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static void | addVectorOption (yarp::os::Bottle &b, const int vcb, const yarp::sig::Vector &v) |
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static bool | getDesiredOption (const yarp::os::Bottle &reply, yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat) |
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static void | addTargetOption (yarp::os::Bottle &b, const yarp::sig::Vector &xd) |
| Appends to a bottle all data needed to command a target.
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static void | addDOFOption (yarp::os::Bottle &b, const yarp::sig::Vector &dof) |
| Appends to a bottle all data needed to reconfigure chain's dof.
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static void | addJointsResPosOption (yarp::os::Bottle &b, const yarp::sig::Vector &restPos) |
| Appends to a bottle all data needed to modify joints rest position.
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static void | addJointsRestWeightsOption (yarp::os::Bottle &b, const yarp::sig::Vector &restWeights) |
| Appends to a bottle all data needed to modify joints rest weights.
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static void | addPoseOption (yarp::os::Bottle &b, const unsigned int pose) |
| Appends to a bottle all data needed to change the pose mode.
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static void | addModeOption (yarp::os::Bottle &b, const bool tracking) |
| Appends to a bottle all data needed to change the tracking mode.
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static void | addTokenOption (yarp::os::Bottle &b, const double token) |
| Appends to a bottle a token to be exchanged with the solver.
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static yarp::os::Bottle * | getTargetOption (const yarp::os::Bottle &b) |
| Retrieves commanded target data from a bottle.
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static yarp::os::Bottle * | getEndEffectorPoseOption (const yarp::os::Bottle &b) |
| Retrieves the end-effector pose data.
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static yarp::os::Bottle * | getJointsOption (const yarp::os::Bottle &b) |
| Retrieves the joints configuration data.
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static bool | getTokenOption (const yarp::os::Bottle &b, double *token) |
| Retrieves the token from the bottle.
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static bool | computeFixationPointData (iKinChain &eyeL, iKinChain &eyeR, yarp::sig::Vector &fp) |
| Retrieves current fixation point given the current kinematics configuration of the eyes.
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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.
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PartDescriptor * | prt |
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std::deque< yarp::dev::PolyDriver * > | drv |
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std::deque< yarp::dev::IControlLimits * > | lim |
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std::deque< yarp::dev::IEncoders * > | enc |
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std::deque< int > | jnt |
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std::deque< int * > | rmp |
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iKinIpOptMin * | slv |
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SolverCallback * | clb |
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RpcProcessor * | cmdProcessor |
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yarp::os::Port * | rpcPort |
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InputPort * | inPort |
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yarp::os::BufferedPort< yarp::os::Bottle > * | outPort |
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std::mutex | mtx |
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std::string | slvName |
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std::string | type |
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unsigned int | period |
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unsigned int | ctrlPose |
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bool | fullDOF |
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bool | contModeOld |
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bool | configured |
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bool | closing |
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bool | closed |
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bool | interrupting |
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bool | verbosity |
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bool | timeout_detected |
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int | maxPartJoints |
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int | unctrlJointsNum |
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double | ping_robot_tmo |
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double | token |
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double * | pToken |
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yarp::sig::Matrix | hwLimits |
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yarp::sig::Matrix | swLimits |
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yarp::sig::Vector | unctrlJointsOld |
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yarp::sig::Vector | dof |
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yarp::sig::Vector | restJntPos |
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yarp::sig::Vector | restWeights |
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yarp::sig::Vector | xd_2ndTask |
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yarp::sig::Vector | w_2ndTask |
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yarp::sig::Vector | qd_3rdTask |
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yarp::sig::Vector | w_3rdTask |
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yarp::sig::Vector | idx_3rdTask |
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std::mutex | mtx_dofEvent |
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std::condition_variable | cv_dofEvent |
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