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utils.h File Reference


Detailed Description

Utility header file.

Definition in file utils.h.

#include <stdio.h>
#include <vector>
#include <stdexcept>
#include "newmatap.h"
#include "newmatio.h"
#include "config.h"

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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
#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.
ReturnMatrix ROBOOP::Integ_Trap (const ColumnVector &present, ColumnVector &past, const Real dt)
 Trapezoidal integration.
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.
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.
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.
ReturnMatrix ROBOOP::sign (const Matrix &x)
 Sign of a matrix.
short ROBOOP::sign (const Real x)
 Sign of real.
ReturnMatrix ROBOOP::trans (const ColumnVector &a)
 Translation.
ReturnMatrix ROBOOP::rotx (const Real alpha)
 Rotation around x axis.
ReturnMatrix ROBOOP::roty (const Real beta)
 Rotation around x axis.
ReturnMatrix ROBOOP::rotz (const Real gamma)
 Rotation around z axis.
ReturnMatrix ROBOOP::rotk (const Real theta, const ColumnVector &k)
 Rotation around arbitrary axis.
ReturnMatrix ROBOOP::rpy (const ColumnVector &a)
 Roll Pitch Yaw rotation.
ReturnMatrix ROBOOP::eulzxz (const ColumnVector &a)
 Euler ZXZ rotation.
ReturnMatrix ROBOOP::rotd (const Real theta, const ColumnVector &k1, const ColumnVector &k2)
 Rotation around an arbitrary line.
ReturnMatrix ROBOOP::irotk (const Matrix &R)
 Obtain axis from a rotation matrix.
ReturnMatrix ROBOOP::irpy (const Matrix &R)
 Obtain Roll, Pitch and Yaw from a rotation matrix.
ReturnMatrix ROBOOP::ieulzxz (const Matrix &R)
 Obtain Roll, Pitch and Yaw from a rotation matrix.


Define Documentation

#define __UNUSED__   __attribute__((unused))

used to mark rcs strings as expected-to-be-unused so the compiler won't issue a warning

Definition at line 55 of file utils.h.

#define WANT_FSTREAM

Definition at line 66 of file utils.h.

#define WANT_MATH

Definition at line 67 of file utils.h.

#define WANT_STREAM

Definition at line 65 of file utils.h.

#define WANT_STRING

Definition at line 64 of file utils.h.


ROBOOP v1.21a
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