robcogenHelpers.h File Reference

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Classes
class	ct::rbd::TARGET_NS::Utils< SCALAR >

Namespaces
	ct
	ct::rbd
	ct::rbd::TARGET_NS
	ct::rbd::TARGET_NS::tpl

Macros
#define	CT_RBD_TRANSFORM_BASE_TO_ID(BASE, LINK_ID)   transforms.BASE##_X_##LINK_ID
#define	CT_RBD_JACOBIAN_BASE_TO_ID(BASE, EE_ID)   jacobians.BASE##_J_##EE_ID
#define	CT_RBD_JACOBIAN_GET_BLOCK(FIRST, LAST)   jacobian.template block<6, LAST - FIRST + 1>(0, FIRST)
#define	CT_RBD_CASE_HELPER_BASE_ID(BASE, LINK_ID, INDEX)
#define	CT_RBD_CASE_HELPER_JAC_UPDATE(BASE, LINK_ID)   CT_RBD_JACOBIAN_BASE_TO_ID(BASE, LINK_ID).update(q);
#define	CT_RBD_CASE_HELPER_JOINT_BEGIN_BASE_ID(BASE, LINK_ID, INDEX)
#define	CT_RBD_TRANSFORM_ID_TO_BASE(BASE, LINK_ID)   transforms.LINK_ID##_X_##BASE
#define	CT_RBD_CASE_HELPER_ID_BASE(BASE, LINK_ID, INDEX)
#define	CT_RBD_CASE_HELPER_JOINT_BEGIN_ID_BASE(BASE, LINK_ID, INDEX)
#define	CT_RBD_CASE_HELPER_JOINT_END

Typedefs
template<typename SCALAR >
using	ct::rbd::TARGET_NS::tpl::RobCoGenContainer = ct::rbd::RobCoGenContainer< iit::ROBCOGEN_NS::tpl::Traits< SCALAR >, iit::ROBCOGEN_NS::LinkDataMap, Utils< SCALAR > >
template<typename SCALAR >
using	ct::rbd::TARGET_NS::tpl::Kinematics = ct::rbd::Kinematics< RobCoGenContainer< SCALAR >, Utils< SCALAR >::N_EE >
template<typename SCALAR >
using	ct::rbd::TARGET_NS::tpl::Dynamics = ct::rbd::Dynamics< RobCoGenContainer< SCALAR >, Utils< SCALAR >::N_EE >
typedef tpl::RobCoGenContainer< double >	ct::rbd::TARGET_NS::RobCoGenContainer
typedef tpl::Kinematics< double >	ct::rbd::TARGET_NS::Kinematics
typedef Dynamics< RobCoGenContainer, Kinematics::NUM_EE >	ct::rbd::TARGET_NS::Dynamics

Macro Definition Documentation

CT_RBD_TRANSFORM_BASE_TO_ID

#define CT_RBD_TRANSFORM_BASE_TO_ID	(		BASE,
			LINK_ID
	)		transforms.BASE##_X_##LINK_ID

CT_RBD_JACOBIAN_BASE_TO_ID

#define CT_RBD_JACOBIAN_BASE_TO_ID	(		BASE,
			EE_ID
	)		jacobians.BASE##_J_##EE_ID

CT_RBD_JACOBIAN_GET_BLOCK

#define CT_RBD_JACOBIAN_GET_BLOCK	(		FIRST,
			LAST
	)		jacobian.template block<6, LAST - FIRST + 1>(0, FIRST)

Referenced by ct::rbd::TARGET_NS::Utils< SCALAR >::getJacobianBaseEEbyId().

CT_RBD_CASE_HELPER_BASE_ID

#define CT_RBD_CASE_HELPER_BASE_ID	(		BASE,
			LINK_ID,
			INDEX
	)

Value:

case INDEX:                                            \
        return CT_RBD_TRANSFORM_BASE_TO_ID(BASE, LINK_ID); \
        break;

CT_RBD_CASE_HELPER_JAC_UPDATE

#define CT_RBD_CASE_HELPER_JAC_UPDATE	(		BASE,
			LINK_ID
	)		CT_RBD_JACOBIAN_BASE_TO_ID(BASE, LINK_ID).update(q);

Referenced by ct::rbd::TARGET_NS::Utils< SCALAR >::getJacobianBaseEEbyId().

CT_RBD_CASE_HELPER_JOINT_BEGIN_BASE_ID

#define CT_RBD_CASE_HELPER_JOINT_BEGIN_BASE_ID	(		BASE,
			LINK_ID,
			INDEX
	)

Value:

case INDEX:                                                      \
        return CT_RBD_TRANSFORM_BASE_TO_ID(BASE, LINK_ID).update(

Referenced by ct::rbd::TARGET_NS::Utils< SCALAR >::getTransformBaseEEById(), and ct::rbd::TARGET_NS::Utils< SCALAR >::getTransformBaseLinkById().

CT_RBD_TRANSFORM_ID_TO_BASE

#define CT_RBD_TRANSFORM_ID_TO_BASE	(		BASE,
			LINK_ID
	)		transforms.LINK_ID##_X_##BASE

CT_RBD_CASE_HELPER_ID_BASE

#define CT_RBD_CASE_HELPER_ID_BASE	(		BASE,
			LINK_ID,
			INDEX
	)

Value:

case INDEX:                                            \
        return CT_RBD_TRANSFORM_ID_TO_BASE(BASE, LINK_ID); \
        break;

CT_RBD_CASE_HELPER_JOINT_BEGIN_ID_BASE

#define CT_RBD_CASE_HELPER_JOINT_BEGIN_ID_BASE	(		BASE,
			LINK_ID,
			INDEX
	)

Value:

case INDEX:                                                      \
        return CT_RBD_TRANSFORM_ID_TO_BASE(BASE, LINK_ID).update(

Referenced by ct::rbd::TARGET_NS::Utils< SCALAR >::getTransformLinkBaseById().

CT_RBD_CASE_HELPER_JOINT_END

#define CT_RBD_CASE_HELPER_JOINT_END

Value:

) ;                          \
    break;

Referenced by ct::rbd::TARGET_NS::Utils< SCALAR >::getTransformBaseEEById(), ct::rbd::TARGET_NS::Utils< SCALAR >::getTransformBaseLinkById(), and ct::rbd::TARGET_NS::Utils< SCALAR >::getTransformLinkBaseById().