eigen_utils Namespace Reference

Functions
Eigen::Affine3d	direct_exponential_map (const Eigen::VectorXd &v, double delta_t)
double	f_mcosc (double cosx, double x)
double	f_msinc (double sinx, double x)
double	f_sinc (double sinx, double x)
bool	getTransform (const tf::TransformListener &listener, const std::string &target, const std::string source, Eigen::Affine3d &tMs, const ros::Time &timestamp=ros::Time::now(), const ros::Duration &timeout=ros::Duration(5.0))
void	pseudoinverse (const Eigen::MatrixXd &M, Eigen::MatrixXd &Minv, double tolerance=1.e-06)
Eigen::MatrixXd	pseudoinverse (const Eigen::MatrixXd &M, double tolerance=1.e-06)
void	transformToPoseVector (const Eigen::Affine3d &M, Eigen::VectorXd &pose)
Eigen::VectorXd	transformToPoseVector (const Eigen::Affine3d &M)
Eigen::Affine3d	UThetaToAffine3d (const Eigen::Vector3d &u)
Variables
static const double	ang_min_mc = 2.5e-4
static const double	ang_min_sinc = 1.0e-8

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Function Documentation

Eigen::Affine3d eigen_utils::direct_exponential_map	(	const Eigen::VectorXd &	v,
		double	delta_t
	)

Computes the direct exponential map for a twist acting during a time

Parameters:

v	a 6x1 twist vector in (t utheta) notation
delta_t	the time during which the twist v is applied

Returns:

an homogeneous matrix that contains the displacement after applying the velocity v during the time interval delta_t

Definition at line 176 of file eigen_utils.cpp.

double eigen_utils::f_mcosc	(	double	cosx,
		double	x
	)

Definition at line 140 of file eigen_utils.cpp.

double eigen_utils::f_msinc	(	double	sinx,
		double	x
	)

Definition at line 146 of file eigen_utils.cpp.

double eigen_utils::f_sinc	(	double	sinx,
		double	x
	)

Definition at line 134 of file eigen_utils.cpp.

bool eigen_utils::getTransform	(	const tf::TransformListener &	listener,
		const std::string &	target,
		const std::string	source,
		Eigen::Affine3d &	tMs,
		const ros::Time &	timestamp = ros::Time::now(),
		const ros::Duration &	timeout = ros::Duration(5.0)
	)

Queries tf for a transform and returns it as an eigen affine3d object

Parameters:

	listener	the tf listener object
	target	the target frame name (t)
	source	the source frame name (s)
[out]	tMs	an homogeneous matrix describing the source frame in target coordinates
	timestamp	the desired timestamp
	timeout	the maximum time to wait for the transform

Returns:

true if the transform exists, false otherwise

Definition at line 221 of file eigen_utils.cpp.

void eigen_utils::pseudoinverse	(	const Eigen::MatrixXd &	M,
		Eigen::MatrixXd &	Minv,
		double	tolerance = 1.e-06
	)

Computes the pseudoinverse of a matrix via SVD

Parameters:

M	the input matrix
Minv[out]	the output pseudoinverse matrix
tolerance	Those singular values smaller than tolerance * max_singular_value are removed

Definition at line 39 of file eigen_utils.cpp.

Eigen::MatrixXd eigen_utils::pseudoinverse	(	const Eigen::MatrixXd &	M,
		double	tolerance = 1.e-06
	)

Computes the pseudoinverse of a matrix via SVD

Parameters:

M	the input matrix
tolerance	Those singular values smaller than tolerance * max_singular_value are removed

Returns:

the output pseudoinverse matrix

Definition at line 61 of file eigen_utils.cpp.

void eigen_utils::transformToPoseVector	(	const Eigen::Affine3d &	M,
		Eigen::VectorXd &	pose
	)

Computes a pose vector in (t utheta) notation from an homogeneous transformation matrix

Parameters:

M	an homogeneous transformation matrix
pose[out]	an output 6x1 vector containing the translation and rotation (utheta notation) described by matrix M

Definition at line 68 of file eigen_utils.cpp.

Eigen::VectorXd eigen_utils::transformToPoseVector

(

const Eigen::Affine3d &

M

)

Computes a pose vector in (t utheta) notation from an homogeneous transformation matrix

Parameters:

M	an homogeneous transformation matrix

Returns:

a 6x1 vector containing the translation and rotation (utheta notation) described by matrix M

Definition at line 123 of file eigen_utils.cpp.

Eigen::Affine3d eigen_utils::UThetaToAffine3d

(

const Eigen::Vector3d &

u

)

Computes a rotation matrix corresponding to a utheta rotation

Parameters:

u	a 3x1 vector containing a rotation in utheta notation

Returns:

an homogeneous matrix containing a rotation corresponding to u

Definition at line 152 of file eigen_utils.cpp.

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Variable Documentation

const double eigen_utils::ang_min_mc = 2.5e-4 [static]

Definition at line 132 of file eigen_utils.cpp.

const double eigen_utils::ang_min_sinc = 1.0e-8 [static]

Definition at line 131 of file eigen_utils.cpp.