#include <mutex>
#include <condition_variable>
#include <string>
#include <algorithm>
#include <utility>
#include <yarp/os/all.h>
#include <yarp/dev/all.h>
#include <yarp/sig/all.h>
#include <yarp/math/Math.h>
#include <yarp/math/SVD.h>
#include <iCub/gazeNlp.h>

Include dependency graph for utils.h:

Classes
class	xdPort
class	ExchangeData
class	GazeComponent

Functions
double	sat (const double val, const double min, const double max)
bool	getCamParams (const ResourceFinder &rf, const string &type, Matrix **Prj, int &w, int &h, const bool verbose=false)
bool	getAlignHN (const ResourceFinder &rf, const string &type, iKinChain *chain, const bool verbose=false)
Matrix	alignJointsBounds (iKinChain chain, PolyDriver drvTorso, PolyDriver drvHead, const ExchangeData commData)
void	copyJointsBounds (iKinChain ch1, iKinChain ch2)
void	updateTorsoBlockedJoints (iKinChain *chain, const Vector &fbTorso)
void	updateNeckBlockedJoints (iKinChain *chain, const Vector &fbNeck)
bool	getFeedback (Vector &fbTorso, Vector &fbHead, PolyDriver drvTorso, PolyDriver drvHead, const ExchangeData commData, double timeStamp=nullptr)

Function Documentation

◆ alignJointsBounds()

Matrix alignJointsBounds	(	iKinChain *	chain,
		PolyDriver *	drvTorso,
		PolyDriver *	drvHead,
		const ExchangeData *	commData )

Definition at line 531 of file utils.cpp.

◆ copyJointsBounds()

void copyJointsBounds	(	iKinChain *	ch1,
		iKinChain *	ch2 )

Definition at line 602 of file utils.cpp.

◆ getAlignHN()

bool getAlignHN	(	const ResourceFinder &	rf,
		const string &	type,
		iKinChain *	chain,
		const bool	verbose = false )

Definition at line 474 of file utils.cpp.

◆ getCamParams()

bool getCamParams	(	const ResourceFinder &	rf,
		const string &	type,
		Matrix **	Prj,
		int &	w,
		int &	h,
		const bool	verbose = false )

Definition at line 415 of file utils.cpp.

◆ getFeedback()

bool getFeedback	(	Vector &	fbTorso,
		Vector &	fbHead,
		PolyDriver *	drvTorso,
		PolyDriver *	drvHead,
		const ExchangeData *	commData,
		double *	timeStamp = nullptr )

Definition at line 633 of file utils.cpp.

◆ sat()

double sat	(	const double	val,
		const double	min,
		const double	max )

inline

Definition at line 183 of file utils.h.

◆ updateNeckBlockedJoints()

void updateNeckBlockedJoints	(	iKinChain *	chain,
		const Vector &	fbNeck )

Definition at line 625 of file utils.cpp.

◆ updateTorsoBlockedJoints()

void updateTorsoBlockedJoints	(	iKinChain *	chain,
		const Vector &	fbTorso )

Definition at line 617 of file utils.cpp.

Classes

Functions