utils.cpp File Reference
#include "utils.h"#include <filesystem>#include <fstream>#include <iostream>#include <memory>#include <optional>#include <type_traits>#include <boost/tokenizer.hpp>#include <VirtualRobot/MathTools.h>#include "ArmarXCore/core/PackagePath.h"#include <ArmarXCore/core/exceptions/local/ExpressionException.h>#include <armarx/control/common/aron_conversions.h>
Include dependency graph for utils.cpp:Go to the source code of this file.
Namespaces | |
| armarx | |
| This file offers overloads of toIce() and fromIce() functions for STL container types. | |
| armarx::control | |
| armarx::control::common | |
| This file is part of ArmarX. | |
Functions | |
| void | addViaPoint (mp::arondto::MPConfig &cfg, const double &canValue, const Eigen::Matrix4f &viaPose) |
| void | addViaPoint (mp::arondto::MPConfig &cfg, const double &canValue, const Eigen::VectorXf &viaPoint) |
| void | addViaPoint (mp::arondto::MPConfig &cfg, const double &canValue, const std::vector< double > &viaPoint) |
| void | addViaPoint (mp::arondto::MPConfig &cfg, const double &canValue, const std::vector< float > &viaPoint) |
| void | appendToViapointList (std::vector< mp::arondto::ListViaPoint > &vpList, const double canonicalValue, const Eigen::Matrix4f &viaPose) |
| void | appendToViapointList (std::vector< mp::arondto::ListViaPoint > &vpList, const double canonicalValue, const Eigen::VectorXf &viaPoint) |
| void | appendToViapointList (std::vector< mp::arondto::ListViaPoint > &vpList, const double canonicalValue, const std::vector< double > &viaPoint) |
| void | appendToViapointList (std::vector< mp::arondto::ListViaPoint > &vpList, const double canonicalValue, const std::vector< float > &viaPoint) |
| mp::arondto::MPTraj | createDummyTraj (const int dimension, const int timesteps=100) |
| create a dummy trajectory that only has zeros for every dimension. More... | |
| void | debugEigenPose (StringVariantBaseMap &datafields, const std::string &name, Eigen::Matrix4f pose) |
| void | debugEigenVec (StringVariantBaseMap &datafields, const std::string &name, Eigen::VectorXf vec) |
| void | debugStdVec (StringVariantBaseMap &datafields, const std::string &name, std::vector< float > vec) |
| bool | detectAndReportPoseDeviationWarning (const Eigen::Matrix4f &pose1, const Eigen::Matrix4f &pose2, const std::string &namePose1, const std::string &namePose2, float positionThrMM, float angleThrDeg, const std::string &who) |
| Eigen::Matrix4f | dVecToMat4 (const mplib::core::DVec &dvec) |
| create Eigen:Matrix4f from 7D double vector. More... | |
| PosePtr | dVecToPose (const mplib::core::DVec &dvec) |
| std::string | dVecToString (const mplib::core::DVec &dvec) |
| void | from_json (const nlohmann::json &j, Pose &fp) |
| void | from_json (const nlohmann::json &j, PoseBasePtr &fp) |
| void | from_json (const nlohmann::json &j, PosePtr &fp) |
| mp::arondto::MPConfig | getDefaultMPConfig (MPType mpType, const std::string &name, const std::string &nodeSetName, const double &durationSec, const std::vector< mp::arondto::MPTraj > &mpTraj, const std::vector< mp::arondto::ListViaPoint > &viaPointList) |
| mp::arondto::MPConfig | getDefaultMPConfig (MPType mpType, const std::string &name, const std::string &nodeSetName, const double &durationSec, const std::vector< std::string > &mpTraj, const std::vector< mp::arondto::ListViaPoint > &viaPointList) |
| float | getDeltaAngleBetweenPose (const Eigen::Matrix4f &pose1, const Eigen::Matrix4f &pose2) |
| float | getDeltaAngleBetweenRotMat (const Eigen::Matrix3f &rotMat1, const Eigen::Matrix3f &rotMat2) |
| void | getEigenMatrix (nlohmann::json &userConfig, const std::string &entryName, Eigen::MatrixXf &mat) |
| Eigen::VectorXf | getEigenVec (nlohmann::json &userConfig, nlohmann::json &defaultConfig, const std::string &entryName, int size, int value) |
| Eigen::VectorXf | getEigenVecWithDefault (nlohmann::json &userConfig, Eigen::VectorXf defaultValue, const std::string &entryName) |
| void | getError (Eigen::Matrix4f ¤tPose, Eigen::Vector3d &targetPosition, Eigen::Quaterniond &targetQuaternion, double &posiError, double &oriError) |
| Eigen::Matrix3f | getOri (const Eigen::Matrix4f &matrix) |
| Eigen::Block< Eigen::Matrix4f, 3, 3 > | getOri (Eigen::Matrix4f &matrix) |
| Eigen::Vector3f | getPos (const Eigen::Matrix4f &matrix) |
| Eigen::Block< Eigen::Matrix4f, 3, 1 > | getPos (Eigen::Matrix4f &matrix) |
| mplib::core::DVec | mat4ToDVec (const Eigen::Matrix4f &mat) |
| convert Eigen:Matrix4f to 7D double vector. More... | |
| std::vector< float > | mat4ToFVec (const Eigen::Matrix4f &mat) |
| Eigen::Matrix3f | mirrorLeftRightOri (Eigen::Matrix3f &sourcePose) |
| Eigen::Matrix4f | mirrorLeftRightOri (Eigen::Matrix4f &sourcePose) |
| Eigen::Matrix4f | mirrorLeftRightPose (Eigen::Matrix4f &sourcePose) |
| mp::arondto::MPTraj | mpTrajFromFile (std::string filepath, bool containsHeader, bool noTimeStamp) |
| bool | poseDeviationTooLarge (const Eigen::Matrix4f ¤tPose, const Eigen::Matrix4f &desiredPose, float positionThrMM, float angleThrDeg) |
| mplib::core::DVec | poseToDVec (PosePtr &pose) |
| std::vector< float > | poseToFVec (PosePtr &pose) |
| void | reportPoseDeviationWarning (const std::string &who, const Eigen::Matrix4f &pose1, const Eigen::Matrix4f &pose2, const std::string &namePose1, const std::string &namePose2) |
| std::string | sVecToString (const std::vector< std::string > &vec, const std::string &delimiter) |
| void | to_json (nlohmann::json &j, const Pose &fp) |
| void | to_json (nlohmann::json &j, const PoseBasePtr &fp) |
| void | to_json (nlohmann::json &j, const PosePtr &fp) |
| void | validateTSViaPoint (std::vector< double > &viaPoint, std::vector< double > &viaPointReference) |
| Eigen::VectorXf | vecToEigen (std::vector< float > &vec) |
