Classes
struct	Effector_struct
struct	JointConstraint_struct
struct	Joint_struct
struct	Timestamp
class	Cache
struct	CacheEntry
struct	CacheChannel
struct	CacheBlock
struct	CacheItem
struct	CacheBufferHeader
struct	CacheBuffer
struct	ConstraintSingleValue
struct	ConstraintValues
class	ConstraintSet
class	JointLockCallback
class	CopyPose
class	Distance
class	Range
class	FixedObject
class	MovingFrame
class	Object
class	Scene
class	Solver
class	UncontrolledObject
class	WDLSSolver
class	WorldObject
class	WSDLSSolver
Typedefs
typedef std::vector < Effector_struct >	EffectorList
typedef std::vector < JointConstraint_struct * >	JointConstraintList
typedef std::vector< Joint_struct >	JointList
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	ID { ID_JOINT = 1, ID_JOINT_RX = 2, ID_JOINT_RY = 3, ID_JOINT_RZ = 4, ID_JOINT_TX = 2, ID_JOINT_TY = 3, ID_JOINT_TZ = 4 }
enum	ConstraintAction { ACT_NONE = 0, ACT_VALUE = 1, ACT_VELOCITY = 2, ACT_TOLERANCE = 4, ACT_FEEDBACK = 8, ACT_ALPHA = 16 }
Functions
virtual	~Armature ()
bool	addSegment (const std::string &segment_name, const std::string &hook_name, const Joint &joint, const double &q_rest, const Frame &f_tip=F_identity, const Inertia &M=Inertia::Zero())
int	addConstraint (const std::string &segment_name, ConstraintCallback _function, void *_param=NULL, bool _freeParam=false, bool _substep=false)
int	addLimitConstraint (const std::string &segment_name, unsigned int dof, double _min, double _max)
double	getMaxJointChange ()
double	getMaxEndEffectorChange ()
bool	getSegment (const std::string &segment_name, const unsigned int q_size, const Joint &p_joint, double &q_rest, double &q, const Frame &p_tip)
bool	getRelativeFrame (Frame &result, const std::string &segment_name, const std::string &base_name=m_root)
virtual void	finalize ()
virtual int	addEndEffector (const std::string &name)
virtual const Frame &	getPose (const unsigned int end_effector)
virtual bool	updateJoint (const Timestamp &timestamp, JointLockCallback &callback)
virtual void	updateKinematics (const Timestamp &timestamp)
virtual void	pushCache (const Timestamp &timestamp)
virtual void	updateControlOutput (const Timestamp &timestamp)
virtual bool	setControlParameter (unsigned int constraintId, unsigned int valueId, ConstraintAction action, double value, double timestep=0.0)
virtual void	initCache (Cache *_cache)
virtual bool	setJointArray (const KDL::JntArray &joints)
virtual const KDL::JntArray &	getJointArray ()
virtual double	getArmLength ()
virtual void	updateJacobian ()
void	setCacheTimestamp (Timestamp &timestamp)
D double unsigned int	m_Cf (e_zero_matrix(m_nc, 6))
D double unsigned int	m_Wy (e_scalar_vector(m_nc, 1.0))
D double unsigned int	m_y (m_nc)
D double unsigned int	m_ydot (e_zero_vector(m_nc))
D double unsigned int	m_chi (e_zero_vector(6))
D double unsigned int	m_S (6)
D double unsigned int	m_temp (6)
D double unsigned int	m_tdelta (6)
D double unsigned int	m_Jf (e_identity_matrix(6, 6))
D double unsigned int	m_U (e_identity_matrix(6, 6))
D double unsigned int	m_V (e_identity_matrix(6, 6))
D double unsigned int	m_B (e_zero_matrix(6, 6))
D double unsigned int	m_Jf_inv (e_zero_matrix(6, 6))
D double unsigned int	m_internalPose (F_identity)
D double unsigned int	m_externalPose (F_identity)
D double unsigned int	m_constraintCallback (NULL)
D double unsigned int	m_constraintParam (NULL)
D double unsigned int	m_toggle (false)
D double unsigned int	m_substep (false)
D double unsigned int	m_threshold (accuracy)
D double unsigned int	m_maxIter (maximum_iterations)
	ControlledObject ()
virtual	~ControlledObject ()
virtual void	initialize (unsigned int _nq, unsigned int _nc, unsigned int _nee)
virtual void	setJointVelocity (const e_vector qdot_in)
virtual double	getMaxTimestep (double &timestep)
virtual bool	setControlParameter (unsigned int constraintId, unsigned int valueId, ConstraintAction action, e_scalar value, double timestep=0.0)=0
virtual const e_vector &	getControlOutput () const
virtual const e_matrix &	getJq (unsigned int ee) const
virtual const e_matrix &	getCq () const
virtual e_matrix &	getWq ()
virtual void	setWq (const e_matrix &Wq_in)
virtual const e_vector &	getWy () const
virtual const unsigned int	getNrOfCoordinates ()
virtual const unsigned int	getNrOfConstraints ()
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)
D	m_finalized (false)
D	m_nframe (0)
	SceneLock (Scene *scene)
virtual	~SceneLock ()
void	setRange (Range &range)
virtual void	lockJoint (unsigned int q_nr, unsigned int ndof)
virtual void	lockJoint (unsigned int q_nr, unsigned int ndof, double *qdot)
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)
D	m_epsilon (0.1)
D	m_nc (0)
D	m_nq (0)
Variables
D	__pad0__
static std::string	m_root
Tree	m_tree
unsigned int	m_njoint
unsigned int	m_nconstraint
unsigned int	m_noutput
unsigned int	m_neffector
bool	m_finalized
Cache *	m_cache
double *	m_buf
int	m_qCCh
CacheTS	m_qCTs
int	m_yCCh
CacheTS	m_yCTs
JntArray	m_qKdl
JntArray	m_oldqKdl
JntArray	m_newqKdl
JntArray	m_qdotKdl
Jacobian *	m_jac
double	m_armlength
KDL::TreeJntToJacSolver *	m_jacsolver
KDL::TreeFkSolverPos_recursive *	m_fksolver
EffectorList	m_effectors
JointConstraintList	m_constraints
JointList	m_joints
D double	accuracy
D double unsigned int	maximum_iterations
unsigned int	m_nq
unsigned int	m_nc
unsigned int	m_nee
e_matrix	m_Wq
e_matrix	m_Cq
e_vector	m_Wy
e_vector	m_ydot
e_vector	m_qdot
std::vector< e_matrix >	m_JqArray
const Frame	F_identity
Range	m_qrange

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 std::vector<Effector_struct> iTaSC::EffectorList

Definition at line 61 of file Armature.hpp.

typedef std::vector<JointConstraint_struct*> iTaSC::JointConstraintList

Definition at line 85 of file Armature.hpp.

typedef std::vector<Joint_struct> iTaSC::JointList

Definition at line 99 of file Armature.hpp.

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

Definition at line 17 of file MovingFrame.hpp.

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.

enum iTaSC::ID

Enumerator:

ID_JOINT
ID_JOINT_RX
ID_JOINT_RY
ID_JOINT_RZ
ID_JOINT_TX
ID_JOINT_TY
ID_JOINT_TZ

Definition at line 63 of file Armature.hpp.

Function Documentation

int iTaSC::addConstraint	(	const std::string &	segment_name,
		ConstraintCallback	_function,
		void *	_param = `NULL`,
		bool	_freeParam = `false`,
		bool	_substep = `false`
	)

virtual int iTaSC::addEndEffector ( const std::string & name ) [virtual]

int iTaSC::Armature::addLimitConstraint	(	const std::string &	segment_name,
		unsigned int	dof,
		double	_min,
		double	_max
	)

Definition at line 335 of file Armature.cpp.

References KDL::Joint::getNDof(), KDL::Tree::getSegment(), KDL::Tree::getSegments(), KDL::Joint::getType(), m_joints, m_tree, iTaSC::Joint_struct::max, iTaSC::Joint_struct::min, and iTaSC::Joint_struct::useLimit.

bool iTaSC::addSegment	(	const std::string &	segment_name,
		const std::string &	hook_name,
		const Joint &	joint,
		const double &	q_rest,
		const Frame &	f_tip = `F_identity`,
		const Inertia &	M = `Inertia::Zero()`
	)

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().

iTaSC::ControlledObject::ControlledObject ( )

Definition at line 15 of file ControlledObject.cpp.

References e_scalar.

Referenced by iTaSC::Scene::addObject(), and iTaSC::Scene::update().

virtual void iTaSC::finalize ( ) [virtual]

virtual double iTaSC::getArmLength ( ) [virtual]

Definition at line 50 of file Armature.hpp.

virtual const e_vector& iTaSC::getControlOutput ( ) const [virtual]

Definition at line 54 of file ControlledObject.hpp.

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

virtual const e_matrix& iTaSC::getCq ( ) const [virtual]

Definition at line 58 of file ControlledObject.hpp.

References m_Wq.

const KDL::JntArray & iTaSC::Armature::getJointArray ( ) [virtual]

Definition at line 435 of file Armature.cpp.

References m_qKdl.

const e_matrix & iTaSC::ControlledObject::getJq ( unsigned int ee ) const [virtual]

Definition at line 49 of file ControlledObject.cpp.

References assert, m_JqArray, m_nee, and m_nq.

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

double iTaSC::Armature::getMaxEndEffectorChange ( )

Definition at line 278 of file Armature.cpp.

References KDL::diff(), i, m_effectors, m_finalized, m_neffector, KDL::Vector::Norm(), KDL::Twist::rot, and KDL::Twist::vel.

double iTaSC::Armature::getMaxJointChange ( )

Definition at line 264 of file Armature.cpp.

References fabs(), i, m_finalized, m_njoint, m_oldqKdl, and m_qKdl.

virtual double iTaSC::getMaxTimestep ( double & timestep ) [virtual]

Referenced by LbmFsgrSolver::adaptTimestep().

virtual const unsigned int iTaSC::getNrOfConstraints ( ) [virtual]

Definition at line 66 of file ControlledObject.hpp.

virtual const unsigned int iTaSC::getNrOfCoordinates ( ) [virtual]

Definition at line 65 of file ControlledObject.hpp.

References m_nc.

virtual const Frame& iTaSC::getPose ( const unsigned int end_effector ) [virtual]

bool iTaSC::Armature::getRelativeFrame	(	Frame &	result,
		const std::string &	segment_name,
		const std::string &	base_name = `m_root`
	)

Definition at line 658 of file Armature.cpp.

References KDL::TreeFkSolverPos_recursive::JntToCart(), m_finalized, m_fksolver, and m_qKdl.

bool iTaSC::getSegment	(	const std::string &	segment_name,
		const unsigned int	q_size,
		const Joint *&	p_joint,
		double &	q_rest,
		double &	q,
		const Frame *&	p_tip
	)

virtual e_matrix& iTaSC::getWq ( ) [virtual]

Definition at line 60 of file ControlledObject.hpp.

References m_Wq.

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

virtual const e_vector& iTaSC::getWy ( ) const [virtual]

Definition at line 63 of file ControlledObject.hpp.

References m_nq.

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

virtual void iTaSC::initCache ( Cache * _cache ) [virtual]

virtual void iTaSC::initialize	(	unsigned int	_nq,
		unsigned int	_nc,
		unsigned int	_nee
	)		`[virtual]`

Referenced by btHeightfieldTerrainShape::btHeightfieldTerrainShape(), and iTaSC::MovingFrame::MovingFrame().

virtual void iTaSC::lockJoint	(	unsigned int	q_nr,
		unsigned int	ndof,
		double *	qdot
	)		`[virtual]`

Definition at line 40 of file itasc/scene.cpp.

References i, m_qrange, project(), and iTaSC::Range::start.

virtual void iTaSC::lockJoint	(	unsigned int	q_nr,
		unsigned int	ndof
	)		`[virtual]`

Definition at line 34 of file itasc/scene.cpp.

References m_qrange, project(), and iTaSC::Range::start.

D double unsigned int iTaSC::m_B ( e_zero_matrix(6, 6) )

D double unsigned int iTaSC::m_Cf ( e_zero_matrix(m_nc, 6) )

Referenced by iTaSC::CopyPose::CopyPose(), and iTaSC::Distance::Distance().

D double unsigned int iTaSC::m_chi ( e_zero_vector(6) )

D double unsigned int iTaSC::m_constraintCallback ( NULL )

D double unsigned int iTaSC::m_constraintParam ( NULL )

D iTaSC::m_epsilon ( 0. 1 )

Definition at line 17 of file WDLSSolver.cpp.

D double unsigned int iTaSC::m_externalPose ( F_identity )

D iTaSC::m_finalized ( false )

D double unsigned int iTaSC::m_internalPose ( F_identity )

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

D double unsigned int iTaSC::m_Jf ( e_identity_matrix(6, 6) )

Referenced by iTaSC::CopyPose::CopyPose().

D double unsigned int iTaSC::m_Jf_inv ( e_zero_matrix(6, 6) )

D double unsigned int iTaSC::m_maxIter ( maximum_iterations )

Definition at line 29 of file ConstraintSet.cpp.

References e_scalar.

D iTaSC::m_nc ( 0 )

D iTaSC::m_nframe ( 0 )

Definition at line 18 of file FixedObject.cpp.

D iTaSC::m_nq ( 0 )

Definition at line 19 of file WSDLSSolver.cpp.

D double unsigned int iTaSC::m_S ( 6 )

D double unsigned int iTaSC::m_substep ( false )

D double unsigned int iTaSC::m_tdelta ( 6 )

D double unsigned int iTaSC::m_temp ( 6 )

D double unsigned int iTaSC::m_threshold ( accuracy )

D double unsigned int iTaSC::m_toggle ( false )

D double unsigned int iTaSC::m_U ( e_identity_matrix(6, 6) )

D double unsigned int iTaSC::m_V ( e_identity_matrix(6, 6) )

D double unsigned int iTaSC::m_Wy ( e_scalar_vector(m_nc, 1.0) )

D double unsigned int iTaSC::m_y ( m_nc )

Referenced by SCA_MouseSensor::setY().

D double unsigned int iTaSC::m_ydot ( e_zero_vector(m_nc) )

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 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.

virtual void iTaSC::pushCache ( const Timestamp & timestamp ) [virtual]

iTaSC::SceneLock ( Scene * scene )

Definition at line 25 of file itasc/scene.cpp.

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().

virtual bool iTaSC::setControlParameter	(	unsigned int	constraintId,
		unsigned int	valueId,
		ConstraintAction	action,
		e_scalar	value,
		double	timestep = `0.0`
	)		`[pure virtual]`

virtual bool iTaSC::setControlParameter	(	unsigned int	constraintId,
		unsigned int	valueId,
		ConstraintAction	action,
		double	value,
		double	timestep = `0.0`
	)		`[virtual]`