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Static Public Member Functions | Static Protected Member Functions | List of all members
iCub::iKin::CartesianHelper Class Reference

#include <iKinHlp.h>

+ Inheritance diagram for iCub::iKin::CartesianHelper:

Static Public Member Functions

static void addTargetOption (yarp::os::Bottle &b, const yarp::sig::Vector &xd)
 Appends to a bottle all data needed to command a target. More...
 
static void addDOFOption (yarp::os::Bottle &b, const yarp::sig::Vector &dof)
 Appends to a bottle all data needed to reconfigure chain's dof. More...
 
static void addJointsResPosOption (yarp::os::Bottle &b, const yarp::sig::Vector &restPos)
 Appends to a bottle all data needed to modify joints rest position. More...
 
static void addJointsRestWeightsOption (yarp::os::Bottle &b, const yarp::sig::Vector &restWeights)
 Appends to a bottle all data needed to modify joints rest weights. More...
 
static void addPoseOption (yarp::os::Bottle &b, const unsigned int pose)
 Appends to a bottle all data needed to change the pose mode. More...
 
static void addModeOption (yarp::os::Bottle &b, const bool tracking)
 Appends to a bottle all data needed to change the tracking mode. More...
 
static void addTokenOption (yarp::os::Bottle &b, const double token)
 Appends to a bottle a token to be exchanged with the solver. More...
 
static yarp::os::Bottle * getTargetOption (const yarp::os::Bottle &b)
 Retrieves commanded target data from a bottle. More...
 
static yarp::os::Bottle * getEndEffectorPoseOption (const yarp::os::Bottle &b)
 Retrieves the end-effector pose data. More...
 
static yarp::os::Bottle * getJointsOption (const yarp::os::Bottle &b)
 Retrieves the joints configuration data. More...
 
static bool getTokenOption (const yarp::os::Bottle &b, double *token)
 Retrieves the token from the bottle. More...
 
static bool computeFixationPointData (iKinChain &eyeL, iKinChain &eyeR, yarp::sig::Vector &fp)
 Retrieves current fixation point given the current kinematics configuration of the eyes. More...
 
static bool computeFixationPointData (iKinChain &eyeL, iKinChain &eyeR, yarp::sig::Vector &fp, yarp::sig::Matrix &J)
 Retrieves current fixation point and its Jacobian wrt eyes tilt-pan-vergence dofs given the current kinematics configuration of the eyes. More...
 

Static Protected Member Functions

static void addVectorOption (yarp::os::Bottle &b, const int vcb, const yarp::sig::Vector &v)
 
static bool getDesiredOption (const yarp::os::Bottle &reply, yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat)
 

Detailed Description

Helper class providing useful methods to deal with Cartesian Solver options.

Definition at line 47 of file iKinHlp.h.

Member Function Documentation

◆ addDOFOption()

void CartesianHelper::addDOFOption ( yarp::os::Bottle &  b,
const yarp::sig::Vector &  dof 
)
static

Appends to a bottle all data needed to reconfigure chain's dof.

Parameters
bis the bottle where to append the data.
dofis the vector of new chain's dof configuration.

Definition at line 93 of file iKinHlp.cpp.

◆ addJointsResPosOption()

void CartesianHelper::addJointsResPosOption ( yarp::os::Bottle &  b,
const yarp::sig::Vector &  restPos 
)
static

Appends to a bottle all data needed to modify joints rest position.

Parameters
bis the bottle where to append the data.
restPosis the vector of new joints rest position expressed in [deg].

Definition at line 100 of file iKinHlp.cpp.

◆ addJointsRestWeightsOption()

void CartesianHelper::addJointsRestWeightsOption ( yarp::os::Bottle &  b,
const yarp::sig::Vector &  restWeights 
)
static

Appends to a bottle all data needed to modify joints rest weights.

Parameters
bis the bottle where to append the data.
restWeightsis the vector of new joints rest weights.

Definition at line 107 of file iKinHlp.cpp.

◆ addModeOption()

void CartesianHelper::addModeOption ( yarp::os::Bottle &  b,
const bool  tracking 
)
static

Appends to a bottle all data needed to change the tracking mode.

Parameters
bis the bottle where to append the data.
trackingtrue to enable tracking mode.

Definition at line 127 of file iKinHlp.cpp.

◆ addPoseOption()

void CartesianHelper::addPoseOption ( yarp::os::Bottle &  b,
const unsigned int  pose 
)
static

Appends to a bottle all data needed to change the pose mode.

Parameters
bis the bottle where to append the data.
poseis the new pose mode. IKINCTRL_POSE_FULL => complete pose control. IKINCTRL_POSE_XYZ => translational part of pose controlled.

Definition at line 114 of file iKinHlp.cpp.

◆ addTargetOption()

void CartesianHelper::addTargetOption ( yarp::os::Bottle &  b,
const yarp::sig::Vector &  xd 
)
static

Appends to a bottle all data needed to command a target.

Parameters
bis the bottle where to append the data.
xdis the target [7-components vector].

Definition at line 86 of file iKinHlp.cpp.

◆ addTokenOption()

void CartesianHelper::addTokenOption ( yarp::os::Bottle &  b,
const double  token 
)
static

Appends to a bottle a token to be exchanged with the solver.

Parameters
token.
Note
useful for some synchronization.

Definition at line 140 of file iKinHlp.cpp.

◆ addVectorOption()

void CartesianHelper::addVectorOption ( yarp::os::Bottle &  b,
const int  vcb,
const yarp::sig::Vector &  v 
)
staticprotected

Definition at line 26 of file iKinHlp.cpp.

◆ computeFixationPointData() [1/2]

static bool iCub::iKin::CartesianHelper::computeFixationPointData ( iKinChain eyeL,
iKinChain eyeR,
yarp::sig::Vector &  fp 
)
static

Retrieves current fixation point given the current kinematics configuration of the eyes.

Parameters
eyeLthe current configuration of the left eye.
eyeRthe current configuration of the right eye.
fpthe Vector where to store the fixation point coordinates.
Returns
true iff the computation of the quantities went well, false otherwise.

◆ computeFixationPointData() [2/2]

static bool iCub::iKin::CartesianHelper::computeFixationPointData ( iKinChain eyeL,
iKinChain eyeR,
yarp::sig::Vector &  fp,
yarp::sig::Matrix &  J 
)
static

Retrieves current fixation point and its Jacobian wrt eyes tilt-pan-vergence dofs given the current kinematics configuration of the eyes.

Parameters
eyeLthe current configuration of the left eye.
eyeRthe current configuration of the right eye.
fpthe Vector where to store the fixation point coordinates.
Jthe fixation point Jacobian wrt eyes configuration.
Returns
true iff the computation of the quantities went well, false otherwise.

◆ getDesiredOption()

bool CartesianHelper::getDesiredOption ( const yarp::os::Bottle &  reply,
yarp::sig::Vector &  xdhat,
yarp::sig::Vector &  odhat,
yarp::sig::Vector &  qdhat 
)
staticprotected

Definition at line 38 of file iKinHlp.cpp.

◆ getEndEffectorPoseOption()

Bottle * CartesianHelper::getEndEffectorPoseOption ( const yarp::os::Bottle &  b)
static

Retrieves the end-effector pose data.

Parameters
bis the bottle containing the data to be retrieved.
Returns
a pointer to the sub-bottle containing the retrieved data.

Definition at line 156 of file iKinHlp.cpp.

◆ getJointsOption()

Bottle * CartesianHelper::getJointsOption ( const yarp::os::Bottle &  b)
static

Retrieves the joints configuration data.

Parameters
bis the bottle containing the data to be retrieved.
Returns
a pointer to the sub-bottle containing the retrieved data.

Definition at line 163 of file iKinHlp.cpp.

◆ getTargetOption()

Bottle * CartesianHelper::getTargetOption ( const yarp::os::Bottle &  b)
static

Retrieves commanded target data from a bottle.

Parameters
bis the bottle containing the data to be retrieved.
Returns
a pointer to the sub-bottle containing the retrieved data.

Definition at line 149 of file iKinHlp.cpp.

◆ getTokenOption()

bool CartesianHelper::getTokenOption ( const yarp::os::Bottle &  b,
double *  token 
)
static

Retrieves the token from the bottle.

Parameters
bis the bottle containing the data to be retrieved.
tokenis the pointer where to return the token.
Returns
true iff the token property is present within the bottle b

Definition at line 170 of file iKinHlp.cpp.


The documentation for this class was generated from the following files: