iCub-main
Functions | Variables
utils.cpp File Reference
#include <cmath>
#include <limits>
#include <algorithm>
#include <sstream>
#include <iCub/utils.h>
#include <iCub/solver.h>
+ Include dependency graph for utils.cpp:

Go to the source code of this file.

Functions

bool getCamParams (const ResourceFinder &rf, const string &type, Matrix **Prj, int &w, int &h, const bool verbose)
 
bool getAlignHN (const ResourceFinder &rf, const string &type, iKinChain *chain, const bool verbose)
 
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)
 

Variables

constexpr int32_t MUTEX_XD = 0
 
constexpr int32_t MUTEX_QD = 1
 
constexpr int32_t MUTEX_X = 2
 
constexpr int32_t MUTEX_Q = 3
 
constexpr int32_t MUTEX_TORSO = 4
 
constexpr int32_t MUTEX_V = 5
 
constexpr int32_t MUTEX_COUNTERV = 6
 
constexpr int32_t MUTEX_FPFRAME = 7
 

Function Documentation

◆ alignJointsBounds()

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

Definition at line 539 of file utils.cpp.

◆ copyJointsBounds()

void copyJointsBounds ( iKinChain ch1,
iKinChain ch2 
)

Definition at line 610 of file utils.cpp.

◆ getAlignHN()

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

Definition at line 482 of file utils.cpp.

◆ getCamParams()

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

Definition at line 423 of file utils.cpp.

◆ getFeedback()

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

Definition at line 641 of file utils.cpp.

◆ updateNeckBlockedJoints()

void updateNeckBlockedJoints ( iKinChain chain,
const Vector &  fbNeck 
)

Definition at line 633 of file utils.cpp.

◆ updateTorsoBlockedJoints()

void updateTorsoBlockedJoints ( iKinChain chain,
const Vector &  fbTorso 
)

Definition at line 625 of file utils.cpp.

Variable Documentation

◆ MUTEX_COUNTERV

constexpr int32_t MUTEX_COUNTERV = 6

Definition at line 33 of file utils.cpp.

◆ MUTEX_FPFRAME

constexpr int32_t MUTEX_FPFRAME = 7

Definition at line 34 of file utils.cpp.

◆ MUTEX_Q

constexpr int32_t MUTEX_Q = 3

Definition at line 30 of file utils.cpp.

◆ MUTEX_QD

constexpr int32_t MUTEX_QD = 1

Definition at line 28 of file utils.cpp.

◆ MUTEX_TORSO

constexpr int32_t MUTEX_TORSO = 4

Definition at line 31 of file utils.cpp.

◆ MUTEX_V

constexpr int32_t MUTEX_V = 5

Definition at line 32 of file utils.cpp.

◆ MUTEX_X

constexpr int32_t MUTEX_X = 2

Definition at line 29 of file utils.cpp.

◆ MUTEX_XD

constexpr int32_t MUTEX_XD = 0

Definition at line 27 of file utils.cpp.