iCub-main
Macros | Functions
utils.cpp File Reference
#include <cmath>
#include <limits>
#include <algorithm>
#include <sstream>
#include <iCub/utils.h>
#include <iCub/solver.h>
+ Include dependency graph for utils.cpp:

Go to the source code of this file.

Macros

#define MUTEX_XD   0
 
#define MUTEX_QD   1
 
#define MUTEX_X   2
 
#define MUTEX_Q   3
 
#define MUTEX_TORSO   4
 
#define MUTEX_V   5
 
#define MUTEX_COUNTERV   6
 
#define MUTEX_FPFRAME   7
 
#define MUTEX_IMU   8
 

Functions

bool getCamParams (const ResourceFinder &rf, const string &type, Matrix **Prj, int &w, int &h, const bool verbose)
 
bool getAlignHN (const ResourceFinder &rf, const string &type, iKinChain *chain, const bool verbose)
 
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)
 

Macro Definition Documentation

◆ MUTEX_COUNTERV

#define MUTEX_COUNTERV   6

Definition at line 33 of file utils.cpp.

◆ MUTEX_FPFRAME

#define MUTEX_FPFRAME   7

Definition at line 34 of file utils.cpp.

◆ MUTEX_IMU

#define MUTEX_IMU   8

Definition at line 35 of file utils.cpp.

◆ MUTEX_Q

#define MUTEX_Q   3

Definition at line 30 of file utils.cpp.

◆ MUTEX_QD

#define MUTEX_QD   1

Definition at line 28 of file utils.cpp.

◆ MUTEX_TORSO

#define MUTEX_TORSO   4

Definition at line 31 of file utils.cpp.

◆ MUTEX_V

#define MUTEX_V   5

Definition at line 32 of file utils.cpp.

◆ MUTEX_X

#define MUTEX_X   2

Definition at line 29 of file utils.cpp.

◆ MUTEX_XD

#define MUTEX_XD   0

Definition at line 27 of file utils.cpp.

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 
)

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 
)

Definition at line 432 of file utils.cpp.

◆ getFeedback()

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

Definition at line 650 of file utils.cpp.

◆ 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.