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include
optimizer_goal_global_orientation.h
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#ifndef __INC_OPTIMIZER_GOAL_GLOBAL_ORIENTATION
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#define __INC_OPTIMIZER_GOAL_GLOBAL_ORIENTATION
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#include <vector>
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#include <
optimizer_goal_global.h
>
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namespace
robotLibPbD
{
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class
OptimizerGoalGlobalOrientation
:
public
OptimizerGoalGlobal
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{
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protected
:
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double
angle
;
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CVec
axis
;
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CMatrix
pose
;
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public
:
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virtual
void
add
()
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{
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item
.resize(3);
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pose =
first
->
getRelativeToBase
();
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CMathLib::getRotationFromMatrix
(pose, axis, angle);
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axis *= 57.295779513082325 *
angle
;
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LOG_MSG
(6,
"Orientation: %s \n"
, axis.
toString
().c_str());
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item
[0] = axis.
x
;
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item[1] = axis.
y
;
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item[2] = axis.
z
;
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data
.push_back(item);
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};
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};
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};
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#endif
robotLibPbD::CVec::z
PRECISION z
Definition:
vecmath.h:60
robotLibPbD::OptimizerGoalGlobal::item
std::vector< double > item
Definition:
optimizer_goal_global.h:32
robotLibPbD::CVec::toString
std::string toString()
Definition:
vecmath.cpp:65
robotLibPbD::CFrame::getRelativeToBase
virtual CMatrix getRelativeToBase()
Returns pose in the base (frame with no predecessor) frame.
Definition:
frame.h:508
robotLibPbD::CMathLib::getRotationFromMatrix
static void getRotationFromMatrix(const CMatrix &mat, CVec &axis, double &angle)
Transforms homogenous matrix into axis-angle representation.
Definition:
vecmath.cpp:463
robotLibPbD::OptimizerGoalGlobalOrientation::angle
double angle
Definition:
optimizer_goal_global_orientation.h:30
optimizer_goal_global.h
robotLibPbD
Definition:
config.h:22
robotLibPbD::OptimizerGoalGlobal
Definition:
optimizer_goal_global.h:29
robotLibPbD::OptimizerGoalGlobalOrientation::pose
CMatrix pose
Definition:
optimizer_goal_global_orientation.h:32
robotLibPbD::CVec
Homogenous vector.
Definition:
vecmath.h:57
robotLibPbD::CMatrix
Homogenous matrix.
Definition:
vecmath.h:187
robotLibPbD::OptimizerGoalGlobalOrientation::axis
CVec axis
Definition:
optimizer_goal_global_orientation.h:31
LOG_MSG
#define LOG_MSG(index, format,...)
Definition:
log.h:32
robotLibPbD::OptimizerGoalGlobal::data
std::vector< std::vector< double > > data
Definition:
optimizer_goal_global.h:35
robotLibPbD::OptimizerGoalGlobalOrientation
Definition:
optimizer_goal_global_orientation.h:27
robotLibPbD::OptimizerGoalGlobalOrientation::add
virtual void add()
Definition:
optimizer_goal_global_orientation.h:34
robotLibPbD::CVec::y
PRECISION y
Definition:
vecmath.h:60
robotLibPbD::CVec::x
PRECISION x
Definition:
vecmath.h:60
robotLibPbD::OptimizerGoal::first
CFrame * first
Definition:
optimizer_goal.h:36
asr_kinematic_chain_optimizer
Author(s): Aumann Florian, Heller Florian, Jäkel Rainer, Wittenbeck Valerij
autogenerated on Mon Jun 10 2019 12:35:36