Utils.h File Reference

#include <XBotInterface/RtLog.hpp>
#include <XBotInterface/TypedefAndEnums.h>
#include <boost/filesystem.hpp>
#include <boost/algorithm/string.hpp>
#include <cstdlib>
#include <iostream>
#include <iomanip>
#include <string>
#include <fstream>
#include <streambuf>
#include <yaml-cpp/yaml.h>
#include <stdexcept>
#include <stdio.h>

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Classes
class	XBot::Utils::SecondOrderFilter< SignalType >
	SecondOrderFilter implements a canonical continuous-time second order filter with transfer function 1 P(s) = --------------------—, w = natural frequency, eps = damping ratio (s/w)^2 + 2*eps/w*s + 1. More...
class	XBot::Utils::SecondOrderFilterArray< SignalType >
class	XBot::Utils::LimitedDeque< T >

Namespaces
	XBot
	XBot::Utils

Functions
Eigen::Matrix3d	XBot::Utils::skewSymmetricMatrix (const Eigen::Vector3d &v)
	Computes a matrix S such that S(a)b = a x b. More...
void	XBot::Utils::computeOrientationError (const Eigen::Matrix3d &ref, const Eigen::Matrix3d &actual, Eigen::Vector3d &error)
	Computes an orientation error between two frames such that an angular velocity K*e (K > 0) brings "actual" towards "ref". More...
void	XBot::Utils::FifthOrderTrajectory (const double init_time, const Eigen::VectorXd &_startPosture, const Eigen::VectorXd &_targetPosture, const double _max_vel, const double traj_time, Eigen::VectorXd &ref, Eigen::VectorXd &ref_dot, double &_duration_)
void	XBot::Utils::ThirdOrderTrajectory (const double init_time, const double init_pos, const double final_pos, const double max_vel, const double traj_time, double &ref, double &ref_dot, double &duration)
std::string	XBot::Utils::exec (const char *cmd)
	exec runs a command inside the shell, and returns the output More...
std::string	XBot::Utils::computeAbsolutePath (const std::string &input_path)
	Computes the absolute path corresponging to a given path relative to the $XBOT_ROOT environment variable. More...
std::string	XBot::Utils::computeAbsolutePathShell (std::string input_path, std::string wd=".")
	computeAbsolutePathShell expands the provided path by using the system shell before pre-pending the XBOT_ROOT value More...
std::string	XBot::Utils::getXBotConfig ()
	getter for the default XBot config file set by the env variable $XBOT_CONFIG More...
Eigen::Matrix6d	XBot::Utils::GetAdjointFromRotation (const Eigen::Matrix3d &R)
void	XBot::Utils::FifthOrderPlanning (double x0, double dx0, double ddx0, double goal, double start_time, double end_time, double time, double &x, double &dx, double &ddx)
bool	XBot::Utils::ReadFile (std::string path_to_file, std::string &file)
std::string	XBot::Utils::GetTimeAsString ()