OnlineViewer_var hrp::getOnlineViewer ( CosNaming::NamingContext_var cxt )

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

◆ getOnlineViewer() [3/3]

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

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

◆ getPathFromUrl()

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

Definition at line 57 of file UrlUtil.cpp.

◆ getRootNamingContext()

def hrp.getRootNamingContext ( corbaloc )

Definition at line 29 of file hrp.py.

◆ getVector3() [1/2]

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.

◆ getVector3() [2/2]

template<class V >

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

inline

Definition at line 138 of file Eigen3d.h.

◆ getVector3Ref()

Vector3Ref hrp::getVector3Ref ( const double * data )

inline

Definition at line 20 of file Eigen3d.h.

◆ hat()

Matrix33 hrp::hat ( const Vector3 & c )

inline

Definition at line 80 of file Eigen3d.h.

◆ initCORBA()

def hrp.initCORBA ( )

Definition at line 18 of file hrp.py.

◆ intrusive_ptr_add_ref() [1/2]

void hrp::intrusive_ptr_add_ref ( hrp::Referenced * obj )

inline

Definition at line 31 of file Referenced.h.

◆ intrusive_ptr_add_ref() [2/2]

void hrp::intrusive_ptr_add_ref ( VrmlNode * obj )

inline

Definition at line 144 of file VrmlNodes.h.

◆ intrusive_ptr_release() [1/2]

void hrp::intrusive_ptr_release ( hrp::Referenced * obj )

inline

Definition at line 35 of file Referenced.h.

◆ intrusive_ptr_release() [2/2]

void hrp::intrusive_ptr_release ( VrmlNode * obj )

inline

Definition at line 148 of file VrmlNodes.h.

◆ inverse() [1/2]

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.

◆ inverse() [2/2]

Matrix33 hrp::inverse ( const Matrix33 & m )

inline

Definition at line 40 of file Tvmet2Eigen.h.

◆ inverse33()

HRP_UTIL_EXPORT Matrix33 hrp::inverse33 ( const Matrix33 & m )

inline

Definition at line 46 of file Tvmet2Eigen.h.

◆ isFileProtocol()

bool hrp::isFileProtocol ( const string & ref )

Definition at line 105 of file UrlUtil.cpp.

◆ isOrthogonalMatrix()

bool hrp::isOrthogonalMatrix ( Matrix33 & m )

Definition at line 152 of file Eigen3d.cpp.

◆ loadBodyCustomizers() [1/4]

int hrp::loadBodyCustomizers ( )

Definition at line 281 of file BodyCustomizerInterface.cpp.

◆ loadBodyCustomizers() [2/4]

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.

◆ loadBodyCustomizers() [3/4]

int hrp::loadBodyCustomizers ( const std::string pathString )

Definition at line 232 of file BodyCustomizerInterface.cpp.

◆ loadBodyCustomizers() [4/4]

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.

◆ loadBodyFromBodyInfo()

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.

◆ loadBodyFromModelLoader() [1/3]

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.

◆ loadBodyFromModelLoader() [2/3]

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.

◆ loadBodyFromModelLoader() [3/3]

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.

◆ loadBodyInfo() [1/3]

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

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

◆ loadBodyInfo() [2/3]

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

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

◆ loadBodyInfo() [3/3]

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

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

◆ loadVRML()

def hrp.loadVRML ( url )

Definition at line 167 of file hrp.py.

◆ max()

static int hrp::max	(	int	a,
		int	b
	)

inlinestatic

Definition at line 54 of file MatrixSolvers.cpp.

◆ min()

static int hrp::min	(	int	a,
		int	b
	)

inlinestatic

Definition at line 55 of file MatrixSolvers.cpp.

◆ nomralize()

Vector3 hrp::nomralize ( const Vector3 & v )

inline

Definition at line 23 of file Tvmet2Eigen.h.

◆ norm2()

double hrp::norm2 ( const Vector3 & v )

inline

Definition at line 22 of file Tvmet2Eigen.h.

◆ omegaFromRot()

Vector3 hrp::omegaFromRot ( const Matrix33 & r )

Definition at line 63 of file Eigen3d.cpp.

◆ operator>>() [1/6]

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

Definition at line 779 of file EasyScanner.cpp.

◆ operator>>() [2/6]

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

Definition at line 767 of file EasyScanner.cpp.

◆ operator>>() [3/6]

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

Definition at line 746 of file EasyScanner.cpp.

◆ operator>>() [4/6]

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

Definition at line 800 of file EasyScanner.cpp.

◆ operator>>() [5/6]

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

Definition at line 756 of file EasyScanner.cpp.

◆ operator>>() [6/6]

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

◆ radians()

def hrp.radians ( x )

Definition at line 164 of file hrp.py.

◆ rodrigues()

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

inline

Definition at line 27 of file Eigen3d.h.

◆ rotationX()

Matrix33 hrp::rotationX ( double theta )

inline

Definition at line 45 of file Eigen3d.h.

◆ rotationY()

Matrix33 hrp::rotationY ( double theta )

inline

Definition at line 55 of file Eigen3d.h.

◆ rotationZ()

Matrix33 hrp::rotationZ ( double theta )

inline

Definition at line 65 of file Eigen3d.h.

◆ rotFromRpy() [1/2]

Matrix33 hrp::rotFromRpy ( const Vector3 & rpy )

inline

Definition at line 33 of file Eigen3d.h.

◆ rotFromRpy() [2/2]

Matrix33 hrp::rotFromRpy	(	double	r,
		double	p,
		double	y
	)

inline

Definition at line 39 of file Eigen3d.h.

◆ rpyFromRot()

Vector3 hrp::rpyFromRot ( const Matrix33 & m )

Definition at line 99 of file Eigen3d.cpp.

◆ setMatrix33()

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.

◆ setMatrix33ToRowMajorArray()

template<class Array >

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

inline

Definition at line 105 of file Eigen3d.h.

◆ setTransMatrix33()

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.

◆ setVector3() [1/3]

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.

◆ setVector3() [2/3]

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.

◆ setVector3() [3/3]

template<class V >

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

inline

Definition at line 130 of file Eigen3d.h.

◆ solveLinearEquation()

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.

◆ solveLinearEquationLU() [1/2]

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.

◆ solveLinearEquationLU() [2/2]

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

Definition at line 58 of file MatrixSolvers.cpp.

◆ solveLinearEquationSVD()

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.

◆ trans()

Matrix33 hrp::trans ( const Matrix33 & m )

inline

Definition at line 18 of file Tvmet2Eigen.h.

◆ unbindObject()

def hrp.unbindObject ( objname )

Definition at line 12 of file hrp.py.

◆ VVt_prod()

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

inline

Definition at line 24 of file Tvmet2Eigen.h.

Variable Documentation

◆ BODY_CUSTOMIZER_INTERFACE_VERSION

const int hrp::BODY_CUSTOMIZER_INTERFACE_VERSION = 1

static

Definition at line 58 of file BodyCustomizerInterface.h.

◆ BODY_INTERFACE_VERSION

const int hrp::BODY_INTERFACE_VERSION = 1

static

Definition at line 31 of file BodyCustomizerInterface.h.

◆ BodyCustomizerGetTargetModelNamesFunc

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

Definition at line 44 of file BodyCustomizerInterface.h.

◆ BodyGetLinkNameFunc

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

Definition at line 28 of file BodyCustomizerInterface.h.

◆ rootnc

hrp.rootnc = None

Definition at line 10 of file hrp.py.

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ AbstractVrmlGroupPtr

◆ BodyCustomizerCalcAnalyticIkFunc

◆ BodyCustomizerCreateFunc

◆ BodyCustomizerDestroyFunc

◆ BodyCustomizerHandle

◆ BodyCustomizerInitializeAnalyticIkFunc

◆ BodyCustomizerSetVirtualJointForcesFunc

◆ BodyGetLinkDoubleValuePtrFunc

◆ BodyGetLinkIndexFromNameFunc

◆ BodyHandle

◆ BodyPtr

◆ ColdetLinkPairPtr

◆ ColdetModelPairPtr

◆ ColdetModelPtr

◆ dmatrix

◆ dquaternion

◆ dvector

◆ dvector6

◆ EasyScannerPtr

◆ EdgeToTriangleMap

◆ ForwardDynamicsMMPtr

◆ ForwardDynamicsPtr

◆ GetBodyCustomizerInterfaceFunc

◆ IInverseKinematicsPtr

◆ ivector

◆ JointNodeSetArray

◆ JointNodeSetPtr

◆ JointPathPtr

◆ Matrix33

◆ Matrix44

◆ MFColor

◆ MFFloat

◆ MFInt32

◆ MFNode

◆ MFRotation

◆ MFString

◆ MFTime

◆ MFVec2f

◆ MFVec3f

◆ MFVec4f

◆ ModelNodeSetPtr

◆ SFBool

◆ SFColor

◆ SFFloat

◆ SFInt32

◆ SFNode

◆ SFRotation

◆ SFString

◆ SFTime

◆ SFVec2f

◆ SFVec3f

◆ SFVec4f

◆ TProtoFieldMap

◆ TProtoFieldPair

◆ Vector2

◆ Vector3

◆ Vector3Ref

◆ Vector4

◆ VrmlAnchorPtr

◆ VrmlAppearancePtr

◆ VrmlBackgroundPtr

◆ VrmlBillboardPtr

◆ VrmlBoxPtr

◆ VrmlCollisionPtr

◆ VrmlColorPtr

◆ VrmlConePtr

◆ VrmlCoordinatePtr

◆ VrmlCylinderPtr

◆ VrmlCylinderSensorPtr

◆ VrmlDirectionalLightPtr

◆ VrmlElevationGridPtr

◆ VrmlExtrusionPtr

◆ VrmlFogPtr