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Namespaces |
namespace | ROBOOP |
Defines |
#define | __UNUSED__ __attribute__((unused)) |
| used to mark rcs strings as expected-to-be-unused so the compiler won't issue a warning
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#define | WANT_STRING |
#define | WANT_STREAM |
#define | WANT_FSTREAM |
#define | WANT_MATH |
#define | M_PI 3.14159265358979 |
Functions |
ReturnMatrix | ROBOOP::x_prod_matrix (const ColumnVector &x) |
| Cross product matrix.
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ReturnMatrix | ROBOOP::Integ_Trap (const ColumnVector &present, ColumnVector &past, const Real dt) |
| Trapezoidal integration.
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void | ROBOOP::Runge_Kutta4 (ReturnMatrix(*xdot)(Real time, const Matrix &xin), const Matrix &xo, Real to, Real tf, int nsteps, RowVector &tout, Matrix &xout) |
| Fixed step size fourth-order Runge-Kutta integrator.
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void | ROBOOP::Runge_Kutta4_Real_time (ReturnMatrix(*xdot)(Real time, const Matrix &xin), const Matrix &xo, Real to, Real tf, int nsteps) |
void | ROBOOP::Runge_Kutta4_Real_time (ReturnMatrix(*xdot)(Real time, const Matrix &xin, bool &exit, bool &init), const Matrix &xo, Real to, Real tf, int nsteps) |
| Fixed step size fourth-order Runge-Kutta integrator.
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void | ROBOOP::odeint (ReturnMatrix(*xdot)(Real time, const Matrix &xin), Matrix &xo, Real to, Real tf, Real eps, Real h1, Real hmin, int &nok, int &nbad, RowVector &tout, Matrix &xout, Real dtsav) |
| Integrate the ordinary differential equation xdot from time to to time tf using an adaptive step size strategy.
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ReturnMatrix | ROBOOP::sign (const Matrix &x) |
| Sign of a matrix.
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short | ROBOOP::sign (const Real x) |
| Sign of real.
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ReturnMatrix | ROBOOP::trans (const ColumnVector &a) |
| Translation.
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ReturnMatrix | ROBOOP::rotx (const Real alpha) |
| Rotation around x axis.
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ReturnMatrix | ROBOOP::roty (const Real beta) |
| Rotation around x axis.
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ReturnMatrix | ROBOOP::rotz (const Real gamma) |
| Rotation around z axis.
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ReturnMatrix | ROBOOP::rotk (const Real theta, const ColumnVector &k) |
| Rotation around arbitrary axis.
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ReturnMatrix | ROBOOP::rpy (const ColumnVector &a) |
| Roll Pitch Yaw rotation.
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ReturnMatrix | ROBOOP::eulzxz (const ColumnVector &a) |
| Euler ZXZ rotation.
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ReturnMatrix | ROBOOP::rotd (const Real theta, const ColumnVector &k1, const ColumnVector &k2) |
| Rotation around an arbitrary line.
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ReturnMatrix | ROBOOP::irotk (const Matrix &R) |
| Obtain axis from a rotation matrix.
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ReturnMatrix | ROBOOP::irpy (const Matrix &R) |
| Obtain Roll, Pitch and Yaw from a rotation matrix.
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ReturnMatrix | ROBOOP::ieulzxz (const Matrix &R) |
| Obtain Roll, Pitch and Yaw from a rotation matrix.
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