drakeUtil.h File Reference

#include <stdexcept>
#include <vector>
#include <utility>
#include <Eigen/Core>
#include <Eigen/Dense>
#include <unordered_map>
#include "drake/common/drake_assert.h"
#include "drake/drakeUtil_export.h"

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Typedefs
template<typename Key , typename T >
using	eigen_aligned_unordered_map = std::unordered_map< Key, T, std::hash< Key >, std::equal_to< Key >, Eigen::aligned_allocator< std::pair< Key const, T > > >

Functions
template<typename Derived >
void	sizecheck (const Eigen::MatrixBase< Derived > &mat, size_t rows, size_t cols)
template<size_t Rows, size_t Cols, typename Derived >
void	eigenToCArrayOfArrays (const Eigen::MatrixBase< Derived > &source, double(&destination)[Rows][Cols])
template<size_t Size, typename Derived >
void	eigenVectorToCArray (const Eigen::MatrixBase< Derived > &source, double(&destination)[Size])
template<typename Derived >
void	eigenVectorToStdVector (const Eigen::MatrixBase< Derived > &source, std::vector< typename Derived::Scalar > &destination)
template<typename Derived >
void	eigenToStdVectorOfStdVectors (const Eigen::MatrixBase< Derived > &source, std::vector< std::vector< typename Derived::Scalar > > &destination)
template<typename T >
void	addOffset (std::vector< T > &v, const T &offset)
DRAKEUTIL_EXPORT void	baseZeroToBaseOne (std::vector< int > &vec)
DRAKEUTIL_EXPORT double	angleAverage (double theta1, double theta2)
template<typename DerivedTorque , typename DerivedForce , typename DerivedNormal , typename DerivedPoint >
DRAKEUTIL_EXPORT std::pair< Eigen::Vector3d, double >	resolveCenterOfPressure (const Eigen::MatrixBase< DerivedTorque > &torque, const Eigen::MatrixBase< DerivedForce > &force, const Eigen::MatrixBase< DerivedNormal > &normal, const Eigen::MatrixBase< DerivedPoint > &point_on_contact_plane)
template<typename DerivedA , typename DerivedB , typename DerivedQ , typename DerivedR , typename DerivedX >
void	care (Eigen::MatrixBase< DerivedA > const &A, Eigen::MatrixBase< DerivedB > const &B, Eigen::MatrixBase< DerivedQ > const &Q, Eigen::MatrixBase< DerivedR > const &R, Eigen::MatrixBase< DerivedX > &X)
template<typename DerivedA , typename DerivedB , typename DerivedQ , typename DerivedR , typename DerivedK , typename DerivedS >
void	lqr (Eigen::MatrixBase< DerivedA > const &A, Eigen::MatrixBase< DerivedB > const &B, Eigen::MatrixBase< DerivedQ > const &Q, Eigen::MatrixBase< DerivedR > const &R, Eigen::MatrixBase< DerivedK > &K, Eigen::MatrixBase< DerivedS > &S)

Typedef Documentation

using eigen_aligned_unordered_map = std::unordered_map<Key, T, std::hash<Key>, std::equal_to<Key>, Eigen::aligned_allocator<std::pair<Key const, T> > >

Function Documentation

void addOffset	(	std::vector< T > &	v,
		const T &	offset
	)

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DRAKEUTIL_EXPORT double angleAverage	(	double	theta1,
		double	theta2
	)

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DRAKEUTIL_EXPORT void baseZeroToBaseOne

(

std::vector< int > &

vec

)

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void care	(	Eigen::MatrixBase< DerivedA > const &	A,
		Eigen::MatrixBase< DerivedB > const &	B,
		Eigen::MatrixBase< DerivedQ > const &	Q,
		Eigen::MatrixBase< DerivedR > const &	R,
		Eigen::MatrixBase< DerivedX > &	X
	)

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void eigenToCArrayOfArrays	(	const Eigen::MatrixBase< Derived > &	source,
		double(&)	destination[Rows][Cols]
	)

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void eigenToStdVectorOfStdVectors	(	const Eigen::MatrixBase< Derived > &	source,
		std::vector< std::vector< typename Derived::Scalar > > &	destination
	)

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void eigenVectorToCArray	(	const Eigen::MatrixBase< Derived > &	source,
		double(&)	destination[Size]
	)

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void eigenVectorToStdVector	(	const Eigen::MatrixBase< Derived > &	source,
		std::vector< typename Derived::Scalar > &	destination
	)

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void lqr	(	Eigen::MatrixBase< DerivedA > const &	A,
		Eigen::MatrixBase< DerivedB > const &	B,
		Eigen::MatrixBase< DerivedQ > const &	Q,
		Eigen::MatrixBase< DerivedR > const &	R,
		Eigen::MatrixBase< DerivedK > &	K,
		Eigen::MatrixBase< DerivedS > &	S
	)

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DRAKEUTIL_EXPORT std::pair<Eigen::Vector3d, double> resolveCenterOfPressure	(	const Eigen::MatrixBase< DerivedTorque > &	torque,
		const Eigen::MatrixBase< DerivedForce > &	force,
		const Eigen::MatrixBase< DerivedNormal > &	normal,
		const Eigen::MatrixBase< DerivedPoint > &	point_on_contact_plane
	)

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void sizecheck ( const Eigen::MatrixBase< Derived > &  mat, size_t  rows, size_t  cols  )

inline

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