Classes | Functions | Variables
robotLibPbD Namespace Reference

Classes

class  CDh
 Denavit Hartenberg Link information. More...
 
class  CFrame
 Robot types with implemented inverse kinematics. More...
 
class  CFrameCombination
 Frame in cartesian space. More...
 
class  CFrameContainer
 
class  CFrameInterface
 
class  CFrameReference
 Frame in cartesian space. More...
 
class  CKinematicChain
 Kinematic chain. More...
 
class  CKinematicChainContainer
 Kinematic Robot Model. More...
 
class  CMathLib
 Mathematical functions. More...
 
class  CMatrix
 Homogenous matrix. More...
 
class  COptimizer
 
class  COptimizerGnuplot
 
class  COptimizerIv
 
class  COptimizerResult
 
class  COptimizerRos
 
class  CVec
 Homogenous vector. More...
 
class  OptimizerContainer
 
class  OptimizerGoal
 
class  OptimizerGoalGlobal
 
class  OptimizerGoalGlobalOrientation
 
class  OptimizerGoalGlobalPosition
 
class  OptimizerGoalOrientation
 
class  OptimizerGoalPosition
 
class  ValueSetter
 

Functions

void arrayToMatrix (CMatrix &matrix, std::vector< double > &values)
 
template<typename T >
std::string arrayToString (std::vector< T > &array)
 
std::string boolToString (bool value)
 
void calculateTransformationFromPlane (CVec &plane, CMatrix &transformation)
 
std::string combineStrings (std::vector< std::string > &input, std::string delimiter=" ")
 
template<typename T , typename S >
bool comparePairs (const std::pair< T, S > &first, const std::pair< T, S > &second)
 
template<typename T , typename S >
bool comparePairsVector (const std::pair< T, S > &first, const std::pair< T, S > &second)
 
void convertMatrix (CMatrix &from, double(*R)[3], double *T)
 
void convertMatrix (double(*R)[3], double *T, CMatrix &to)
 
unsigned long fac (unsigned int value)
 
void getConvexHullXY (std::vector< CVec > &points, std::vector< CVec > &hull)
 
int getDirectoryFiles (std::string dir, std::vector< std::string > &files, bool appendDir=false)
 
double getGaussian (double value, double mean, double std)
 
double getGaussianProb (double mean, double std)
 
double getGaussianWithoutNormalization (double value, double mean, double std)
 
double getLogisticProb (double alpha, double beta)
 
void getMeanFromVectors (std::vector< std::vector< double > > &values, std::vector< double > &mean)
 
double getSigmoid (double value, double offset, double factor)
 
unsigned long getTickCount ()
 
double getUniform ()
 
int getUniform (int min, int max)
 
template<typename T >
bool inRange (std::vector< T > &array, T min, T max)
 
template<typename T >
bool isIncluded (std::vector< T > &array, T &value)
 
void matrixToArray (const CMatrix &matrix, std::vector< double > &values)
 
void matrixToVector (const CMatrix &matrix, std::vector< double > &values)
 
void matrixToVector6 (const CMatrix &matrix, double *values)
 
void orientation2scaledAxis (CMatrix &matrix, CVec &axis)
 
void orientation2scaledAxis (CMatrix &matrix, std::vector< double > &axis)
 
std::string printToString (const char *format,...)
 
boost::variate_generator< boost::mt19937 &, boost::uniform_01< double > > pRngUniform01 (pRngMt19937, pRngDist)
 
int rnd (PRECISION value)
 Rounds a value. More...
 
void rosenbrock (int n, double *x, double *bl, double *bu, double bigbnd, int maxiter, double eps, int verbose, void obj(int, double *, double *, void *), void *extraparams)
 
int roundToInt (double value)
 
void scaledAxis2Orientation (CVec &axis, CMatrix &matrix)
 
void scaledAxis2Orientation (std::vector< double > &axis, CMatrix &matrix)
 
void setUniformSeed (unsigned int seed)
 
double sign (double value)
 
void simulatedannealing (int n, double *x, double *bl, double *bu, double bigbnd, int maxiter, double eps, int verbose, void obj(int, double *, double *, void *), void *extraparams)
 
bool stringEndsWith (std::string text, std::string end, std::string sep="_")
 
bool stringStartsWith (std::string text, std::string end, std::string sep="_")
 
std::string strreplace (const std::string &stringSearchString, const std::string &stringReplaceString, std::string stringStringToReplace)
 
void strreplace (char *text, char what= '.', char with= ',')
 
void strreplaceWithCondition (const std::string &stringSearchString, const std::string &stringReplaceString, std::string &stringStringToReplace, std::string condition="")
 
void strToArray (std::string text, std::vector< double > &result, std::string delimiter=" ")
 
double strToDouble (const char *text, double value=0.0)
 
void strtokenize (const std::string &str, std::vector< std::string > &tokens, const std::string &delimiters)
 
std::string strtrim (std::string &s, const std::string &drop=" ")
 
double vectorlength (std::vector< double > &v)
 
void vectorToMatrix (CMatrix &matrix, const std::vector< double > &values)
 
void vectorToMatrix6 (CMatrix &matrix, const double *values)
 
std::string waitForReturn (std::string msg="Press any key.\n")
 

Variables

boost::uniform_01< double > pRngDist
 
boost::mt19937 pRngMt19937
 
boost::variate_generator< boost::mt19937 &, boost::uniform_01< double > > pRngUniform01
 
char rosenbrock_version [] = "rosenbrock 0.99"
 

Detailed Description

Copyright (c) 2016, Aumann Florian, Heller Florian, Jäkel Rainer, Wittenbeck Valerij All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

  1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
  2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
  3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Function Documentation

void robotLibPbD::arrayToMatrix ( CMatrix &  matrix,
std::vector< double > &  values 
)

Definition at line 195 of file utils.cpp.

template<typename T >
std::string robotLibPbD::arrayToString ( std::vector< T > &  array)

Definition at line 84 of file utils.h.

std::string robotLibPbD::boolToString ( bool  value)

Definition at line 85 of file utils.cpp.

void robotLibPbD::calculateTransformationFromPlane ( CVec &  plane,
CMatrix &  transformation 
)

Definition at line 1011 of file vecmath.cpp.

std::string robotLibPbD::combineStrings ( std::vector< std::string > &  input,
std::string  delimiter = " " 
)

Definition at line 46 of file utils.cpp.

template<typename T , typename S >
bool robotLibPbD::comparePairs ( const std::pair< T, S > &  first,
const std::pair< T, S > &  second 
)

Definition at line 94 of file utils.h.

template<typename T , typename S >
bool robotLibPbD::comparePairsVector ( const std::pair< T, S > &  first,
const std::pair< T, S > &  second 
)

Definition at line 100 of file utils.h.

void robotLibPbD::convertMatrix ( CMatrix &  from,
double(*)  R[3],
double *  T 
)

Definition at line 1119 of file vecmath.cpp.

void robotLibPbD::convertMatrix ( double(*)  R[3],
double *  T,
CMatrix &  to 
)

Definition at line 1100 of file vecmath.cpp.

unsigned long robotLibPbD::fac ( unsigned int  value)
void robotLibPbD::getConvexHullXY ( std::vector< CVec > &  points,
std::vector< CVec > &  hull 
)

Definition at line 360 of file utils.cpp.

int robotLibPbD::getDirectoryFiles ( std::string  dir,
std::vector< std::string > &  files,
bool  appendDir = false 
)

Definition at line 60 of file utils.cpp.

double robotLibPbD::getGaussian ( double  value,
double  mean,
double  std 
)

Definition at line 1071 of file vecmath.cpp.

double robotLibPbD::getGaussianProb ( double  mean,
double  std 
)
inline

Definition at line 440 of file vecmath.h.

double robotLibPbD::getGaussianWithoutNormalization ( double  value,
double  mean,
double  std 
)

Definition at line 1078 of file vecmath.cpp.

double robotLibPbD::getLogisticProb ( double  alpha,
double  beta 
)

Definition at line 1085 of file vecmath.cpp.

void robotLibPbD::getMeanFromVectors ( std::vector< std::vector< double > > &  values,
std::vector< double > &  mean 
)

Definition at line 1139 of file vecmath.cpp.

double robotLibPbD::getSigmoid ( double  value,
double  offset,
double  factor 
)

Definition at line 1066 of file vecmath.cpp.

unsigned long robotLibPbD::getTickCount ( )

Definition at line 351 of file utils.cpp.

double robotLibPbD::getUniform ( )
inline

Definition at line 429 of file vecmath.h.

int robotLibPbD::getUniform ( int  min,
int  max 
)
inline

Definition at line 435 of file vecmath.h.

template<typename T >
bool robotLibPbD::inRange ( std::vector< T > &  array,
T  min,
T  max 
)

Definition at line 64 of file utils.h.

template<typename T >
bool robotLibPbD::isIncluded ( std::vector< T > &  array,
T &  value 
)

Definition at line 74 of file utils.h.

void robotLibPbD::matrixToArray ( const CMatrix &  matrix,
std::vector< double > &  values 
)

Definition at line 176 of file utils.cpp.

void robotLibPbD::matrixToVector ( const CMatrix &  matrix,
std::vector< double > &  values 
)

Definition at line 290 of file utils.cpp.

void robotLibPbD::matrixToVector6 ( const CMatrix &  matrix,
double *  values 
)

Definition at line 304 of file utils.cpp.

void robotLibPbD::orientation2scaledAxis ( CMatrix &  matrix,
CVec &  axis 
)

Definition at line 1162 of file vecmath.cpp.

void robotLibPbD::orientation2scaledAxis ( CMatrix &  matrix,
std::vector< double > &  axis 
)

Definition at line 1169 of file vecmath.cpp.

std::string robotLibPbD::printToString ( const char *  format,
  ... 
)

Definition at line 149 of file utils.cpp.

boost::variate_generator<boost::mt19937&, boost::uniform_01<double> > robotLibPbD::pRngUniform01 ( pRngMt19937  ,
pRngDist   
)
int robotLibPbD::rnd ( PRECISION  value)

Rounds a value.

Definition at line 308 of file vecmath.cpp.

void robotLibPbD::rosenbrock ( int  n,
double *  x,
double *  bl,
double *  bu,
double  bigbnd,
int  maxiter,
double  eps,
int  verbose,
void   objint, double *, double *, void *,
void *  extraparams 
)

Definition at line 871 of file vecmath.cpp.

int robotLibPbD::roundToInt ( double  value)
void robotLibPbD::scaledAxis2Orientation ( CVec &  axis,
CMatrix &  matrix 
)

Definition at line 1180 of file vecmath.cpp.

void robotLibPbD::scaledAxis2Orientation ( std::vector< double > &  axis,
CMatrix &  matrix 
)

Definition at line 1192 of file vecmath.cpp.

void robotLibPbD::setUniformSeed ( unsigned int  seed)

Definition at line 1059 of file vecmath.cpp.

double robotLibPbD::sign ( double  value)
void robotLibPbD::simulatedannealing ( int  n,
double *  x,
double *  bl,
double *  bu,
double  bigbnd,
int  maxiter,
double  eps,
int  verbose,
void   objint, double *, double *, void *,
void *  extraparams 
)

Definition at line 804 of file vecmath.cpp.

bool robotLibPbD::stringEndsWith ( std::string  text,
std::string  end,
std::string  sep = "_" 
)

Definition at line 228 of file utils.cpp.

bool robotLibPbD::stringStartsWith ( std::string  text,
std::string  end,
std::string  sep = "_" 
)

Definition at line 218 of file utils.cpp.

std::string robotLibPbD::strreplace ( const std::string &  stringSearchString,
const std::string &  stringReplaceString,
std::string  stringStringToReplace 
)

Definition at line 110 of file utils.cpp.

void robotLibPbD::strreplace ( char *  text,
char  what = '.',
char  with = ',' 
)

Definition at line 338 of file utils.cpp.

void robotLibPbD::strreplaceWithCondition ( const std::string &  stringSearchString,
const std::string &  stringReplaceString,
std::string &  stringStringToReplace,
std::string  condition = "" 
)

Definition at line 125 of file utils.cpp.

void robotLibPbD::strToArray ( std::string  text,
std::vector< double > &  result,
std::string  delimiter = " " 
)

Definition at line 161 of file utils.cpp.

double robotLibPbD::strToDouble ( const char *  text,
double  value = 0.0 
)

Definition at line 317 of file utils.cpp.

void robotLibPbD::strtokenize ( const std::string &  str,
std::vector< std::string > &  tokens,
const std::string &  delimiters 
)

Definition at line 87 of file utils.cpp.

std::string robotLibPbD::strtrim ( std::string &  s,
const std::string &  drop = " " 
)

Definition at line 331 of file utils.cpp.

double robotLibPbD::vectorlength ( std::vector< double > &  v)

Definition at line 791 of file vecmath.cpp.

void robotLibPbD::vectorToMatrix ( CMatrix &  matrix,
const std::vector< double > &  values 
)

Definition at line 255 of file utils.cpp.

void robotLibPbD::vectorToMatrix6 ( CMatrix &  matrix,
const double *  values 
)

Definition at line 237 of file utils.cpp.

std::string robotLibPbD::waitForReturn ( std::string  msg = "Press any key.\n")

Definition at line 37 of file utils.cpp.

Variable Documentation

boost::uniform_01< double > robotLibPbD::pRngDist

Definition at line 45 of file vecmath.cpp.

boost::mt19937 robotLibPbD::pRngMt19937

Definition at line 44 of file vecmath.cpp.

boost::variate_generator<boost::mt19937&, boost::uniform_01<double> > robotLibPbD::pRngUniform01
char robotLibPbD::rosenbrock_version[] = "rosenbrock 0.99"

Definition at line 799 of file vecmath.cpp.


asr_kinematic_chain_optimizer
Author(s): Aumann Florian, Heller Florian, Jäkel Rainer, Wittenbeck Valerij
autogenerated on Mon Jun 10 2019 12:35:36