#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/exceptions/local/ExpressionException.h>

Include dependency graph for utils.cpp:

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	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)

Eigen::Matrix4f	dVecToMat4 (const mplib::core::DVec &dvec)

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)

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 &currentPose, Eigen::Vector3d &targetPosition, Eigen::Quaterniond &targetQuaternion, double &posiError, double &oriError)

mplib::core::DVec	mat4ToDVec (Eigen::Matrix4f &mat)

std::vector< float >	mat4ToFVec (Eigen::Matrix4f &mat)

mp::arondto::MPTraj	mpTrajFromFile (std::string filepath, bool containsHeader, bool noTimeStamp)

mplib::core::DVec	poseToDVec (PosePtr &pose)

std::vector< float >	poseToFVec (PosePtr &pose)

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)

Eigen::VectorXf	vecToEigen (std::vector< float > &vec)

Namespaces

Functions