sot-torque-control
1.5.3
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
vector-conversions.hh
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/*
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* Copyright 2014, Andrea Del Prete, LAAS-CNRS
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*
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*/
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#ifndef __sot_torque_control_vector_conversion_H__
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#define __sot_torque_control_vector_conversion_H__
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#include <Eigen/Dense>
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#include <fstream>
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#include <sstream>
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#define EIGEN_CONST_VECTOR_FROM_STD_VECTOR(name, signal) Eigen::const_SigVectorXd name(signal.data(), signal.size())
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#define EIGEN_VECTOR_FROM_STD_VECTOR(name, signal) Eigen::SigVectorXd name(signal.data(), signal.size())
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/********************* VECTOR COPY ******************************/
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// c arrays define only the [] operator
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// mal vectors define only the () operator
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// std vectors define only the [] operator
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// Eigen vectors define both the [] and () operators
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#define COPY_ARRAY_TO_ARRAY(src, dest, size) \
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for (unsigned int i = 0; i < size; i++) dest[i] = src[i]
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#define COPY_ARRAY_TO_VECTOR(src, dest) \
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for (unsigned int i = 0; i < dest.size(); i++) dest(i) = src[i]
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#define COPY_VECTOR_TO_ARRAY(src, dest) \
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for (unsigned int i = 0; i < src.size(); i++) dest[i] = src(i)
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#define COPY_SHIFTED_VECTOR_TO_VECTOR(src, dest, offset) \
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for (unsigned int i = 0; i < dest.size(); i++) dest(i) = src(i + offset)
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#define COPY_SHIFTED_VECTOR_TO_ARRAY(src, dest, offset) \
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for (unsigned int i = 0; i < dest.size(); i++) dest[i] = src(i + offset)
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#define COPY_VECTOR_TO_SHIFTED_VECTOR(src, dest, offset) \
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for (unsigned int i = 0; i < src.size(); i++) dest(i + offset) = src(i)
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#define COPY_ARRAY_TO_SHIFTED_VECTOR(src, dest, offset) \
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for (unsigned int i = 0; i < src.size(); i++) dest(i + offset) = src[i]
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#endif // __sot_torque_control_vector_conversion_H__
include
sot
torque_control
utils
vector-conversions.hh
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