27 #define IKIN_ALMOST_ZERO 1e-6
29 #include <yarp/os/Bottle.h>
30 #include <yarp/sig/all.h>
50 static void addVectorOption(yarp::os::Bottle &b,
const int vcb,
const yarp::sig::Vector &v);
51 static bool getDesiredOption(
const yarp::os::Bottle &reply, yarp::sig::Vector &xdhat,
52 yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat);
60 static void addTargetOption(yarp::os::Bottle &b,
const yarp::sig::Vector &xd);
68 static void addDOFOption(yarp::os::Bottle &b,
const yarp::sig::Vector &dof);
94 static void addPoseOption(yarp::os::Bottle &b,
const unsigned int pose);
102 static void addModeOption(yarp::os::Bottle &b,
const bool tracking);
110 static void addTokenOption(yarp::os::Bottle &b,
const double token);
143 static bool getTokenOption(
const yarp::os::Bottle &b,
double *token);
156 yarp::sig::Vector &
fp);
171 yarp::sig::Vector &
fp, yarp::sig::Matrix &J);
Helper class providing useful methods to deal with Cartesian Solver options.
static yarp::os::Bottle * getEndEffectorPoseOption(const yarp::os::Bottle &b)
Retrieves the end-effector pose data.
static void addVectorOption(yarp::os::Bottle &b, const int vcb, const yarp::sig::Vector &v)
static yarp::os::Bottle * getJointsOption(const yarp::os::Bottle &b)
Retrieves the joints configuration data.
static yarp::os::Bottle * getTargetOption(const yarp::os::Bottle &b)
Retrieves commanded target data from a bottle.
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 k...
static void addModeOption(yarp::os::Bottle &b, const bool tracking)
Appends to a bottle all data needed to change the tracking mode.
static bool computeFixationPointData(iKinChain &eyeL, iKinChain &eyeR, yarp::sig::Vector &fp)
Retrieves current fixation point given the current kinematics configuration of the eyes.
static void addTargetOption(yarp::os::Bottle &b, const yarp::sig::Vector &xd)
Appends to a bottle all data needed to command a target.
static void addJointsResPosOption(yarp::os::Bottle &b, const yarp::sig::Vector &restPos)
Appends to a bottle all data needed to modify joints rest position.
static void addDOFOption(yarp::os::Bottle &b, const yarp::sig::Vector &dof)
Appends to a bottle all data needed to reconfigure chain's dof.
static bool getDesiredOption(const yarp::os::Bottle &reply, yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat)
static bool getTokenOption(const yarp::os::Bottle &b, double *token)
Retrieves the token from the bottle.
static void addJointsRestWeightsOption(yarp::os::Bottle &b, const yarp::sig::Vector &restWeights)
Appends to a bottle all data needed to modify joints rest weights.
static void addTokenOption(yarp::os::Bottle &b, const double token)
Appends to a bottle a token to be exchanged with the solver.
static void addPoseOption(yarp::os::Bottle &b, const unsigned int pose)
Appends to a bottle all data needed to change the pose mode.
A Base class for defining a Serial Link Chain.
This file contains the definition of unique IDs for the body parts and the skin parts of the robot.
static struct bpf_program fp