Some useful tools for the ocra-icub lib. More...

#include <memory>
#include <cmath>
#include <iostream>
#include <string>
#include <vector>
#include <sstream>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/Bottle.h>
#include <yarp/os/RateThread.h>
#include <yarp/os/ResourceFinder.h>
#include <yarp/os/PortReader.h>
#include <yarp/os/RpcClient.h>
#include <yarp/os/RpcServer.h>
#include <yarp/os/ConnectionReader.h>
#include <yarp/os/Time.h>
#include <yarp/os/Log.h>
#include <yarp/os/LogStream.h>
#include <yarp/os/Property.h>
#include <yarp/sig/Vector.h>
#include <yarp/sig/Matrix.h>
#include <wbi/wbi.h>
#include "ocra/control/Model.h"
#include "ocra/util/StringUtilities.h"
#include <Eigen/Dense>
#include <Eigen/Lgsm>

Include dependency graph for Utilities.h:

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Go to the source code of this file.

Namespaces
namespace	ocra_icub
Defines
#define	CLASS_POINTER_TYPEDEFS(Class)
Enumerations
enum	ocra_icub::OCRA_ICUB_MESSAGE { ocra_icub::STRING_MESSAGE = -1, ocra_icub::FAILURE = 0, ocra_icub::SUCCESS, ocra_icub::GET_MODEL_CONFIG_INFO, ocra_icub::GET_CONTROLLER_SERVER_STATUS, ocra_icub::CONTROLLER_SERVER_RUNNING, ocra_icub::CONTROLLER_SERVER_STOPPED, ocra_icub::CONTROLLER_SERVER_PAUSED, ocra_icub::GET_L_FOOT_POSE, ocra_icub::HELP }
Functions
void	ocra_icub::getNominalPosture (const ocra::Model &model, Eigen::VectorXd &q)
void	ocra_icub::getHomePosture (const ocra::Model &model, Eigen::VectorXd &q)
Variables
static constexpr double	ocra_icub::DEG_TO_RAD = M_PI/180.0

Detailed Description

Some useful tools for the ocra-icub lib.

This file is for all the various macros and helper classes that are generic to ocra-icub. It is also a place for all the repeated includes like standard stl includes etc.

Author:: [Ryan Lober](http://www.ryanlober.com)

Date:: Feb 2016

Copyright:: GNU General Public License.

Define Documentation

#define CLASS_POINTER_TYPEDEFS ( Class )

Value:

public:\
using ptr           = std::shared_ptr   <Class>;  \
using shared_ptr    = std::shared_ptr   <Class>;  \
using unique_ptr    = std::unique_ptr   <Class>;  \
using weak_ptr      = std::weak_ptr     <Class>;  \
using const_ptr           = const std::shared_ptr   <Class>;  \
using const_shared_ptr    = const std::shared_ptr   <Class>;  \
using const_unique_ptr    = const std::unique_ptr   <Class>;  \
using const_weak_ptr      = const std::weak_ptr     <Class>;

Macro function which basically just defines pointer typdefs for classes. Note that normally macros are evil monsters but I think this is a perfect usage case to cut down on repeated code.

Parameters:

Class Just pop this bad boy below the class definition and it will do the rest.

Namespaces

Defines

Enumerations

Functions

Variables

Detailed Description

Define Documentation