XBot::Utils Namespace Reference

Classes
class	LimitedDeque
class	SecondOrderFilter
	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	SecondOrderFilterArray

Functions
Eigen::Matrix3d	skewSymmetricMatrix (const Eigen::Vector3d &v)
	Computes a matrix S such that S(a)b = a x b. More...
void	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	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	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	exec (const char *cmd)
	exec runs a command inside the shell, and returns the output More...
std::string	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	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	getXBotConfig ()
	getter for the default XBot config file set by the env variable $XBOT_CONFIG More...
Eigen::Matrix6d	GetAdjointFromRotation (const Eigen::Matrix3d &R)
void	FifthOrderPlanning (double x0, double dx0, double ddx0, double goal, double start_time, double end_time, double time, double &x, double &dx, double &ddx)
bool	ReadFile (std::string path_to_file, std::string &file)
std::string	GetTimeAsString ()

Function Documentation

computeAbsolutePath()

std::string XBot::Utils::computeAbsolutePath ( const std::string &  input_path )

inline

Computes the absolute path corresponging to a given path relative to the $XBOT_ROOT environment variable.

computeAbsolutePathShell()

std::string XBot::Utils::computeAbsolutePathShell ( std::string  input_path, std::string  wd = "."  )

inline

computeAbsolutePathShell expands the provided path by using the system shell before pre-pending the XBOT_ROOT value

computeOrientationError()

void XBot::Utils::computeOrientationError ( const Eigen::Matrix3d &  ref, const Eigen::Matrix3d &  actual, Eigen::Vector3d &  error  )

inline

Computes an orientation error between two frames such that an angular velocity K*e (K > 0) brings "actual" towards "ref".

Parameters

ref	Reference orientation
actual	Current orientation
error	The orientation error between ref and actual

Returns

void

exec()

std::string XBot::Utils::exec ( const char *  cmd )

inline

exec runs a command inside the shell, and returns the output

FifthOrderPlanning()

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  )

inline

FifthOrderTrajectory()

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_  )

inline

GetAdjointFromRotation()

Eigen::Matrix6d XBot::Utils::GetAdjointFromRotation ( const Eigen::Matrix3d &  R )

inline

GetTimeAsString()

std::string XBot::Utils::GetTimeAsString ( )

inline

getXBotConfig()

std::string XBot::Utils::getXBotConfig ( )

inline

getter for the default XBot config file set by the env variable $XBOT_CONFIG

ReadFile()

bool XBot::Utils::ReadFile ( std::string  path_to_file, std::string &  file  )

inline

skewSymmetricMatrix()

Eigen::Matrix3d XBot::Utils::skewSymmetricMatrix ( const Eigen::Vector3d &  v )

inline

Computes a matrix S such that S(a)b = a x b.

Parameters

v	A 3D vector

Returns

The skew symmetric matrix which represents a vector product by v

ThirdOrderTrajectory()

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  )

inline