iCub-main
Classes | Functions
utils.h File Reference
#include <mutex>
#include <condition_variable>
#include <string>
#include <algorithm>
#include <utility>
#include <yarp/os/all.h>
#include <yarp/dev/all.h>
#include <yarp/sig/all.h>
#include <yarp/math/Math.h>
#include <yarp/math/SVD.h>
#include <iCub/gazeNlp.h>
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Go to the source code of this file.

Classes

class  xdPort
 
class  ExchangeData
 
class  GazeComponent
 

Functions

double sat (const double val, const double min, const double max)
 
bool getCamParams (const ResourceFinder &rf, const string &type, Matrix **Prj, int &w, int &h, const bool verbose=false)
 
bool getAlignHN (const ResourceFinder &rf, const string &type, iKinChain *chain, const bool verbose=false)
 
Matrix alignJointsBounds (iKinChain *chain, PolyDriver *drvTorso, PolyDriver *drvHead, const ExchangeData *commData)
 
void copyJointsBounds (iKinChain *ch1, iKinChain *ch2)
 
void updateTorsoBlockedJoints (iKinChain *chain, const Vector &fbTorso)
 
void updateNeckBlockedJoints (iKinChain *chain, const Vector &fbNeck)
 
bool getFeedback (Vector &fbTorso, Vector &fbHead, PolyDriver *drvTorso, PolyDriver *drvHead, const ExchangeData *commData, double *timeStamp=nullptr)
 

Function Documentation

◆ alignJointsBounds()

Matrix alignJointsBounds ( iKinChain chain,
PolyDriver *  drvTorso,
PolyDriver *  drvHead,
const ExchangeData commData 
)

Definition at line 539 of file utils.cpp.

◆ copyJointsBounds()

void copyJointsBounds ( iKinChain ch1,
iKinChain ch2 
)

Definition at line 610 of file utils.cpp.

◆ getAlignHN()

bool getAlignHN ( const ResourceFinder &  rf,
const string &  type,
iKinChain chain,
const bool  verbose = false 
)

Definition at line 482 of file utils.cpp.

◆ getCamParams()

bool getCamParams ( const ResourceFinder &  rf,
const string &  type,
Matrix **  Prj,
int &  w,
int &  h,
const bool  verbose = false 
)

Definition at line 423 of file utils.cpp.

◆ getFeedback()

bool getFeedback ( Vector &  fbTorso,
Vector &  fbHead,
PolyDriver *  drvTorso,
PolyDriver *  drvHead,
const ExchangeData commData,
double *  timeStamp = nullptr 
)

Definition at line 641 of file utils.cpp.

◆ sat()

double sat ( const double  val,
const double  min,
const double  max 
)
inline

Definition at line 185 of file utils.h.

◆ updateNeckBlockedJoints()

void updateNeckBlockedJoints ( iKinChain chain,
const Vector &  fbNeck 
)

Definition at line 633 of file utils.cpp.

◆ updateTorsoBlockedJoints()

void updateTorsoBlockedJoints ( iKinChain chain,
const Vector &  fbTorso 
)

Definition at line 625 of file utils.cpp.