controlUtils.h File Reference

Control utility functions. More...

#include <ocra/util/MathTypes.h>
#include <Eigen/Lgsm>
#include "ocra/control/Model.h"

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Namespaces
	ocra
	Optimization-based Robot Controller namespace. a library of classes to write and solve optimization problems dedicated to the control of multi-body systems.
	ocra::utils

Functions
Eigen::Matrix< double, 6, 1 >	ocra::utils::cartesianPDCoupling (const Eigen::Matrix< double, 6, 1 > &kp, const Eigen::Displacementd &Hdes, const Eigen::Displacementd &H, const Eigen::Matrix< double, 6, 1 > &kv, const Eigen::Twistd &Tdes, const Eigen::Twistd &T)
Eigen::Matrix< double, 6, 1 >	ocra::utils::cartesianPCoupling (const Eigen::Matrix< double, 6, 1 > &kp, const Eigen::Displacementd &Hdes, const Eigen::Displacementd &H)
Eigen::Matrix< double, 6, 1 >	ocra::utils::cartesianDCoupling (const Eigen::Matrix< double, 6, 1 > &kv, const Eigen::Twistd &Tdes, const Eigen::Twistd &T)
Eigen::VectorXd	ocra::utils::adaptKToInertia (const Eigen::VectorXd &K, const Model &model, double scale=1.)
Eigen::Displacementd	ocra::utils::compute_H_2_in_1 (const Eigen::Displacementd &H_1_in_ref, const Eigen::Displacementd &H_2_in_ref)
Eigen::Displacementd	ocra::utils::computeEgoFrame (Model &model, const Eigen::Vector3d &fwdDirection_in_phantom)
Eigen::Displacementd	ocra::utils::interpolate (const Eigen::Displacementd &Hstart, const Eigen::Displacementd &Hend, double t)
Eigen::Displacementd	ocra::utils::projectRotation (const Eigen::Displacementd &H, const Eigen::Vector3d &n, double &theta)

Detailed Description

Control utility functions.

Copyright (C) 2010 CEA/DRT/LIST/DTSI/SRCI

Author

Escande Adrien

Evrard Paul

Date

2010/10/03

File history:

Definition in file controlUtils.h.