utils.cpp File Reference

#include <cmath>
#include <limits>
#include <algorithm>
#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 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 )

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 )

Definition at line 415 of file utils.cpp.

getFeedback()

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

Definition at line 633 of file utils.cpp.

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.

Variable Documentation

MUTEX_COUNTERV

int32_t MUTEX_COUNTERV = 6

constexpr

Definition at line 32 of file utils.cpp.

MUTEX_FPFRAME

int32_t MUTEX_FPFRAME = 7

constexpr

Definition at line 33 of file utils.cpp.

MUTEX_Q

int32_t MUTEX_Q = 3

constexpr

Definition at line 29 of file utils.cpp.

MUTEX_QD

int32_t MUTEX_QD = 1

constexpr

Definition at line 27 of file utils.cpp.

MUTEX_TORSO

int32_t MUTEX_TORSO = 4

constexpr

Definition at line 30 of file utils.cpp.

MUTEX_V

int32_t MUTEX_V = 5

constexpr

Definition at line 31 of file utils.cpp.

MUTEX_X

int32_t MUTEX_X = 2

constexpr

Definition at line 28 of file utils.cpp.

MUTEX_XD

int32_t MUTEX_XD = 0

constexpr

Definition at line 26 of file utils.cpp.