utils.h File Reference
#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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 This file offers overloads of toIce() and fromIce() functions for STL container types.
 This file is part of ArmarX.


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< floatmat4ToFVec (Eigen::Matrix4f &mat)
mplib::core::DVec poseToDVec (PosePtr &pose)
std::vector< floatposeToFVec (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)