iCub-main
Classes | Functions
utils.h File Reference
#include <string>
#include <algorithm>
#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  IMUPort
 
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=NULL)
 

Function Documentation

◆ alignJointsBounds()

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

Definition at line 548 of file utils.cpp.

◆ copyJointsBounds()

void copyJointsBounds ( iKinChain ch1,
iKinChain ch2 
)

Definition at line 619 of file utils.cpp.

◆ getAlignHN()

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

Definition at line 491 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 432 of file utils.cpp.

◆ getFeedback()

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

Definition at line 650 of file utils.cpp.

◆ sat()

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

Definition at line 189 of file utils.h.

◆ updateNeckBlockedJoints()

void updateNeckBlockedJoints ( iKinChain chain,
const Vector &  fbNeck 
)

Definition at line 642 of file utils.cpp.

◆ updateTorsoBlockedJoints()

void updateTorsoBlockedJoints ( iKinChain chain,
const Vector &  fbTorso 
)

Definition at line 634 of file utils.cpp.