#include <SimoxUtility/json.h>
#include <RobotAPI/libraries/core/Pose.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/ManagedIceObject.h>
#include <Eigen/Geometry>
#include <mplib/core/types.h>

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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)

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)

template<typename T >
void	getEigenVec (nlohmann::json &userConfig, nlohmann::json &defaultConfig, const std::string &entryName, T &vec)

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)

template<typename T >
T	getValue (nlohmann::json &userConfig, nlohmann::json &defaultConfig, const std::string &entryName)

template<typename T >
T	getValueWithDefault (nlohmann::json &userConfig, T defaultValue, const std::string &entryName)

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

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

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

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

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