smoothDistancePenaltymex.cpp File Reference

#include <mex.h>
#include <cmath>
#include <iostream>
#include "drake/util/drakeMexUtil.h"
#include "drake/systems/plants/RigidBodyTree.h"
#include "rigidBodyTreeMexConversions.h"

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Functions
vector< string >	get_strings (const mxArray *rhs)
void	smoothDistancePenalty (double &c, MatrixXd &dc, RigidBodyTree *robot, const KinematicsCache< double > &cache, const double min_distance, const VectorXd &dist, const MatrixXd &normal, const MatrixXd &xA, const MatrixXd &xB, const vector< int > &idxA, const vector< int > &idxB)
void	mexFunction (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])

Function Documentation

vector<string> get_strings

(

const mxArray *

rhs

)

void mexFunction	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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void smoothDistancePenalty	(	double &	c,
		MatrixXd &	dc,
		RigidBodyTree *	robot,
		const KinematicsCache< double > &	cache,
		const double	min_distance,
		const VectorXd &	dist,
		const MatrixXd &	normal,
		const MatrixXd &	xA,
		const MatrixXd &	xB,
		const vector< int > &	idxA,
		const vector< int > &	idxB
	)

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