#include <Eigen/Core>
#include <Eigen/StdVector>
#include <list>
#include <vector>
#include <tr1/memory>

Include dependency graph for include/utilities.h:

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Namespaces
namespace	ICR
Defines
#define	EPSILON_FORCE_CLOSURE 1e-10
#define	EPSILON_UNIT_NORMAL 1e-6
#define	EPSILON_WRENCH_CONE_ROTATION 1e-10
#define	EXPLORED_QUALIFIED 1
#define	EXPLORED_UNQUALIFIED 2
#define	NOT_EXPLORED 0
#define	NOT_VISITED -1
#define	PI 3.14159265358979323846264338327950
Typedefs
typedef Eigen::Array< uint, 1, 6 >	ICR::Array6ui
typedef Eigen::Array< uint, Eigen::Dynamic, 6 >	ICR::ArrayX6ui
typedef std::list< uint > ::const_iterator	ICR::ConstIndexListIterator
typedef std::vector < ContactPoint * >	ICR::ContactPointList
typedef std::vector< Patch * >	ICR::ContactRegion
typedef std::vector < std::tr1::shared_ptr< Finger > >	ICR::FingerPtrList
typedef std::vector < FingerParameters >	ICR::FParamList
typedef std::tr1::shared_ptr < Grasp >	ICR::GraspPtr
typedef std::tr1::shared_ptr < IndependentContactRegions >	ICR::IndependentContactRegionsPtr
typedef std::list< uint >	ICR::IndexList
typedef std::list< uint >::iterator	ICR::IndexListIterator
typedef Eigen::Matrix< double, 6, Eigen::Dynamic >	ICR::Matrix6Xd
typedef Eigen::Matrix< uint, Eigen::Dynamic, 6 >	ICR::MatrixX6ui
typedef std::tr1::shared_ptr< OWS >	ICR::OWSPtr
typedef std::tr1::shared_ptr < std::vector< Patch * > >	ICR::PatchListPtr
typedef Eigen::Matrix< uint, 1, Eigen::Dynamic >	ICR::RowVectorXui
typedef std::vector < PrimitiveSearchZone * >	ICR::SearchZone
typedef std::tr1::shared_ptr < SearchZones >	ICR::SearchZonesPtr
typedef std::tr1::shared_ptr < TargetObject >	ICR::TargetObjectPtr
typedef unsigned int	ICR::uint
typedef Eigen::Matrix< double, 6, 1 >	ICR::Vector6d
typedef Eigen::Matrix< uint, Eigen::Dynamic, 1 >	ICR::VectorXui
typedef std::vector< WrenchCone * >	ICR::WrenchConeList
Enumerations
enum	ICR::ContactType { ICR::Undefined_CT = 1, ICR::Frictionless, ICR::Frictional, ICR::Soft_Finger }
enum	ICR::ModelType { ICR::Undefined_MT = 1, ICR::Single_Point, ICR::Multi_Point }
enum	ICR::RuleType { ICR::Undefined_RT = 1, ICR::Sphere }
enum	ICR::WrenchSpaceType { ICR::Undefined_WS = 1, ICR::Discrete, ICR::Spherical }
Functions
uint	ICR::dfactorial (uint x)
uint	ICR::factorial (uint x)
Eigen::Matrix3d	ICR::skewSymmetricMatrix (Eigen::Vector3d vector)