bezier_curve.cpp
/tmp/ws/src/robotis_math/robotis_math/src/
bezier__curve_8cpp
robotis_math/bezier_curve.h
bezier_curve.h
/tmp/ws/src/robotis_math/robotis_math/include/robotis_math/
bezier__curve_8h
robotis_math_base.h
robotis_linear_algebra.h
robotis_framework::BezierCurve
robotis_framework
fifth_order_polynomial_trajectory.cpp
/tmp/ws/src/robotis_math/robotis_math/src/
fifth__order__polynomial__trajectory_8cpp
robotis_math/fifth_order_polynomial_trajectory.h
fifth_order_polynomial_trajectory.h
/tmp/ws/src/robotis_math/robotis_math/include/robotis_math/
fifth__order__polynomial__trajectory_8h
robotis_linear_algebra.h
robotis_math_base.h
robotis_framework::FifthOrderPolynomialTrajectory
robotis_framework
#define
EIGEN_NO_DEBUG
fifth__order__polynomial__trajectory_8h.html
a844958ed8129c1ab4a975683f62900db
#define
EIGEN_NO_STATIC_ASSERT
fifth__order__polynomial__trajectory_8h.html
ad5d416dff2838a4b9cd98abe204f67f8
minimum_jerk_trajectory.cpp
/tmp/ws/src/robotis_math/robotis_math/src/
minimum__jerk__trajectory_8cpp
robotis_math/minimum_jerk_trajectory.h
minimum_jerk_trajectory.h
/tmp/ws/src/robotis_math/robotis_math/include/robotis_math/
minimum__jerk__trajectory_8h
robotis_linear_algebra.h
robotis_math_base.h
robotis_framework::MinimumJerk
robotis_framework
#define
EIGEN_NO_DEBUG
minimum__jerk__trajectory_8h.html
a844958ed8129c1ab4a975683f62900db
#define
EIGEN_NO_STATIC_ASSERT
minimum__jerk__trajectory_8h.html
ad5d416dff2838a4b9cd98abe204f67f8
minimum_jerk_trajectory_with_via_point.cpp
/tmp/ws/src/robotis_math/robotis_math/src/
minimum__jerk__trajectory__with__via__point_8cpp
robotis_math/minimum_jerk_trajectory_with_via_point.h
minimum_jerk_trajectory_with_via_point.h
/tmp/ws/src/robotis_math/robotis_math/include/robotis_math/
minimum__jerk__trajectory__with__via__point_8h
robotis_linear_algebra.h
robotis_math_base.h
robotis_framework::MinimumJerkViaPoint
robotis_framework
#define
EIGEN_NO_DEBUG
minimum__jerk__trajectory__with__via__point_8h.html
a844958ed8129c1ab4a975683f62900db
#define
EIGEN_NO_STATIC_ASSERT
minimum__jerk__trajectory__with__via__point_8h.html
ad5d416dff2838a4b9cd98abe204f67f8
preview_control.cpp
/tmp/ws/src/robotis_math/robotis_math/src/
preview__control_8cpp
robotis_math/preview_control.h
preview_control.h
/tmp/ws/src/robotis_math/robotis_math/include/robotis_math/
preview__control_8h
robotis_linear_algebra.h
robotis_math_base.h
robotis_framework::PreviewControl
robotis_framework
#define
EIGEN_NO_DEBUG
preview__control_8h.html
a844958ed8129c1ab4a975683f62900db
#define
EIGEN_NO_STATIC_ASSERT
preview__control_8h.html
ad5d416dff2838a4b9cd98abe204f67f8
robotis_linear_algebra.cpp
/tmp/ws/src/robotis_math/robotis_math/src/
robotis__linear__algebra_8cpp
robotis_math/robotis_linear_algebra.h
robotis_framework
Eigen::Vector3d
calcCross
namespacerobotis__framework.html
aecd066bc2ce0797cba9ad0f097ded0e2
(const Eigen::Vector3d &vector3d_a, const Eigen::Vector3d &vector3d_b)
Eigen::Matrix3d
calcHatto
namespacerobotis__framework.html
a821cbbda1c2a080c0d7b301864bae206
(const Eigen::Vector3d &matrix3d)
double
calcInner
namespacerobotis__framework.html
ab6cd1a8a2000bb3468cfbd0109b0f3b3
(Eigen::MatrixXd vector3d_a, Eigen::MatrixXd vector3d_b)
Eigen::Matrix3d
calcRodrigues
namespacerobotis__framework.html
aeb34a5042559d51acf80fd15e4d0cbdc
(const Eigen::Matrix3d &hat_matrix, double angle)
Eigen::Matrix3d
convertQuaternionToRotation
namespacerobotis__framework.html
aa3eb38a5dd790e7cffd47450be1bbf2a
(const Eigen::Quaterniond &quaternion)
Eigen::Vector3d
convertQuaternionToRPY
namespacerobotis__framework.html
ad85a6a1f25b0d201ab789a2d0b98dadd
(const Eigen::Quaterniond &quaternion)
Eigen::Quaterniond
convertRotationToQuaternion
namespacerobotis__framework.html
a27ee80b6da35f61fd70d7e260ac6f235
(const Eigen::Matrix3d &rotation)
Eigen::Vector3d
convertRotationToRPY
namespacerobotis__framework.html
aba916c41d81a7de7dde3eb218b5172c9
(const Eigen::Matrix3d &rotation)
Eigen::Vector3d
convertRotToOmega
namespacerobotis__framework.html
af1eff93b4d6783ce1012e7e170eba695
(const Eigen::Matrix3d &rotation)
Eigen::Quaterniond
convertRPYToQuaternion
namespacerobotis__framework.html
a1946eae98bb2b1c233c7720798d92d29
(double roll, double pitch, double yaw)
Eigen::Matrix3d
convertRPYToRotation
namespacerobotis__framework.html
ab26f1f763573fd6d53fce871717274e0
(double roll, double pitch, double yaw)
Eigen::Matrix3d
getInertiaXYZ
namespacerobotis__framework.html
a9e7542dbcb71fb94adcefc12f763a1d1
(double ixx, double ixy, double ixz, double iyy, double iyz, double izz)
Eigen::Matrix4d
getInverseTransformation
namespacerobotis__framework.html
a0c9b927d39617136701d2cef14308f49
(const Eigen::MatrixXd &transform)
Pose3D
getPose3DfromTransformMatrix
namespacerobotis__framework.html
ae6f2ded56720c8264c3f71aa2c0d8c56
(const Eigen::Matrix4d &transform)
Eigen::Matrix4d
getRotation4d
namespacerobotis__framework.html
a8c192aa23076a68cc9ac8096d78c4236
(double roll, double pitch, double yaw)
Eigen::Matrix3d
getRotationX
namespacerobotis__framework.html
aad113666a44ac49481b139e41f3e9940
(double angle)
Eigen::Matrix3d
getRotationY
namespacerobotis__framework.html
a03f040ba655e78e3a2c3ef9e9774cde6
(double angle)
Eigen::Matrix3d
getRotationZ
namespacerobotis__framework.html
a42af0c0c24b2477080c76a1d2e9ce47e
(double angle)
Eigen::Matrix4d
getTransformationXYZRPY
namespacerobotis__framework.html
a0d0e1f4364893f5d336922daa8deb3a5
(double position_x, double position_y, double position_z, double roll, double pitch, double yaw)
Eigen::Vector3d
getTransitionXYZ
namespacerobotis__framework.html
a972d2e15031cdced57dcec2480ddd40d
(double position_x, double position_y, double position_z)
Eigen::Matrix4d
getTranslation4D
namespacerobotis__framework.html
a795ec20a25d349a44ad7e4bdd9ea6a51
(double position_x, double position_y, double position_z)
robotis_linear_algebra.h
/tmp/ws/src/robotis_math/robotis_math/include/robotis_math/
robotis__linear__algebra_8h
step_data_define.h
robotis_framework
#define
EIGEN_NO_DEBUG
robotis__linear__algebra_8h.html
a844958ed8129c1ab4a975683f62900db
#define
EIGEN_NO_STATIC_ASSERT
robotis__linear__algebra_8h.html
ad5d416dff2838a4b9cd98abe204f67f8
Eigen::Vector3d
calcCross
namespacerobotis__framework.html
aecd066bc2ce0797cba9ad0f097ded0e2
(const Eigen::Vector3d &vector3d_a, const Eigen::Vector3d &vector3d_b)
Eigen::Matrix3d
calcHatto
namespacerobotis__framework.html
a821cbbda1c2a080c0d7b301864bae206
(const Eigen::Vector3d &matrix3d)
double
calcInner
namespacerobotis__framework.html
a8cde7133676e71ad9a6b8b62d8aa804d
(const Eigen::MatrixXd &vector3d_a, const Eigen::MatrixXd &vector3d_b)
Eigen::Matrix3d
calcRodrigues
namespacerobotis__framework.html
aeb34a5042559d51acf80fd15e4d0cbdc
(const Eigen::Matrix3d &hat_matrix, double angle)
Eigen::Matrix3d
convertQuaternionToRotation
namespacerobotis__framework.html
aa3eb38a5dd790e7cffd47450be1bbf2a
(const Eigen::Quaterniond &quaternion)
Eigen::Vector3d
convertQuaternionToRPY
namespacerobotis__framework.html
ad85a6a1f25b0d201ab789a2d0b98dadd
(const Eigen::Quaterniond &quaternion)
Eigen::Quaterniond
convertRotationToQuaternion
namespacerobotis__framework.html
a27ee80b6da35f61fd70d7e260ac6f235
(const Eigen::Matrix3d &rotation)
Eigen::Vector3d
convertRotationToRPY
namespacerobotis__framework.html
aba916c41d81a7de7dde3eb218b5172c9
(const Eigen::Matrix3d &rotation)
Eigen::Vector3d
convertRotToOmega
namespacerobotis__framework.html
af1eff93b4d6783ce1012e7e170eba695
(const Eigen::Matrix3d &rotation)
Eigen::Quaterniond
convertRPYToQuaternion
namespacerobotis__framework.html
a1946eae98bb2b1c233c7720798d92d29
(double roll, double pitch, double yaw)
Eigen::Matrix3d
convertRPYToRotation
namespacerobotis__framework.html
ab26f1f763573fd6d53fce871717274e0
(double roll, double pitch, double yaw)
Eigen::Matrix3d
getInertiaXYZ
namespacerobotis__framework.html
a9e7542dbcb71fb94adcefc12f763a1d1
(double ixx, double ixy, double ixz, double iyy, double iyz, double izz)
Eigen::Matrix4d
getInverseTransformation
namespacerobotis__framework.html
a0c9b927d39617136701d2cef14308f49
(const Eigen::MatrixXd &transform)
Pose3D
getPose3DfromTransformMatrix
namespacerobotis__framework.html
ae6f2ded56720c8264c3f71aa2c0d8c56
(const Eigen::Matrix4d &transform)
Eigen::Matrix4d
getRotation4d
namespacerobotis__framework.html
a8c192aa23076a68cc9ac8096d78c4236
(double roll, double pitch, double yaw)
Eigen::Matrix3d
getRotationX
namespacerobotis__framework.html
aad113666a44ac49481b139e41f3e9940
(double angle)
Eigen::Matrix3d
getRotationY
namespacerobotis__framework.html
a03f040ba655e78e3a2c3ef9e9774cde6
(double angle)
Eigen::Matrix3d
getRotationZ
namespacerobotis__framework.html
a42af0c0c24b2477080c76a1d2e9ce47e
(double angle)
Eigen::Matrix4d
getTransformationXYZRPY
namespacerobotis__framework.html
a0d0e1f4364893f5d336922daa8deb3a5
(double position_x, double position_y, double position_z, double roll, double pitch, double yaw)
Eigen::Vector3d
getTransitionXYZ
namespacerobotis__framework.html
a972d2e15031cdced57dcec2480ddd40d
(double position_x, double position_y, double position_z)
Eigen::Matrix4d
getTranslation4D
namespacerobotis__framework.html
a795ec20a25d349a44ad7e4bdd9ea6a51
(double position_x, double position_y, double position_z)
robotis_math.h
/tmp/ws/src/robotis_math/robotis_math/include/robotis_math/
robotis__math_8h
robotis_trajectory_calculator.h
bezier_curve.h
preview_control.h
minimum_jerk_trajectory.h
minimum_jerk_trajectory_with_via_point.h
robotis_math_base.cpp
/tmp/ws/src/robotis_math/robotis_math/src/
robotis__math__base_8cpp
robotis_math/robotis_math_base.h
robotis_framework
int
combination
namespacerobotis__framework.html
ac96c729c62519560e6918bf62fa1c523
(int n, int r)
double
sign
namespacerobotis__framework.html
ab3f6ac86466f0ad3f982a4c77cad2090
(double x)
robotis_math_base.h
/tmp/ws/src/robotis_math/robotis_math/include/robotis_math/
robotis__math__base_8h
robotis_framework::Point2D
robotis_framework
#define
DEGREE2RADIAN
robotis__math__base_8h.html
a31d59c4360b14463f84c7910df55ba1c
#define
PRINT_MAT
robotis__math__base_8h.html
a92102ea2f9ade1cc1a6dcce355db1677
(X)
#define
PRINT_VAR
robotis__math__base_8h.html
a1419d0df85fa6ee0898cfdcbe232bd0a
(X)
#define
RADIAN2DEGREE
robotis__math__base_8h.html
a0368d003d59e1b61930e4d5a87643c7c
int
combination
namespacerobotis__framework.html
ac96c729c62519560e6918bf62fa1c523
(int n, int r)
double
powDI
namespacerobotis__framework.html
a3cd79ebada89f914a76b65649e6b73d6
(double a, int b)
double
sign
namespacerobotis__framework.html
ab3f6ac86466f0ad3f982a4c77cad2090
(double x)
robotis_trajectory_calculator.cpp
/tmp/ws/src/robotis_math/robotis_math/src/
robotis__trajectory__calculator_8cpp
robotis_math/robotis_trajectory_calculator.h
robotis_framework
Eigen::MatrixXd
calcArc3dTra
namespacerobotis__framework.html
a6acb378d7fcde9bfababf0897cd9abab
(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::MatrixXd
calcMinimumJerkTra
namespacerobotis__framework.html
a90c9fb3f6f9d062d9214ce6cad473e4a
(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
namespacerobotis__framework.html
a9df9dd5d67c93f275bc09d6c3a07ffd3
(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
namespacerobotis__framework.html
afc674a674391bd2301477ba0bada7dee
(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
namespacerobotis__framework.html
a1c87562ac36d2c303e9dd682ca6a1557
(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)
robotis_trajectory_calculator.h
/tmp/ws/src/robotis_math/robotis_math/include/robotis_math/
robotis__trajectory__calculator_8h
robotis_linear_algebra.h
robotis_math_base.h
fifth_order_polynomial_trajectory.h
simple_trapezoidal_velocity_profile.h
robotis_framework
#define
EIGEN_NO_DEBUG
robotis__trajectory__calculator_8h.html
a844958ed8129c1ab4a975683f62900db
#define
EIGEN_NO_STATIC_ASSERT
robotis__trajectory__calculator_8h.html
ad5d416dff2838a4b9cd98abe204f67f8
Eigen::MatrixXd
calcArc3dTra
namespacerobotis__framework.html
a6acb378d7fcde9bfababf0897cd9abab
(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::MatrixXd
calcMinimumJerkTra
namespacerobotis__framework.html
a90c9fb3f6f9d062d9214ce6cad473e4a
(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
namespacerobotis__framework.html
a9df9dd5d67c93f275bc09d6c3a07ffd3
(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
namespacerobotis__framework.html
afc674a674391bd2301477ba0bada7dee
(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
namespacerobotis__framework.html
a1c87562ac36d2c303e9dd682ca6a1557
(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)
simple_trapezoidal_velocity_profile.cpp
/tmp/ws/src/robotis_math/robotis_math/src/
simple__trapezoidal__velocity__profile_8cpp
robotis_math/simple_trapezoidal_velocity_profile.h
simple_trapezoidal_velocity_profile.h
/tmp/ws/src/robotis_math/robotis_math/include/robotis_math/
simple__trapezoidal__velocity__profile_8h
robotis_linear_algebra.h
robotis_math_base.h
robotis_framework::SimpleTrapezoidalVelocityProfile
robotis_framework
#define
EIGEN_NO_DEBUG
simple__trapezoidal__velocity__profile_8h.html
a844958ed8129c1ab4a975683f62900db
#define
EIGEN_NO_STATIC_ASSERT
simple__trapezoidal__velocity__profile_8h.html
ad5d416dff2838a4b9cd98abe204f67f8
step_data_define.cpp
/tmp/ws/src/robotis_math/robotis_math/src/
step__data__define_8cpp
robotis_math/step_data_define.h
robotis_framework
std::string
dispatchMovingFoot
namespacerobotis__framework.html
a0b37fff0d5c257f1c0dcbcf602ce62b1
(int moving_foot)
std::string
dispatchWalkingState
namespacerobotis__framework.html
a604cc9f704b64754dbf9012f4f76a421
(int walking_state)
std::ostream &
operator<<
namespacerobotis__framework.html
aa8700591dba4ffa9ab7aad566b986652
(std::ostream &out, const Pose3D &pose)
std::ostream &
operator<<
namespacerobotis__framework.html
acff95463aaa5cab0a8f811819ea793b9
(std::ostream &out, const StepPositionData &position_data)
std::ostream &
operator<<
namespacerobotis__framework.html
a3bfafe8500b3c29cf8f530842b7ce46f
(std::ostream &out, const StepTimeData &time_data)
std::ostream &
operator<<
namespacerobotis__framework.html
af26ea9a50cbd2821cdd9bea186189d5d
(std::ostream &out, const StepData &step_data)
step_data_define.h
/tmp/ws/src/robotis_math/robotis_math/include/robotis_math/
step__data__define_8h
robotis_framework::Pose3D
robotis_framework::Position3D
robotis_framework::StepData
robotis_framework::StepPositionData
robotis_framework::StepTimeData
robotis_framework
std::ostream &
operator<<
namespacerobotis__framework.html
aa8700591dba4ffa9ab7aad566b986652
(std::ostream &out, const Pose3D &pose)
std::ostream &
operator<<
namespacerobotis__framework.html
acff95463aaa5cab0a8f811819ea793b9
(std::ostream &out, const StepPositionData &position_data)
std::ostream &
operator<<
namespacerobotis__framework.html
a3bfafe8500b3c29cf8f530842b7ce46f
(std::ostream &out, const StepTimeData &time_data)
std::ostream &
operator<<
namespacerobotis__framework.html
af26ea9a50cbd2821cdd9bea186189d5d
(std::ostream &out, const StepData &step_data)
robotis_framework::BezierCurve
classrobotis__framework_1_1BezierCurve.html
BezierCurve
classrobotis__framework_1_1BezierCurve.html
af30b8df568e50499b596aff578198425
()
Point2D
getPoint
classrobotis__framework_1_1BezierCurve.html
ae9752cf5d9d5c96f84ad5552c8eee7f9
(double t)
void
setBezierControlPoints
classrobotis__framework_1_1BezierCurve.html
aa7131b0e05a2f65dd4bd1d7d75fafdc0
(const std::vector< Point2D > &points)
~BezierCurve
classrobotis__framework_1_1BezierCurve.html
af774150e6076874fb10d0ac3600903ae
()
std::vector< Point2D >
control_points_
classrobotis__framework_1_1BezierCurve.html
ada6c7bf5512c860c5969bfedfc0149f9
robotis_framework::FifthOrderPolynomialTrajectory
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
bool
changeTrajectory
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
ad3bcecbacf1ef25c641a77b0b4bc52fb
(double final_pos, double final_vel, double final_acc)
bool
changeTrajectory
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a1cfbce30da2ba78420b9d323e028ddc4
(double final_time, double final_pos, double final_vel, double final_acc)
bool
changeTrajectory
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a0a251c7b20083bde6a0b3ba6c36b3e82
(double initial_time, double initial_pos, double initial_vel, double initial_acc, double final_time, double final_pos, double final_vel, double final_acc)
FifthOrderPolynomialTrajectory
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
af044f9d5f2d0d72acc5bbd533ed87762
(double initial_time, double initial_pos, double initial_vel, double initial_acc, double final_time, double final_pos, double final_vel, double final_acc)
FifthOrderPolynomialTrajectory
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
ac0e1ed5f9dbdd5b203b5899a663b25de
()
double
getAcceleration
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a586b0d135e64910659a8076e61f32bb1
(double time)
double
getAcceleration
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a61ddf1cf8c0c6a31bf7055f0b6bf93f3
()
double
getPosition
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a7c94e51e5c3df36813e16fc22cc2daa3
(double time)
double
getPosition
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a49b31c3b4aadcba35b2cd690d630453f
()
double
getVelocity
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a9dcec50947cc4161c665b5e82dd68cc4
(double time)
double
getVelocity
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
abf7fc183928673bab3e69b1ea6ebe92c
()
void
setTime
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a902f6b3cd83227f26bc9d0b4c5fb4609
(double time)
~FifthOrderPolynomialTrajectory
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
ab1e83c070417c535a1895965d2ad3d47
()
Eigen::MatrixXd
acceleration_coeff_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a1806033cb0155037ca5224e257d98faf
double
current_acc_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
abb34e2e0f18e0de348c160fa3755abf1
double
current_pos_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a6d214934f36f1f8e77c4c309858a3311
double
current_time_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a42d7da49143931fa480929c416b348fb
double
current_vel_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a8b7c8e0043764fbc36ef2a7ea545e603
double
final_acc_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a0821a6d0203bd280e85649fe7b1fdc4a
double
final_pos_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a8f26cfe5ad5b2d586186642499940f98
double
final_time_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a3121d2a82d74f9cbba46fc796ae2e8f8
double
final_vel_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a62a89bfcfaa45a977cb4c1c07e5a165b
double
initial_acc_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
aa0a92c8e1d578c6b3697986e54495805
double
initial_pos_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a2eb8fffd09e290f7d0a026b083d711a3
double
initial_time_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a8cd9992f779d00d5243803a3f62c5dfb
double
initial_vel_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
aeb5fbcf580a17c6bd9d4aa8b0e79d8d3
Eigen::MatrixXd
position_coeff_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a5bf58397910672e842e99838dd7fbcaa
Eigen::MatrixXd
time_variables_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
a18c4d98584a9e0780d5f6c4036fd541a
Eigen::MatrixXd
velocity_coeff_
classrobotis__framework_1_1FifthOrderPolynomialTrajectory.html
aa77e2d5ee397f18f6b8a34c67165a414
robotis_framework::MinimumJerk
classrobotis__framework_1_1MinimumJerk.html
std::vector< double_t >
getAcceleration
classrobotis__framework_1_1MinimumJerk.html
abd35b1ae74f188cc398af787c40b5b58
(double time)
std::vector< double_t >
getPosition
classrobotis__framework_1_1MinimumJerk.html
ada1b102dd1a812b35c3e24b669e614bd
(double time)
std::vector< double_t >
getVelocity
classrobotis__framework_1_1MinimumJerk.html
ae89dbe4c4eb65b1f35331a9180a1885a
(double time)
MinimumJerk
classrobotis__framework_1_1MinimumJerk.html
a74362428bbaa0b155eda5f9d03411870
(double ini_time, double fin_time, std::vector< double_t > ini_pos, std::vector< double_t > ini_vel, std::vector< double_t > ini_acc, std::vector< double_t > fin_pos, std::vector< double_t > fin_vel, std::vector< double_t > fin_acc)
virtual
~MinimumJerk
classrobotis__framework_1_1MinimumJerk.html
aad3345d5cde2785b5fc69e2d79ed39ae
()
Eigen::MatrixXd
acceleration_coeff_
classrobotis__framework_1_1MinimumJerk.html
aa8d0c0518882ede5676a4f4194892cbd
std::vector< double_t >
cur_acc_
classrobotis__framework_1_1MinimumJerk.html
a5e0cdeba5ebe4e24d28a9ef7c15df0c8
std::vector< double_t >
cur_pos_
classrobotis__framework_1_1MinimumJerk.html
a7ebf5bea2e96d4bb54e12a2248493199
double
cur_time_
classrobotis__framework_1_1MinimumJerk.html
a9c89bff7b0998818c6ad2a51067352ad
std::vector< double_t >
cur_vel_
classrobotis__framework_1_1MinimumJerk.html
a88ca1d882fd04c3bc591605adce28346
Eigen::MatrixXd
position_coeff_
classrobotis__framework_1_1MinimumJerk.html
a46fd5f04e64d6040ffb14420608e3e0f
Eigen::MatrixXd
time_variables_
classrobotis__framework_1_1MinimumJerk.html
accf228e682c0cb3dd398664800f9df8c
Eigen::MatrixXd
velocity_coeff_
classrobotis__framework_1_1MinimumJerk.html
af1a52c7266ce0dba24473a1c621bee94
std::vector< double_t >
fin_acc_
classrobotis__framework_1_1MinimumJerk.html
aa1c1f873020c63bf86af33885ea40785
std::vector< double_t >
fin_pos_
classrobotis__framework_1_1MinimumJerk.html
ace2822ade450f2ae5670034114c80610
double
fin_time_
classrobotis__framework_1_1MinimumJerk.html
aa575bb1e2cda62e534fbbd18deaa3a05
std::vector< double_t >
fin_vel_
classrobotis__framework_1_1MinimumJerk.html
a3fb68c21e006d7f53ad93266da428277
std::vector< double_t >
ini_acc_
classrobotis__framework_1_1MinimumJerk.html
a85bc0e1901892880247d96f7f6bb0bb9
std::vector< double_t >
ini_pos_
classrobotis__framework_1_1MinimumJerk.html
a4e374d36ef4a97b398bb281de6c18942
double
ini_time_
classrobotis__framework_1_1MinimumJerk.html
a6f6cc2760e8385a4ebd480d3843177d8
std::vector< double_t >
ini_vel_
classrobotis__framework_1_1MinimumJerk.html
ae7ab1d32c7efc13a4fa6573a4b88dd71
int
number_of_joint_
classrobotis__framework_1_1MinimumJerk.html
a917640c5ffc07aaa8e0bf453d68ee879
robotis_framework::MinimumJerkViaPoint
classrobotis__framework_1_1MinimumJerkViaPoint.html
std::vector< double_t >
getAcceleration
classrobotis__framework_1_1MinimumJerkViaPoint.html
ae910a5dbf44a169814c765d4c3a14c84
(double time)
std::vector< double_t >
getPosition
classrobotis__framework_1_1MinimumJerkViaPoint.html
a75646e27d560b01393bab452c3b79e1d
(double time)
std::vector< double_t >
getVelocity
classrobotis__framework_1_1MinimumJerkViaPoint.html
ab1c3f4e8e59ae0a0b1be1849bc7a47c0
(double time)
MinimumJerkViaPoint
classrobotis__framework_1_1MinimumJerkViaPoint.html
a77eb3a4593d67b59c95df8c68637ba79
(double ini_time, double fin_time, double via_time, double ratio, std::vector< double_t > ini_pos, std::vector< double_t > ini_vel, std::vector< double_t > ini_acc, std::vector< double_t > fin_pos, std::vector< double_t > fin_vel, std::vector< double_t > fin_acc, std::vector< double_t > via_pos, std::vector< double_t > via_vel, std::vector< double_t > via_acc)
virtual
~MinimumJerkViaPoint
classrobotis__framework_1_1MinimumJerkViaPoint.html
a91b02d580ab5c30b42613d68d919e2c8
()
Eigen::MatrixXd
acceleration_coeff_
classrobotis__framework_1_1MinimumJerkViaPoint.html
abd9282443621dd48fcd5a74f98072b21
std::vector< double_t >
cur_acc_
classrobotis__framework_1_1MinimumJerkViaPoint.html
ade317d64c095f528879928e3031f2213
std::vector< double_t >
cur_pos_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a5c8b06870471ec1623224c36b863ac91
double
cur_time_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a32e02ee6d3b5e3096e462f33590a4527
std::vector< double_t >
cur_vel_
classrobotis__framework_1_1MinimumJerkViaPoint.html
afcae21d8971cb78aee4012de25a0e105
Eigen::MatrixXd
position_coeff_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a7e77fce7e6f02004106b15eeafd1e3cc
Eigen::MatrixXd
time_variables_
classrobotis__framework_1_1MinimumJerkViaPoint.html
aed7ed07bdfa3b7bb69ba4910b913090b
Eigen::MatrixXd
velocity_coeff_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a51d80f497102de02d6b856163621ea80
std::vector< double_t >
fin_acc_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a48c1a08ff616d8066904dbe72ffd59fa
std::vector< double_t >
fin_pos_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a22255a9c7c6628ec8de04b064c9fb455
double
fin_time_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a23fe04433ea293cab83ae8f86d711942
std::vector< double_t >
fin_vel_
classrobotis__framework_1_1MinimumJerkViaPoint.html
ae363ae579ecd9789a300320487ce8fc0
std::vector< double_t >
ini_acc_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a9bc14d03306d3f2ea1896a838a78ac14
std::vector< double_t >
ini_pos_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a1fee9b3f8a1146ec81d68dadd0b0cc8a
double
ini_time_
classrobotis__framework_1_1MinimumJerkViaPoint.html
ab40107908c961bc115f4249bdb46d724
std::vector< double_t >
ini_vel_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a83eeb7804f61941880576a71bffdbaf6
double
input_fin_time_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a7962414902a21a81e5f2f2c584ed47d3
double
input_ini_time_
classrobotis__framework_1_1MinimumJerkViaPoint.html
ad890b7d3a8b0f4d8a87a64b938b727ae
int
number_of_joint_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a1669c9eefaeb500ba821609150731a93
double
ratio_
classrobotis__framework_1_1MinimumJerkViaPoint.html
aca164eea7c7e2bb1c5c3f3f8613f87e7
std::vector< double_t >
via_acc_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a79950f422b3084926276ab6c60c61db2
std::vector< double_t >
via_pos_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a129a8ab132ec6995d0e7de0631088c55
double
via_time_
classrobotis__framework_1_1MinimumJerkViaPoint.html
af5dc3d78b645e71c26830d2b97e0bb8c
std::vector< double_t >
via_vel_
classrobotis__framework_1_1MinimumJerkViaPoint.html
a8df980d9e025b12a0f0ac740285a95d5
robotis_framework::Point2D
structrobotis__framework_1_1Point2D.html
double
x
structrobotis__framework_1_1Point2D.html
a59b152075cfa94c96ec86a2527691761
double
y
structrobotis__framework_1_1Point2D.html
a2e23fee1e67f0f0f23c86837a89dcf10
robotis_framework::Pose3D
structrobotis__framework_1_1Pose3D.html
double
pitch
structrobotis__framework_1_1Pose3D.html
ab8ef88cbaa818b16eee5dd4eb99bba2e
double
roll
structrobotis__framework_1_1Pose3D.html
ac4a7819e8c89e6cd7ba4b6c13f0d95fa
double
x
structrobotis__framework_1_1Pose3D.html
aa0c63a7ef16e83620105ccff14233da7
double
y
structrobotis__framework_1_1Pose3D.html
ae7a2cd962547aa4b1e7c660c80ae6316
double
yaw
structrobotis__framework_1_1Pose3D.html
a63c7af23485f9530c5924af28013e2ec
double
z
structrobotis__framework_1_1Pose3D.html
a330412e52ea9fde72d3b630125047177
robotis_framework::Position3D
structrobotis__framework_1_1Position3D.html
double
x
structrobotis__framework_1_1Position3D.html
a47e32c37db3a94c688338666be95a40b
double
y
structrobotis__framework_1_1Position3D.html
ace7877f7fdd81e211c91cdfd61534307
double
z
structrobotis__framework_1_1Position3D.html
a2aa7ac3f0252425e5c84523ece686dd5
robotis_framework::PreviewControl
classrobotis__framework_1_1PreviewControl.html
Eigen::MatrixXd
calcPreviewParam
classrobotis__framework_1_1PreviewControl.html
af18ea017acbbb1840018b0ce17c86f6e
(double preview_time, double control_cycle, double lipm_height, Eigen::MatrixXd K, Eigen::MatrixXd P)
PreviewControl
classrobotis__framework_1_1PreviewControl.html
a0e6d364551ca718d07d9c241708afc79
()
virtual
~PreviewControl
classrobotis__framework_1_1PreviewControl.html
a6daab57b6416e3c9952e403c261d810f
()
robotis_framework::SimpleTrapezoidalVelocityProfile
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
double
getAcceleration
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
accb123fdf18e522e7a17964946b1d28f
(double time)
double
getAcceleration
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a805ad0bc3517988ce5603af5ab3301e1
()
double
getConstantVelocitySectionStartTime
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a44e1eb6e64d59c9f7d55be4f5bacd526
()
double
getDecelerationSectionStartTime
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
af716852523ddccdb1a7cb81e9b41edd2
()
double
getPosition
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
ab8d013271fa2bacda80db1eabd51bfbb
(double time)
double
getPosition
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a15bc7e0aa403cc2b74c36223122ec413
()
double
getTotalTime
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a5e138a2e94077307241f5cf14c9d1dbb
()
double
getVelocity
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a7847536b93e8de348a29a5f6fe610454
(double time)
double
getVelocity
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
ad467bb79bedd474f2c8e3010d0867e57
()
void
setTime
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a7325c68bfad94f57770fb23d059b4b77
(double time)
void
setTimeBaseTrajectory
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
acb8307aaebfa9ac5b02c91ef7c4d3677
(double init_pos, double final_pos, double accel_time, double total_time)
void
setTimeBaseTrajectory
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a0f74c49388c44e3fcebc5b30463d4e8a
(double init_pos, double final_pos, double accel_time, double decel_time, double total_time)
void
setVelocityBaseTrajectory
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a1db88731586b8e21b20fdd0796a3afab
(double init_pos, double final_pos, double acceleration, double max_velocity)
void
setVelocityBaseTrajectory
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a1c9113a1a103308996584aced258c351
(double init_pos, double final_pos, double acceleration, double deceleration, double max_velocity)
SimpleTrapezoidalVelocityProfile
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
aa0cb865a3aa8e3e28dfc29210594f8fd
()
~SimpleTrapezoidalVelocityProfile
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a3990da521fcb3bae6ab4283e06916ed3
()
double
accel_time_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
af6cc048bb4fa9ea0f7e8a5ddf8f053a6
double
acceleration_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
ab38bd4b0b7d813e9b932bab554f40bee
double
const_start_time_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
ac17d56e3d782d84e8d80c59cc4a9255f
double
const_time_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
ae850610d54f8822e19f7b52fc35cf2d8
double
current_acc_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a3c6dd972b273ef6bd5e735e5bbdb21b0
double
current_pos_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
acffe4375409bf776aa79741bd9744568
double
current_time_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
aeeec5ddee6f2f4341ade15b5414eeed8
double
current_vel_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a416152cc69f6f5457a10297ad12f44de
double
decel_start_time_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a1572598d83f048d1af7f4a2931a1d486
double
decel_time_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a88319ca750ef6eb661195db72c639152
double
deceleration_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
aa4a0adcc496a53aec183b65bec46f36d
double
final_pos_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
ac88ae1be69926d6f6e71248f97d05ad8
double
initial_pos_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a5a865b3846194f5028f2548a0a39a825
double
max_velocity_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
aff8b43eb4ab1b8d0a7b8703598dcb50d
Eigen::MatrixXd
pos_coeff_accel_section_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a6b6f8736896771912e99b3a302668a78
Eigen::MatrixXd
pos_coeff_const_section_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a59ac399c56a07754848417dd542b43f1
Eigen::MatrixXd
pos_coeff_decel_section_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a5c2b4a061172efd52b20974866e1d014
Eigen::MatrixXd
time_variables_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a0f801eda80789cf21776e5f502341047
double
total_time_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
abf490217bf2501c33d8b82d63d5b543f
Eigen::MatrixXd
vel_coeff_accel_section_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
af323ce5495c5880c41dc70e1e4009f48
Eigen::MatrixXd
vel_coeff_const_section_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
ad5cb3a4fe47ef8317ae00066a94816f3
Eigen::MatrixXd
vel_coeff_decel_section_
classrobotis__framework_1_1SimpleTrapezoidalVelocityProfile.html
a65e138ae6617bb14c580eea36872271c
robotis_framework::StepData
structrobotis__framework_1_1StepData.html
StepPositionData
position_data
structrobotis__framework_1_1StepData.html
a279efd4b0c237ae025feaa836ca9ed56
StepTimeData
time_data
structrobotis__framework_1_1StepData.html
ad8f702d318c900523ed5aefcf160d75c
robotis_framework::StepPositionData
structrobotis__framework_1_1StepPositionData.html
Pose3D
body_pose
structrobotis__framework_1_1StepPositionData.html
a773d61d20e2e4be05176a3f0cef0c286
double
body_z_swap
structrobotis__framework_1_1StepPositionData.html
a297c4320c9f01cfff1d8e83fc9077170
double
elbow_swing_gain
structrobotis__framework_1_1StepPositionData.html
ae6f50fe5e23e2638fe73852b622b9c71
double
foot_z_swap
structrobotis__framework_1_1StepPositionData.html
a8893457dcfeccbaf4e5735b6803ec961
Pose3D
left_foot_pose
structrobotis__framework_1_1StepPositionData.html
a15fea5c9230215a82ebed5d523f29a82
int
moving_foot
structrobotis__framework_1_1StepPositionData.html
ace6caee2d46509fb08bf42765eba12d7
Pose3D
right_foot_pose
structrobotis__framework_1_1StepPositionData.html
a79a9417e233900476f569a65322aee13
double
shoulder_swing_gain
structrobotis__framework_1_1StepPositionData.html
a43dbf22707307491d16b395c22c03d26
double
waist_pitch_angle
structrobotis__framework_1_1StepPositionData.html
a2d1e0c21192399585b1e8a288f7a8ca2
double
waist_roll_angle
structrobotis__framework_1_1StepPositionData.html
abee76b23e5636dc7c55cbc4c2788a2a5
double
waist_yaw_angle
structrobotis__framework_1_1StepPositionData.html
a00d4d43f0ba6ad5f7fdd02b57f2bc542
double
x_zmp_shift
structrobotis__framework_1_1StepPositionData.html
a5d36c2cd2c7f8934fab6ade4f0de9d16
double
y_zmp_shift
structrobotis__framework_1_1StepPositionData.html
a67cc2dd2e7dd11c86ed5ec1310039722
robotis_framework::StepTimeData
structrobotis__framework_1_1StepTimeData.html
double
abs_step_time
structrobotis__framework_1_1StepTimeData.html
a8d43409a52e809801bffda9392f12c02
double
dsp_ratio
structrobotis__framework_1_1StepTimeData.html
a3f23fe04fd8ec82063b05d0474ccc54f
double
finish_time_advance_ratio_pitch
structrobotis__framework_1_1StepTimeData.html
a4b2bf4325e796bbc402171ee369f2ecd
double
finish_time_advance_ratio_roll
structrobotis__framework_1_1StepTimeData.html
a7170cd0cfc51eeca5e7dedec5d8aeebb
double
finish_time_advance_ratio_x
structrobotis__framework_1_1StepTimeData.html
ae9dd0d726a05898acd2a7e1afeaafd83
double
finish_time_advance_ratio_y
structrobotis__framework_1_1StepTimeData.html
aacaca33862a79be45a2614eafee2411f
double
finish_time_advance_ratio_yaw
structrobotis__framework_1_1StepTimeData.html
a371af836c3bda24858fcb7e7cb5287d3
double
finish_time_advance_ratio_z
structrobotis__framework_1_1StepTimeData.html
a56cd5ff5e41b0ee7cdbf0d09cbef0d04
double
start_time_delay_ratio_pitch
structrobotis__framework_1_1StepTimeData.html
a98fcd35978f14bcde04f5c4cda3f500b
double
start_time_delay_ratio_roll
structrobotis__framework_1_1StepTimeData.html
a5fc1e227adc429198a86d52ef14838ad
double
start_time_delay_ratio_x
structrobotis__framework_1_1StepTimeData.html
a0455ee9548669ac0054172020e1a4c42
double
start_time_delay_ratio_y
structrobotis__framework_1_1StepTimeData.html
a18a3d1bcec0f6756a2cee084cd442fe1
double
start_time_delay_ratio_yaw
structrobotis__framework_1_1StepTimeData.html
a474fd69a0c8f1d74b06835027005b880
double
start_time_delay_ratio_z
structrobotis__framework_1_1StepTimeData.html
ad64c74585fd38c1c75f9a67e9ffb07e0
int
walking_state
structrobotis__framework_1_1StepTimeData.html
a6942ff56fce0f0f77e8843eb59d8e150
robotis_framework
namespacerobotis__framework.html
robotis_framework::BezierCurve
robotis_framework::FifthOrderPolynomialTrajectory
robotis_framework::MinimumJerk
robotis_framework::MinimumJerkViaPoint
robotis_framework::Point2D
robotis_framework::Pose3D
robotis_framework::Position3D
robotis_framework::PreviewControl
robotis_framework::SimpleTrapezoidalVelocityProfile
robotis_framework::StepData
robotis_framework::StepPositionData
robotis_framework::StepTimeData
Eigen::MatrixXd
calcArc3dTra
namespacerobotis__framework.html
a6acb378d7fcde9bfababf0897cd9abab
(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
namespacerobotis__framework.html
aecd066bc2ce0797cba9ad0f097ded0e2
(const Eigen::Vector3d &vector3d_a, const Eigen::Vector3d &vector3d_b)
Eigen::Matrix3d
calcHatto
namespacerobotis__framework.html
a821cbbda1c2a080c0d7b301864bae206
(const Eigen::Vector3d &matrix3d)
double
calcInner
namespacerobotis__framework.html
a8cde7133676e71ad9a6b8b62d8aa804d
(const Eigen::MatrixXd &vector3d_a, const Eigen::MatrixXd &vector3d_b)
double
calcInner
namespacerobotis__framework.html
ab6cd1a8a2000bb3468cfbd0109b0f3b3
(Eigen::MatrixXd vector3d_a, Eigen::MatrixXd vector3d_b)
Eigen::MatrixXd
calcMinimumJerkTra
namespacerobotis__framework.html
a90c9fb3f6f9d062d9214ce6cad473e4a
(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
namespacerobotis__framework.html
a9df9dd5d67c93f275bc09d6c3a07ffd3
(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
namespacerobotis__framework.html
afc674a674391bd2301477ba0bada7dee
(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
namespacerobotis__framework.html
a1c87562ac36d2c303e9dd682ca6a1557
(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
namespacerobotis__framework.html
aeb34a5042559d51acf80fd15e4d0cbdc
(const Eigen::Matrix3d &hat_matrix, double angle)
int
combination
namespacerobotis__framework.html
ac96c729c62519560e6918bf62fa1c523
(int n, int r)
Eigen::Matrix3d
convertQuaternionToRotation
namespacerobotis__framework.html
aa3eb38a5dd790e7cffd47450be1bbf2a
(const Eigen::Quaterniond &quaternion)
Eigen::Vector3d
convertQuaternionToRPY
namespacerobotis__framework.html
ad85a6a1f25b0d201ab789a2d0b98dadd
(const Eigen::Quaterniond &quaternion)
Eigen::Quaterniond
convertRotationToQuaternion
namespacerobotis__framework.html
a27ee80b6da35f61fd70d7e260ac6f235
(const Eigen::Matrix3d &rotation)
Eigen::Vector3d
convertRotationToRPY
namespacerobotis__framework.html
aba916c41d81a7de7dde3eb218b5172c9
(const Eigen::Matrix3d &rotation)
Eigen::Vector3d
convertRotToOmega
namespacerobotis__framework.html
af1eff93b4d6783ce1012e7e170eba695
(const Eigen::Matrix3d &rotation)
Eigen::Quaterniond
convertRPYToQuaternion
namespacerobotis__framework.html
a1946eae98bb2b1c233c7720798d92d29
(double roll, double pitch, double yaw)
Eigen::Matrix3d
convertRPYToRotation
namespacerobotis__framework.html
ab26f1f763573fd6d53fce871717274e0
(double roll, double pitch, double yaw)
std::string
dispatchMovingFoot
namespacerobotis__framework.html
a0b37fff0d5c257f1c0dcbcf602ce62b1
(int moving_foot)
std::string
dispatchWalkingState
namespacerobotis__framework.html
a604cc9f704b64754dbf9012f4f76a421
(int walking_state)
Eigen::Matrix3d
getInertiaXYZ
namespacerobotis__framework.html
a9e7542dbcb71fb94adcefc12f763a1d1
(double ixx, double ixy, double ixz, double iyy, double iyz, double izz)
Eigen::Matrix4d
getInverseTransformation
namespacerobotis__framework.html
a0c9b927d39617136701d2cef14308f49
(const Eigen::MatrixXd &transform)
Pose3D
getPose3DfromTransformMatrix
namespacerobotis__framework.html
ae6f2ded56720c8264c3f71aa2c0d8c56
(const Eigen::Matrix4d &transform)
Eigen::Matrix4d
getRotation4d
namespacerobotis__framework.html
a8c192aa23076a68cc9ac8096d78c4236
(double roll, double pitch, double yaw)
Eigen::Matrix3d
getRotationX
namespacerobotis__framework.html
aad113666a44ac49481b139e41f3e9940
(double angle)
Eigen::Matrix3d
getRotationY
namespacerobotis__framework.html
a03f040ba655e78e3a2c3ef9e9774cde6
(double angle)
Eigen::Matrix3d
getRotationZ
namespacerobotis__framework.html
a42af0c0c24b2477080c76a1d2e9ce47e
(double angle)
Eigen::Matrix4d
getTransformationXYZRPY
namespacerobotis__framework.html
a0d0e1f4364893f5d336922daa8deb3a5
(double position_x, double position_y, double position_z, double roll, double pitch, double yaw)
Eigen::Vector3d
getTransitionXYZ
namespacerobotis__framework.html
a972d2e15031cdced57dcec2480ddd40d
(double position_x, double position_y, double position_z)
Eigen::Matrix4d
getTranslation4D
namespacerobotis__framework.html
a795ec20a25d349a44ad7e4bdd9ea6a51
(double position_x, double position_y, double position_z)
std::ostream &
operator<<
namespacerobotis__framework.html
aa8700591dba4ffa9ab7aad566b986652
(std::ostream &out, const Pose3D &pose)
std::ostream &
operator<<
namespacerobotis__framework.html
acff95463aaa5cab0a8f811819ea793b9
(std::ostream &out, const StepPositionData &position_data)
std::ostream &
operator<<
namespacerobotis__framework.html
a3bfafe8500b3c29cf8f530842b7ce46f
(std::ostream &out, const StepTimeData &time_data)
std::ostream &
operator<<
namespacerobotis__framework.html
af26ea9a50cbd2821cdd9bea186189d5d
(std::ostream &out, const StepData &step_data)
double
powDI
namespacerobotis__framework.html
a3cd79ebada89f914a76b65649e6b73d6
(double a, int b)
double
sign
namespacerobotis__framework.html
ab3f6ac86466f0ad3f982a4c77cad2090
(double x)