SCL
1.0
Standard Control Library : Control, dynamics, physics, and simulation
|
Functions | |
void | printRobotLinkTree (const SRigidBody &link, int depth) |
int | initMultiTaskCtrlDsFromParsedTasks (const std::vector< scl::STaskBase * > &arg_taskvec, const std::vector< scl::SNonControlTaskBase * > &arg_taskvec_nc, scl::SControllerMultiTask &ret_ctrl) |
bool | initDynRobotFromParsedRobot (sutil::CMappedTree< std::string, scl::SRigidBodyDyn > &arg_rbd_tree, const sutil::CMappedTree< std::string, scl::SRigidBody > &arg_rb_tree) |
sBool | isMuscleCompatWithRobot (const std::string &arg_msys, const std::string &arg_robot) |
bool | readEigenVecFromFile (Eigen::VectorXd &arg_vec, const std::string &arg_file) |
bool | readEigenVecFromFile (Eigen::VectorXd &arg_vec, const int len, const std::string &arg_file) |
bool | writeEigenVecToFile (const Eigen::VectorXd &arg_vec, const std::string &arg_file) |
bool | readEigenMatFromFile (Eigen::MatrixXd &arg_mat, const std::string &arg_file) |
bool | readEigenMatFromFile (Eigen::MatrixXd &arg_mat, unsigned long arg_rows, unsigned long arg_cols, const std::string &arg_file) |
bool | writeEigenMatToFile (const Eigen::MatrixXd &arg_mat, const std::string &arg_file) |
bool | readEigenVecFromFile (Eigen::VectorXd &arg_vec, const long len, const std::string &arg_file) |
unsigned int | countNumbersInString (const char *ss) |
bool | isStringInVector (const std::string &arg_str, const std::vector< std::string > &arg_vec) |
bool | getCurrentDir (std::string &arg_cwd) |
A random collection of string manipulation, os-specific etc. functions.
NOTE TODO : Feel free to add other useful functions...
bool scl_util::initDynRobotFromParsedRobot | ( | sutil::CMappedTree< std::string, scl::SRigidBodyDyn > & | arg_rbd_tree, |
const sutil::CMappedTree< std::string, scl::SRigidBody > & | arg_rb_tree | ||
) |
Initializes a dynamic tree given a static tree for a robot.
int scl_util::initMultiTaskCtrlDsFromParsedTasks | ( | const std::vector< scl::STaskBase * > & | arg_taskvec, |
const std::vector< scl::SNonControlTaskBase * > & | arg_taskvec_nc, | ||
scl::SControllerMultiTask & | ret_ctrl | ||
) |
Checks whether dynamic type information is available. If so, it parses tasks into the control data structure
scl::sBool scl_util::isMuscleCompatWithRobot | ( | const std::string & | arg_msys, |
const std::string & | arg_robot | ||
) |
Checks if a muscle system is compatible with a given robot. Looks for both in the database
void scl_util::printRobotLinkTree | ( | const scl::SRigidBody & | link, |
scl::sInt | depth | ||
) |
Prints a robot link tree with a passed link as its root.
bool scl_util::readEigenMatFromFile | ( | Eigen::MatrixXd & | arg_mat, |
const std::string & | arg_file | ||
) |
Reads an eigen matrix of doubles from a file
The file should have a vector in each line: x11 x12 ... x21 x22 ...
arg_mat | : The data is loaded in to this matrix |
arg_file | : The filename |
Count the width of a single line.
bool scl_util::readEigenMatFromFile | ( | Eigen::MatrixXd & | arg_mat, |
unsigned long | arg_rows, | ||
unsigned long | arg_cols, | ||
const std::string & | arg_file | ||
) |
Reads an eigen matrix of doubles from a file
The file should have a vector in each line: x11 x12 ... x21 x22 ...
arg_mat | : The data is loaded in to this matrix |
arg_rows | : The number of rows to read |
arg_cols | : The number of columns to read |
arg_file | : The filename |
bool scl_util::readEigenVecFromFile | ( | Eigen::VectorXd & | arg_vec, |
const std::string & | arg_file | ||
) |
Function reads a vector from a file. The file should have a val in each line: x1 x2 x3 ...
bool scl_util::readEigenVecFromFile | ( | Eigen::VectorXd & | arg_vec, |
const long | len, | ||
const std::string & | arg_file | ||
) |
Function reads a vector from a file. The file should have a val in each line: x1 x2 x3 ...
bool scl_util::writeEigenMatToFile | ( | const Eigen::MatrixXd & | arg_mat, |
const std::string & | arg_file | ||
) |
Writes an eigen matrix of doubles to a file
arg_vec | : The data to be written to disk |
arg_file | : The filename |
bool scl_util::writeEigenVecToFile | ( | const Eigen::VectorXd & | arg_vec, |
const std::string & | arg_file | ||
) |
Writes an eigen vector of doubles to a file
arg_vec | : The data to be written to disk |
arg_file | : The filename |