hpp-rbprm  4.10.1
Implementation of RB-PRM planner using hpp.
tools.hh File Reference
#include <iostream>
#include <hpp/core/config-validation.hh>
#include <hpp/pinocchio/joint.hh>
#include <hpp/rbprm/config.hh>
#include <hpp/pinocchio/collision-object.hh>
#include <hpp/pinocchio/frame.hh>
#include <Eigen/Core>
Include dependency graph for tools.hh:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Namespaces

 hpp
 
 hpp::tools
 
 hpp::tools::io
 Some io tools for serialization.
 

Functions

Eigen::Matrix3d hpp::tools::GetRotationMatrix (const Eigen::Vector3d &from, const Eigen::Vector3d &to)
 Uses Rodriguez formula to find transformation between two vectors. More...
 
fcl::Matrix3f hpp::tools::GetZRotMatrix (const core::value_type theta)
 
fcl::Matrix3f hpp::tools::GetYRotMatrix (const core::value_type theta)
 
fcl::Matrix3f hpp::tools::GetXRotMatrix (const core::value_type theta)
 
pinocchio::Configuration_t hpp::tools::interpolate (pinocchio::ConfigurationIn_t q1, pinocchio::ConfigurationIn_t q2, const pinocchio::value_type &u)
 
pinocchio::value_type hpp::tools::distance (pinocchio::ConfigurationIn_t q1, pinocchio::ConfigurationIn_t q2)
 
template<typename K , typename V >
void hpp::tools::addToMap (const K &key, const V &value)
 
template<typename T >
bool hpp::tools::insertIfNew (std::vector< T > &data, const T &value)
 
template<typename T >
void hpp::tools::RemoveEffectorCollision (T &validation, pinocchio::JointPtr_t effectorJoint, const core::ObjectStdVector_t &obstacles)
 
template<typename T >
void hpp::tools::RemoveEffectorCollision (T &validation, pinocchio::JointPtr_t effectorJoint, const pinocchio::CollisionObjectPtr_t obstacle)
 
template<typename T >
void hpp::tools::RemoveEffectorCollisionRec (T &validation, pinocchio::JointPtr_t joint, const pinocchio::CollisionObjectPtr_t obstacle)
 
void hpp::tools::LockJointRec (const std::string &spared, const pinocchio::JointPtr_t joint, core::ConfigProjectorPtr_t projector)
 
void hpp::tools::LockJointRec (const std::vector< std::string > &spared, const pinocchio::JointPtr_t joint, core::ConfigProjectorPtr_t projector)
 
void hpp::tools::LockJoint (const pinocchio::JointPtr_t joint, core::ConfigProjectorPtr_t projector, const bool constant=true)
 
double hpp::tools::io::StrToD (const std::string &str)
 
int hpp::tools::io::StrToI (const std::string &str)
 
double hpp::tools::io::StrToD (std::ifstream &input)
 
int hpp::tools::io::StrToI (std::ifstream &input)
 
std::vector< std::string > hpp::tools::io::splitString (const std::string &s, const char sep)
 
void hpp::tools::io::writeMatrix (const Eigen::MatrixXd &mat, std::ostream &output)
 
void hpp::tools::io::writeVecFCL (const fcl::Vec3f &vec, std::ostream &output)
 
void hpp::tools::io::writeRotMatrixFCL (const fcl::Matrix3f &mat, std::ostream &output)
 
Eigen::MatrixXd hpp::tools::io::readMatrix (std::ifstream &myfile)
 
fcl::Matrix3f hpp::tools::io::readRotMatrixFCL (std::ifstream &myfile)
 
fcl::Vec3f hpp::tools::io::readVecFCL (std::ifstream &myfile)
 
Eigen::MatrixXd hpp::tools::io::readMatrix (std::ifstream &myfile, std::string &line)
 
fcl::Matrix3f hpp::tools::io::readRotMatrixFCL (std::ifstream &myfile, std::string &line)
 
fcl::Vec3f hpp::tools::io::readVecFCL (std::ifstream &myfile, std::string &line)
 
template<typename T >
void hpp::tools::addLimbCollisionRec (pinocchio::JointPtr_t joint, const pinocchio::Frame &effector, const core::ObjectStdVector_t &collisionObjects, T &collisionValidation, const bool disableEffectorCollision)
 
template<typename T >
void hpp::tools::RemoveNonLimbCollisionRec (const pinocchio::JointPtr_t joint, const std::string &limbname, const core::ObjectStdVector_t &collisionObjects, T &collisionValidation)
 
template<typename T >
void hpp::tools::RemoveNonLimbCollisionRec (const pinocchio::JointPtr_t joint, const std::vector< std::string > &keepers, const core::ObjectStdVector_t &collisionObjects, T &collisionValidation)
 
template<typename K , typename V >
void hpp::tools::addToMap (std::map< K, V > &map, const K &key, const V &value)