iTaSC Namespace Reference

Classes
class	Armature
struct	Timestamp
class	Cache
struct	CacheEntry
struct	CacheChannel
struct	CacheBlock
struct	CacheItem
struct	CacheBufferHeader
struct	CacheBuffer
struct	ConstraintSingleValue
struct	ConstraintValues
class	ConstraintSet
class	ControlledObject
class	CopyPose
class	Distance
class	Range
class	FixedObject
class	MovingFrame
class	Object
class	SceneLock
class	Scene
class	Solver
class	UncontrolledObject
class	WDLSSolver
class	WorldObject
class	WSDLSSolver
Typedefs
typedef unsigned int	CacheTS
typedef bool(*	ConstraintCallback )(const Timestamp &timestamp, struct ConstraintValues *const _values, unsigned int _nvalues, void *_param)
typedef bool(*	MovingFrameCallback )(const Timestamp &timestamp, const Frame &_current, Frame &_next, void *param)
Enumerations
enum	ConstraintAction {   ACT_NONE = 0, ACT_VALUE = 1, ACT_VELOCITY = 2, ACT_TOLERANCE = 4,   ACT_FEEDBACK = 8, ACT_ALPHA = 16 }
Functions
void	setCacheTimestamp (Timestamp &timestamp)
template<typename MatrixType >
Eigen::Block< MatrixType >	project (MatrixType &m, Range r)
template<typename MatrixType >
Eigen::Block< MatrixType >	project (MatrixType &m, Range r, Range c)
template<typename Derived >
static int	changeBase (Eigen::MatrixBase< Derived > &J, const Frame &T)
static int	changeBase (const u_matrix &J_in, const Frame &T, u_matrix &J_out)
static int	changeBase (const ublas::matrix_range< u_matrix > &J_in, const Frame &T, ublas::matrix_range< u_matrix > &J_out)
Variables
static const unsigned int	constraintCacheSize = 5
const unsigned int	maxPoseCacheSize = (2*(3+3*2))
static const unsigned int	distanceCacheSize = sizeof(double)*5 + sizeof(e_scalar)*6
const Frame	F_identity
static const unsigned int	frameCacheSize = (sizeof(((Frame*)0)->p.data)+sizeof(((Frame*)0)->M.data))/sizeof(double)

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Typedef Documentation

typedef unsigned int iTaSC::CacheTS

Definition at line 32 of file Cache.hpp.

typedef bool(* iTaSC::ConstraintCallback)(const Timestamp &timestamp, struct ConstraintValues *const _values, unsigned int _nvalues, void *_param)

Definition at line 49 of file ConstraintSet.hpp.

typedef bool(* iTaSC::MovingFrameCallback)(const Timestamp &timestamp, const Frame &_current, Frame &_next, void *param)

Definition at line 17 of file MovingFrame.hpp.

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Enumeration Type Documentation

enum iTaSC::ConstraintAction

Enumerator:

ACT_NONE
ACT_VALUE
ACT_VELOCITY
ACT_TOLERANCE
ACT_FEEDBACK
ACT_ALPHA

Definition at line 18 of file ConstraintSet.hpp.

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Function Documentation

static int iTaSC::changeBase	(	const u_matrix &	J_in,
		const Frame &	T,
		u_matrix &	J_out
	)		[inline, static]

Definition at line 48 of file ublas_types.hpp.

References i.

static int iTaSC::changeBase	(	const ublas::matrix_range< u_matrix > &	J_in,
		const Frame &	T,
		ublas::matrix_range< u_matrix > &	J_out
	)		[inline, static]

Definition at line 64 of file ublas_types.hpp.

References i.

template<typename Derived >

static int iTaSC::changeBase	(	Eigen::MatrixBase< Derived > &	J,
		const Frame &	T
	)		[inline, static]

Definition at line 67 of file eigen_types.hpp.

References e_scalar, and i.

Referenced by iTaSC::Scene::update().

template<typename MatrixType >

Eigen::Block<MatrixType> iTaSC::project	(	MatrixType &	m,
		Range	r
	)		[inline]

Definition at line 57 of file eigen_types.hpp.

References iTaSC::Range::count, and iTaSC::Range::start.

Referenced by iTaSC::Scene::initialize(), iTaSC::SceneLock::lockJoint(), iTaSC::Scene::update(), and btWheelInfo::updateWheel().

template<typename MatrixType >

Eigen::Block<MatrixType> iTaSC::project	(	MatrixType &	m,
		Range	r,
		Range	c
	)		[inline]

Definition at line 62 of file eigen_types.hpp.

References iTaSC::Range::count, and iTaSC::Range::start.

void iTaSC::setCacheTimestamp

(

Timestamp &

timestamp

)

[inline]

Definition at line 51 of file Cache.hpp.

References iTaSC::Timestamp::cacheTimestamp, and iTaSC::Timestamp::realTimestamp.

Referenced by iTaSC::Scene::update().

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Variable Documentation

const unsigned int iTaSC::constraintCacheSize = 5 [static]

Definition at line 19 of file Armature.cpp.

Referenced by iTaSC::Armature::initCache().

const unsigned int iTaSC::distanceCacheSize = sizeof(double)*5 + sizeof(e_scalar)*6 [static]

Definition at line 19 of file Distance.cpp.

Referenced by iTaSC::Distance::initCache().

const KDL::Frame iTaSC::F_identity

Referenced by base_callback(), iTaSC::Distance::closeLoop(), iTaSC::ConstraintSet::closeLoop(), convert_tree(), iTaSC::Armature::Effector_struct::Effector_struct(), iTaSC::CopyPose::getControlParameters(), iTaSC::FixedObject::getPose(), iTaSC::Armature::getPose(), and iTaSC::CopyPose::updateControlOutput().

const unsigned int iTaSC::frameCacheSize = (sizeof(((Frame*)0)->p.data)+sizeof(((Frame*)0)->M.data))/sizeof(double) [static]

Definition at line 15 of file MovingFrame.cpp.

Referenced by iTaSC::MovingFrame::initCache().

const unsigned int iTaSC::maxPoseCacheSize = (2*(3+3*2))

Definition at line 19 of file CopyPose.cpp.