eigen_types.hpp File Reference

#include <Eigen/Core>
#include "kdl/frames.hpp"
#include "kdl/tree.hpp"
#include "kdl/chain.hpp"
#include "kdl/jacobian.hpp"
#include "kdl/jntarray.hpp"

Go to the source code of this file.

Classes
class	iTaSC::Range
Namespaces
namespace	iTaSC
Defines
#define	e_scalar   double
#define	e_vector   Eigen::Matrix<e_scalar, Eigen::Dynamic, 1>
#define	e_zero_vector   Eigen::Matrix<e_scalar, Eigen::Dynamic, 1>::Zero
#define	e_matrix   Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>
#define	e_matrix6   Eigen::Matrix<e_scalar,6,6>
#define	e_identity_matrix   Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Identity
#define	e_scalar_vector   Eigen::Matrix<e_scalar, Eigen::Dynamic, 1>::Constant
#define	e_zero_matrix   Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Zero
#define	e_random_matrix   Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Random
#define	e_vector6   Eigen::Matrix<e_scalar,6,1>
#define	e_vector3   Eigen::Matrix<e_scalar,3,1>
Functions
template<typename MatrixType >
Eigen::Block< MatrixType >	iTaSC::project (MatrixType &m, Range r)
template<typename MatrixType >
Eigen::Block< MatrixType >	iTaSC::project (MatrixType &m, Range r, Range c)
template<typename Derived >
static int	iTaSC::changeBase (Eigen::MatrixBase< Derived > &J, const Frame &T)
Variables
const Frame	iTaSC::F_identity

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Define Documentation

#define e_identity_matrix   Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Identity

Definition at line 42 of file eigen_types.hpp.

Referenced by iTaSC::CopyPose::CopyPose(), iTaSC::MovingFrame::MovingFrame(), and iTaSC::ConstraintSet::reset().

#define e_matrix   Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>

Definition at line 40 of file eigen_types.hpp.

Referenced by convert_tree(), iTaSC::MovingFrame::MovingFrame(), iTaSC::Scene::update(), and iTaSC::MovingFrame::updateJacobian().

#define e_matrix6   Eigen::Matrix<e_scalar,6,6>

Definition at line 41 of file eigen_types.hpp.

#define e_random_matrix   Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Random

Definition at line 45 of file eigen_types.hpp.

#define e_scalar   double

Definition at line 37 of file eigen_types.hpp.

Referenced by iTaSC::changeBase(), iTaSC::ConstraintSet::ConstraintSet(), iTaSC::ControlledObject(), iTaSC::ConstraintSet::getMaxTimestep(), iTaSC::m_maxIter(), iTaSC::WSDLSSolver::solve(), iTaSC::WDLSSolver::solve(), KDL::svd_eigen_HH(), and iTaSC::Scene::update().

#define e_scalar_vector   Eigen::Matrix<e_scalar, Eigen::Dynamic, 1>::Constant

Definition at line 43 of file eigen_types.hpp.

Referenced by iTaSC::ConstraintSet::reset().

#define e_vector   Eigen::Matrix<e_scalar, Eigen::Dynamic, 1>

Definition at line 38 of file eigen_types.hpp.

#define e_vector3   Eigen::Matrix<e_scalar,3,1>

Definition at line 47 of file eigen_types.hpp.

#define e_vector6   Eigen::Matrix<e_scalar,6,1>

Definition at line 46 of file eigen_types.hpp.

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

#define e_zero_matrix   Eigen::Matrix<e_scalar, Eigen::Dynamic, Eigen::Dynamic>::Zero

Definition at line 44 of file eigen_types.hpp.

Referenced by iTaSC::WSDLSSolver::init(), iTaSC::WDLSSolver::init(), iTaSC::UncontrolledObject::initialize(), and iTaSC::ConstraintSet::reset().

#define e_zero_vector   Eigen::Matrix<e_scalar, Eigen::Dynamic, 1>::Zero

Definition at line 39 of file eigen_types.hpp.

Referenced by iTaSC::WSDLSSolver::init(), iTaSC::WDLSSolver::init(), iTaSC::UncontrolledObject::initialize(), iTaSC::ConstraintSet::reset(), iTaSC::Scene::update(), and iTaSC::MovingFrame::updateCoordinates().