Classes | Functions
robotis_framework Namespace Reference

Classes

class  BezierCurve
 
class  FifthOrderPolynomialTrajectory
 
class  MinimumJerk
 
class  MinimumJerkViaPoint
 
struct  Point2D
 
struct  Pose3D
 
struct  Position3D
 
class  PreviewControl
 
class  SimpleTrapezoidalVelocityProfile
 
struct  StepData
 
struct  StepPositionData
 
struct  StepTimeData
 

Functions

Eigen::MatrixXd calcArc3dTra (double smp_time, double mov_time, Eigen::MatrixXd center_point, Eigen::MatrixXd normal_vector, Eigen::MatrixXd start_point, double rotation_angle, double cross_ratio)
 
Eigen::Vector3d calcCross (const Eigen::Vector3d &vector3d_a, const Eigen::Vector3d &vector3d_b)
 
Eigen::Matrix3d calcHatto (const Eigen::Vector3d &matrix3d)
 
double calcInner (const Eigen::MatrixXd &vector3d_a, const Eigen::MatrixXd &vector3d_b)
 
double calcInner (Eigen::MatrixXd vector3d_a, Eigen::MatrixXd vector3d_b)
 
Eigen::MatrixXd calcMinimumJerkTra (double pos_start, double vel_start, double accel_start, double pos_end, double vel_end, double accel_end, double smp_time, double mov_time)
 
Eigen::MatrixXd calcMinimumJerkTraPlus (double pos_start, double vel_start, double accel_start, double pos_end, double vel_end, double accel_end, double smp_time, double mov_time)
 
Eigen::MatrixXd calcMinimumJerkTraWithViaPoints (int via_num, double pos_start, double vel_start, double accel_start, Eigen::MatrixXd pos_via, Eigen::MatrixXd vel_via, Eigen::MatrixXd accel_via, double pos_end, double vel_end, double accel_end, double smp_time, Eigen::MatrixXd via_time, double mov_time)
 
Eigen::MatrixXd calcMinimumJerkTraWithViaPointsPosition (int via_num, double pos_start, double vel_start, double accel_start, Eigen::MatrixXd pos_via, double pos_end, double vel_end, double accel_end, double smp_time, Eigen::MatrixXd via_time, double mov_time)
 
Eigen::Matrix3d calcRodrigues (const Eigen::Matrix3d &hat_matrix, double angle)
 
int combination (int n, int r)
 
Eigen::Matrix3d convertQuaternionToRotation (const Eigen::Quaterniond &quaternion)
 
Eigen::Vector3d convertQuaternionToRPY (const Eigen::Quaterniond &quaternion)
 
Eigen::Quaterniond convertRotationToQuaternion (const Eigen::Matrix3d &rotation)
 
Eigen::Vector3d convertRotationToRPY (const Eigen::Matrix3d &rotation)
 
Eigen::Vector3d convertRotToOmega (const Eigen::Matrix3d &rotation)
 
Eigen::Quaterniond convertRPYToQuaternion (double roll, double pitch, double yaw)
 
Eigen::Matrix3d convertRPYToRotation (double roll, double pitch, double yaw)
 
std::string dispatchMovingFoot (int moving_foot)
 
std::string dispatchWalkingState (int walking_state)
 
Eigen::Matrix3d getInertiaXYZ (double ixx, double ixy, double ixz, double iyy, double iyz, double izz)
 
Eigen::Matrix4d getInverseTransformation (const Eigen::MatrixXd &transform)
 
Pose3D getPose3DfromTransformMatrix (const Eigen::Matrix4d &transform)
 
Eigen::Matrix4d getRotation4d (double roll, double pitch, double yaw)
 
Eigen::Matrix3d getRotationX (double angle)
 
Eigen::Matrix3d getRotationY (double angle)
 
Eigen::Matrix3d getRotationZ (double angle)
 
Eigen::Matrix4d getTransformationXYZRPY (double position_x, double position_y, double position_z, double roll, double pitch, double yaw)
 
Eigen::Vector3d getTransitionXYZ (double position_x, double position_y, double position_z)
 
Eigen::Matrix4d getTranslation4D (double position_x, double position_y, double position_z)
 
std::ostream & operator<< (std::ostream &out, const Pose3D &pose)
 
std::ostream & operator<< (std::ostream &out, const StepPositionData &position_data)
 
std::ostream & operator<< (std::ostream &out, const StepTimeData &time_data)
 
std::ostream & operator<< (std::ostream &out, const StepData &step_data)
 
double powDI (double a, int b)
 
double sign (double x)
 

Function Documentation

Eigen::MatrixXd robotis_framework::calcArc3dTra ( double  smp_time,
double  mov_time,
Eigen::MatrixXd  center_point,
Eigen::MatrixXd  normal_vector,
Eigen::MatrixXd  start_point,
double  rotation_angle,
double  cross_ratio 
)

Definition at line 507 of file robotis_trajectory_calculator.cpp.

Eigen::Vector3d robotis_framework::calcCross ( const Eigen::Vector3d &  vector3d_a,
const Eigen::Vector3d &  vector3d_b 
)

Definition at line 273 of file robotis_linear_algebra.cpp.

Eigen::Matrix3d robotis_framework::calcHatto ( const Eigen::Vector3d &  matrix3d)

Definition at line 218 of file robotis_linear_algebra.cpp.

double robotis_framework::calcInner ( const Eigen::MatrixXd &  vector3d_a,
const Eigen::MatrixXd &  vector3d_b 
)
double robotis_framework::calcInner ( Eigen::MatrixXd  vector3d_a,
Eigen::MatrixXd  vector3d_b 
)

Definition at line 285 of file robotis_linear_algebra.cpp.

Eigen::MatrixXd robotis_framework::calcMinimumJerkTra ( double  pos_start,
double  vel_start,
double  accel_start,
double  pos_end,
double  vel_end,
double  accel_end,
double  smp_time,
double  mov_time 
)

Definition at line 29 of file robotis_trajectory_calculator.cpp.

Eigen::MatrixXd robotis_framework::calcMinimumJerkTraPlus ( double  pos_start,
double  vel_start,
double  accel_start,
double  pos_end,
double  vel_end,
double  accel_end,
double  smp_time,
double  mov_time 
)

Definition at line 88 of file robotis_trajectory_calculator.cpp.

Eigen::MatrixXd robotis_framework::calcMinimumJerkTraWithViaPoints ( int  via_num,
double  pos_start,
double  vel_start,
double  accel_start,
Eigen::MatrixXd  pos_via,
Eigen::MatrixXd  vel_via,
Eigen::MatrixXd  accel_via,
double  pos_end,
double  vel_end,
double  accel_end,
double  smp_time,
Eigen::MatrixXd  via_time,
double  mov_time 
)

Definition at line 160 of file robotis_trajectory_calculator.cpp.

Eigen::MatrixXd robotis_framework::calcMinimumJerkTraWithViaPointsPosition ( int  via_num,
double  pos_start,
double  vel_start,
double  accel_start,
Eigen::MatrixXd  pos_via,
double  pos_end,
double  vel_end,
double  accel_end,
double  smp_time,
Eigen::MatrixXd  via_time,
double  mov_time 
)

Definition at line 353 of file robotis_trajectory_calculator.cpp.

Eigen::Matrix3d robotis_framework::calcRodrigues ( const Eigen::Matrix3d &  hat_matrix,
double  angle 
)

Definition at line 230 of file robotis_linear_algebra.cpp.

int robotis_framework::combination ( int  n,
int  r 
)

Definition at line 32 of file robotis_math_base.cpp.

Eigen::Matrix3d robotis_framework::convertQuaternionToRotation ( const Eigen::Quaterniond &  quaternion)

Definition at line 211 of file robotis_linear_algebra.cpp.

Eigen::Vector3d robotis_framework::convertQuaternionToRPY ( const Eigen::Quaterniond &  quaternion)

Definition at line 204 of file robotis_linear_algebra.cpp.

Eigen::Quaterniond robotis_framework::convertRotationToQuaternion ( const Eigen::Matrix3d &  rotation)

Definition at line 196 of file robotis_linear_algebra.cpp.

Eigen::Vector3d robotis_framework::convertRotationToRPY ( const Eigen::Matrix3d &  rotation)

Definition at line 170 of file robotis_linear_algebra.cpp.

Eigen::Vector3d robotis_framework::convertRotToOmega ( const Eigen::Matrix3d &  rotation)

Definition at line 242 of file robotis_linear_algebra.cpp.

Eigen::Quaterniond robotis_framework::convertRPYToQuaternion ( double  roll,
double  pitch,
double  yaw 
)

Definition at line 188 of file robotis_linear_algebra.cpp.

Eigen::Matrix3d robotis_framework::convertRPYToRotation ( double  roll,
double  pitch,
double  yaw 
)

Definition at line 181 of file robotis_linear_algebra.cpp.

std::string robotis_framework::dispatchMovingFoot ( int  moving_foot)

Definition at line 23 of file step_data_define.cpp.

std::string robotis_framework::dispatchWalkingState ( int  walking_state)

Definition at line 34 of file step_data_define.cpp.

Eigen::Matrix3d robotis_framework::getInertiaXYZ ( double  ixx,
double  ixy,
double  ixz,
double  iyy,
double  iyz,
double  izz 
)

Definition at line 76 of file robotis_linear_algebra.cpp.

Eigen::Matrix4d robotis_framework::getInverseTransformation ( const Eigen::MatrixXd &  transform)

Definition at line 51 of file robotis_linear_algebra.cpp.

Pose3D robotis_framework::getPose3DfromTransformMatrix ( const Eigen::Matrix4d &  transform)

Definition at line 290 of file robotis_linear_algebra.cpp.

Eigen::Matrix4d robotis_framework::getRotation4d ( double  roll,
double  pitch,
double  yaw 
)

Definition at line 124 of file robotis_linear_algebra.cpp.

Eigen::Matrix3d robotis_framework::getRotationX ( double  angle)

Definition at line 88 of file robotis_linear_algebra.cpp.

Eigen::Matrix3d robotis_framework::getRotationY ( double  angle)

Definition at line 100 of file robotis_linear_algebra.cpp.

Eigen::Matrix3d robotis_framework::getRotationZ ( double  angle)

Definition at line 112 of file robotis_linear_algebra.cpp.

Eigen::Matrix4d robotis_framework::getTransformationXYZRPY ( double  position_x,
double  position_y,
double  position_z,
double  roll,
double  pitch,
double  yaw 
)

Definition at line 41 of file robotis_linear_algebra.cpp.

Eigen::Vector3d robotis_framework::getTransitionXYZ ( double  position_x,
double  position_y,
double  position_z 
)

Definition at line 29 of file robotis_linear_algebra.cpp.

Eigen::Matrix4d robotis_framework::getTranslation4D ( double  position_x,
double  position_y,
double  position_z 
)

Definition at line 157 of file robotis_linear_algebra.cpp.

std::ostream & robotis_framework::operator<< ( std::ostream &  out,
const Pose3D pose 
)

Definition at line 45 of file step_data_define.cpp.

std::ostream & robotis_framework::operator<< ( std::ostream &  out,
const StepPositionData position_data 
)

Definition at line 50 of file step_data_define.cpp.

std::ostream & robotis_framework::operator<< ( std::ostream &  out,
const StepTimeData time_data 
)

Definition at line 63 of file step_data_define.cpp.

std::ostream & robotis_framework::operator<< ( std::ostream &  out,
const StepData step_data 
)

Definition at line 73 of file step_data_define.cpp.

double robotis_framework::powDI ( double  a,
int  b 
)
inline

Definition at line 39 of file robotis_math_base.h.

double robotis_framework::sign ( double  x)

Definition at line 22 of file robotis_math_base.cpp.



robotis_math
Author(s): SCH , Kayman , Jay Song
autogenerated on Fri Mar 23 2018 02:17:46