Namespaces | Macros | Enumerations | Functions | Variables
math.h File Reference
#include <math.h>
#include <tf/tf.h>
#include <angles/angles.h>
#include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>
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Namespaces

 vigir_footstep_planning
 

Macros

#define DEBUG_HASH   0
 
#define DEBUG_TIME   0
 

Enumerations

enum  vigir_footstep_planning::Leg { vigir_footstep_planning::RIGHT =0, vigir_footstep_planning::LEFT =1, vigir_footstep_planning::NOLEG =2 }
 

Functions

double vigir_footstep_planning::angle_cell_2_state (int angle, double angle_bin_size)
 Calculate the respective (continuous) angle for a bin. More...
 
int vigir_footstep_planning::angle_state_2_cell (double angle, double angle_bin_size)
 Discretize a (continuous) angle into a bin. More...
 
unsigned int vigir_footstep_planning::calc_hash_tag (int x, int y, int theta, int leg, unsigned int hash_pred, unsigned int hash_succ, int max_hash_size)
 
double vigir_footstep_planning::cell_2_state (int value, double cell_size)
 Calculate the respective (continuous) state value for a cell. (Should be used to get a State from a discretized PlanningState.) More...
 
double vigir_footstep_planning::cont_val (int length, double cell_size)
 Calculates the continuous value for a length discretized in cell size. More...
 
int vigir_footstep_planning::disc_val (double length, double cell_size)
 Discretize a (continuous) value into cell size. More...
 
double vigir_footstep_planning::euclidean_distance (int x1, int y1, int x2, int y2)
 
double vigir_footstep_planning::euclidean_distance (double x1, double y1, double x2, double y2)
 
double vigir_footstep_planning::euclidean_distance (int x1, int y1, int z1, int x2, int y2, int z2)
 
double vigir_footstep_planning::euclidean_distance (double x1, double y1, double z1, double x2, double y2, double z2)
 
double vigir_footstep_planning::euclidean_distance_sq (int x1, int y1, int x2, int y2)
 
double vigir_footstep_planning::euclidean_distance_sq (double x1, double y1, double x2, double y2)
 
double vigir_footstep_planning::euclidean_distance_sq (int x1, int y1, int z1, int x2, int y2, int z2)
 
double vigir_footstep_planning::euclidean_distance_sq (double x1, double y1, double z1, double x2, double y2, double z2)
 
void vigir_footstep_planning::getDeltaStep (const msgs::Foot &current, const msgs::Foot &next, geometry_msgs::Pose &dstep)
 
void vigir_footstep_planning::getDeltaStep (const tf::Pose &current, const tf::Pose &next, tf::Pose &dstep)
 
double vigir_footstep_planning::grid_cost (int x1, int y1, int x2, int y2, float cell_size)
 
unsigned int vigir_footstep_planning::int_hash (int key)
 
void vigir_footstep_planning::normalToQuaternion (const geometry_msgs::Vector3 &n, double yaw, geometry_msgs::Quaternion &q)
 
void vigir_footstep_planning::normalToRP (const geometry_msgs::Vector3 &n, double yaw, double &r, double &p)
 
double vigir_footstep_planning::parabol (double x, double y, double a_inv, double b_inv)
 
double vigir_footstep_planning::pceil (double x, double prec)
 
double vigir_footstep_planning::pfloor (double x, double prec)
 
bool vigir_footstep_planning::pointWithinPolygon (int x, int y, const std::vector< std::pair< int, int > > &edges)
 Crossing number method to determine whether a point lies within a polygon or not. More...
 
double vigir_footstep_planning::pround (double x, double prec)
 
void vigir_footstep_planning::quaternionToNormal (const geometry_msgs::Quaternion &q, geometry_msgs::Vector3 &n)
 
void vigir_footstep_planning::quaternionToNormalYaw (const geometry_msgs::Quaternion &q, geometry_msgs::Vector3 &n, double &yaw)
 
void vigir_footstep_planning::RPYToNormal (double r, double p, double y, geometry_msgs::Vector3 &n)
 
int vigir_footstep_planning::state_2_cell (float value, float cell_size)
 Discretize a (continuous) state value into a cell. (Should be used to discretize a State to a PlanningState.) More...
 

Variables

static const int vigir_footstep_planning::cvMmScale = 1000
 Used to scale continuous values in meter to discrete values in mm. More...
 
static const double vigir_footstep_planning::FLOAT_CMP_THR = 0.0001
 
static const double vigir_footstep_planning::TWO_PI = 2 * M_PI
 

Macro Definition Documentation

#define DEBUG_HASH   0

Definition at line 33 of file math.h.

#define DEBUG_TIME   0

Definition at line 34 of file math.h.



vigir_footstep_planning_lib
Author(s): Alexander Stumpf
autogenerated on Mon Jun 10 2019 15:47:33