rotary_state.h File Reference

Detailed Description

Author

Alexander Sherikov

Copyright

2014-2017 INRIA. Licensed under the Apache License, Version 2.0. (see LICENSE or http://www.apache.org/licenses/LICENSE-2.0)

Definition in file rotary_state.h.

Go to the source code of this file.

#include <../../core/include/config/define_accessors.h>

Classes
class	humoto::rigidbody::EulerAngles
	Types of Euler angles. More...
class	humoto::rigidbody::RotaryState
	Class that groups together parameters related to a robot foot. More...

Namespaces
	humoto
	The root namespace of HuMoTo.
	humoto::rigidbody
	Namespace containing definitions related to rigid bodies and their motions.

Macros
#define	HUMOTO_CONFIG_CONSTRUCTOR   RotaryState
#define	HUMOTO_CONFIG_ENTRIES
#define	HUMOTO_CONFIG_SECTION_ID   "RotaryState"

Functions
etools::Vector3	humoto::rigidbody::convertEulerAngles (const etools::Vector3 &euler_angles, const EulerAngles::Type euler_angles_type_from, const EulerAngles::Type euler_angles_type_to)
	Convert Euler angles to a different set ofEuler angles. More...
etools::Matrix3	humoto::rigidbody::convertEulerAnglesToMatrix (const etools::Vector3 &euler_angles, const EulerAngles::Type euler_angles_type)
	Convert rotation matrix to Euler angles. More...
etools::Vector3	humoto::rigidbody::convertMatrixToEulerAngles (const etools::Matrix3 &rotation_matrix, const EulerAngles::Type euler_angles_type)
	Convert rotation matrix to Euler angles. More...
etools::Matrix3	humoto::rigidbody::getEulerRatesToAngularVelocityTransform (const etools::Vector3 &euler_angles, const EulerAngles::Type euler_angles_type)
	Returns matrix M such that w = M * de. More...
etools::Matrix3	humoto::rigidbody::getRotationError (const etools::Matrix3 &current, const etools::Matrix3 &reference)
etools::Vector3	humoto::rigidbody::getRotationErrorAngleAxis (const etools::Matrix3 &current, const etools::Matrix3 &reference)
etools::Matrix3	humoto::rigidbody::integrateAngularVelocity (const etools::Matrix3 &orientation, const etools::Vector3 &angular_velocity, const double dt)
	Integrate angular velocity to obtain orientation matrix. Simple version. More...
etools::Matrix3	humoto::rigidbody::integrateAngularVelocityRodrigues (const etools::Matrix3 &orientation, const etools::Vector3 &angular_velocity, const double dt, const double tolerance=humoto::g_generic_tolerance)
	Integrate angular velocity to obtain orientation matrix. Use Rodrigues formula. More...

Macro Definition Documentation

HUMOTO_CONFIG_CONSTRUCTOR

#define HUMOTO_CONFIG_CONSTRUCTOR   RotaryState

Definition at line 228 of file rotary_state.h.

HUMOTO_CONFIG_ENTRIES

#define HUMOTO_CONFIG_ENTRIES

Value:

HUMOTO_CONFIG_COMPOUND_(rpy) \
                    HUMOTO_CONFIG_COMPOUND_(angular_velocity) \
                    HUMOTO_CONFIG_COMPOUND_(angular_acceleration)

Definition at line 229 of file rotary_state.h.

HUMOTO_CONFIG_SECTION_ID

#define HUMOTO_CONFIG_SECTION_ID   "RotaryState"

Definition at line 227 of file rotary_state.h.