yamlUtil.cpp File Reference

#include "yamlUtil.h"

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Namespaces
	YAML

Functions
YAML::Node	applyDefaults (const YAML::Node &node, const YAML::Node &default_node)
YAML::Node	expandDefaults (const YAML::Node &node)
double	dampingGain (double Kp, double damping_ratio)
YAML::Node	get (const YAML::Node &parent, const std::string &key)
void	loadBodyMotionParams (QPControllerParams &params, const YAML::Node &config, const RigidBodyTree &robot)
void	loadSingleJointParams (QPControllerParams &params, Eigen::DenseIndex position_index, const YAML::Node &config, const RigidBodyTree &robot)
void	loadJointParams (QPControllerParams &params, const YAML::Node &config, const RigidBodyTree &robot)
void	loadSingleInputParams (QPControllerParams &params, Eigen::DenseIndex position_index, YAML::Node config, const RigidBodyTree &robot)
void	loadInputParams (QPControllerParams &params, const YAML::Node &config, const RigidBodyTree &robot)
QPControllerParams	loadSingleParamSet (const YAML::Node &config, const RigidBodyTree &robot)
std::map< std::string, QPControllerParams >	loadAllParamSetsFromExpandedConfig (YAML::Node config, const RigidBodyTree &robot)
std::map< std::string, QPControllerParams >	loadAllParamSets (YAML::Node config, const RigidBodyTree &robot)
std::map< std::string, QPControllerParams >	loadAllParamSets (YAML::Node config, const RigidBodyTree &robot, std::ofstream &debug_output_file)
vector< int >	findPositionIndices (const RigidBodyTree &robot, const vector< string > &joint_names)
RobotPropertyCache	parseKinematicTreeMetadata (const YAML::Node &metadata, const RigidBodyTree &robot)
JointNames	parseRobotJointNames (const YAML::Node &joint_names, const RigidBodyTree &tree)
KinematicModifications	parseKinematicModifications (const YAML::Node &modifications)

Function Documentation

YAML::Node applyDefaults	(	const YAML::Node &	node,
		const YAML::Node &	default_node
	)

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double dampingGain	(	double	Kp,
		double	damping_ratio
	)

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YAML::Node expandDefaults

(

const YAML::Node &

node

)

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vector<int> findPositionIndices	(	const RigidBodyTree &	robot,
		const vector< string > &	joint_names
	)

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YAML::Node get	(	const YAML::Node &	parent,
		const std::string &	key
	)

std::map<std::string, QPControllerParams> loadAllParamSets	(	YAML::Node	config,
		const RigidBodyTree &	robot
	)

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std::map<std::string, QPControllerParams> loadAllParamSets	(	YAML::Node	config,
		const RigidBodyTree &	robot,
		std::ofstream &	debug_output_file
	)

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std::map<std::string, QPControllerParams> loadAllParamSetsFromExpandedConfig	(	YAML::Node	config,
		const RigidBodyTree &	robot
	)

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void loadBodyMotionParams	(	QPControllerParams &	params,
		const YAML::Node &	config,
		const RigidBodyTree &	robot
	)

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void loadInputParams	(	QPControllerParams &	params,
		const YAML::Node &	config,
		const RigidBodyTree &	robot
	)

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void loadJointParams	(	QPControllerParams &	params,
		const YAML::Node &	config,
		const RigidBodyTree &	robot
	)

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void loadSingleInputParams	(	QPControllerParams &	params,
		Eigen::DenseIndex	position_index,
		YAML::Node	config,
		const RigidBodyTree &	robot
	)

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void loadSingleJointParams	(	QPControllerParams &	params,
		Eigen::DenseIndex	position_index,
		const YAML::Node &	config,
		const RigidBodyTree &	robot
	)

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QPControllerParams loadSingleParamSet	(	const YAML::Node &	config,
		const RigidBodyTree &	robot
	)

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KinematicModifications parseKinematicModifications

(

const YAML::Node &

modifications

)

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RobotPropertyCache parseKinematicTreeMetadata	(	const YAML::Node &	metadata,
		const RigidBodyTree &	robot
	)

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JointNames parseRobotJointNames	(	const YAML::Node &	joint_names,
		const RigidBodyTree &	tree
	)

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