Functions.h File Reference

#include "EulerRPY.h"
#include "RMLExceptions.h"
#include "Types.h"
#include <algorithm>
#include <array>
#include <iostream>
#include <vector>

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Classes
struct	rml::PlaneParameters
	Using four parameters represention in the form: Ax + By + Cz + D = 0;. More...

Namespaces
namespace	rml
	Types and algorithms for robotic mobile manipulation.

Functions
Eigen::Vector3d	rml::ReducedVersorLemma (const Eigen::Vector3d &v1, const Eigen::Vector3d &v2)
	Compute the misalignment error between two vectors. The result is the vector around which v1 has to rotate to reach v2.
Eigen::Vector3d	rml::VersorLemma (const Eigen::RotationMatrix &r1, const Eigen::RotationMatrix &r2)
	Compute the versor lemma between the two rotation matrices.
Eigen::Vector3d	rml::VersorLemma (const EulerRPY &v1, const EulerRPY &v2)
	Compute the versor lemma between the two rotation matrices.
Eigen::Vector6d	rml::CartesianError (const Eigen::TransformationMatrix &in1, const Eigen::TransformationMatrix &in2)
	Compute the Cartesian error between two transformation matrices.
Eigen::Vector6d	rml::CartesianError (const Eigen::Vector6d &v1, const Eigen::Vector6d &v2)
	Compute the Cartesian error between two transformation matrices.
double	rml::DecreasingBellShapedFunction (double xmin, double xmax, double ymin, double ymax, double x) noexcept(false)
	A decreasing bell shaped (sigmoid) function.
double	rml::IncreasingBellShapedFunction (double xmin, double xmax, double ymin, double ymax, double x) noexcept(false)
	An increasing bell shaped (sigmoid) function.
void	rml::SaturateScalar (double sat, double &value)
	Saturate the scalar to a given maximum value.
void	rml::SaturateVector (const double sat, Eigen::VectorXd &vector)
	Saturate the vector to a given maximum value applying normalization for preserving the vector direction.
void	rml::SaturateVector (const Eigen::VectorXd &upper_limits, const Eigen::VectorXd &lower_limits, Eigen::VectorXd &vect)
	Saturate the vector within the specified limits.
double	rml::DistancePointToPlane (const Eigen::Vector3d &point, const PlaneParameters &planeParams)
	Evaluates the norm of the shortest distance vector among a point and a given plane.
Eigen::Vector3d	rml::ClosestPointOnPlane (const Eigen::Vector3d &point, const PlaneParameters &planeParams)
	Given a point and a plane evaluates the coordinates of the closest point on plane w.r.t the input one.
Eigen::Matrix3d	rml::Vect3ToSkew (const Eigen::Vector3d &t)
	Computes the skew symmetric matrix form for a vector.
Eigen::Matrix6d	rml::RigidBodyMatrix (const Eigen::Vector3d &transl)
	Compute a rigid body matrix.
Eigen::MatrixXd	rml::ChangeJacobianObserver (Eigen::MatrixXd J, Eigen::MatrixXd Jobserver, Eigen::Vector3d CartesianError)
	ChangeJacobianObserver Method implementing change of observer for a cartesian Jacobian. .
template<class MatT >
MatT	rml::GreatestNormElement (const MatT &vect1, const MatT &vect2, const MatT &vect3)
	An utility to find the vector with the greatest norm among three.
template<typename T >
int	rml::sgn (T val)

Detailed Description

Date

Feb 21, 2018

Author

Francesco Wanderlingh