base Namespace Reference

Namespaces
	commands
	geometry
	samples

Classes
class	Angle
class	AngleSegment
struct	JointLimitRange
struct	JointLimits
struct	JointState
struct	JointsTrajectory
	Holds a time-series of JointStates for multiple joints. More...
struct	JointTransform
struct	JointTransformVector
struct	NamedVector
struct	Pose
	Representation for a pose in 3D. More...
struct	Pose2D
struct	PoseUpdateThreshold
class	Pressure
class	Temperature
struct	Time
struct	TimeMark
class	Timeout
struct	Trajectory
class	TransformWithCovariance
struct	TwistWithCovariance
struct	Waypoint
struct	Wrench

Typedefs
typedef base::commands::LinearAngular6DCommand	LinearAngular6DCommand
typedef Eigen::Matrix< double, 2, 1, Eigen::DontAlign >	Vector2d
typedef Eigen::Matrix< double, 3, 1, Eigen::DontAlign >	Vector3d
typedef Eigen::Matrix< double, 4, 1, Eigen::DontAlign >	Vector4d
typedef Eigen::Matrix< double, 6, 1, Eigen::DontAlign >	Vector6d
typedef Eigen::Matrix< double, Eigen::Dynamic, 1, Eigen::DontAlign >	VectorXd
typedef Eigen::Matrix< double, 2, 2, Eigen::DontAlign >	Matrix2d
typedef Eigen::Matrix< double, 3, 3, Eigen::DontAlign >	Matrix3d
typedef Eigen::Matrix< double, 4, 4, Eigen::DontAlign >	Matrix4d
typedef Eigen::Matrix< double, 6, 6, Eigen::DontAlign >	Matrix6d
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::DontAlign >	MatrixXd
typedef Eigen::Quaternion< double, Eigen::DontAlign >	Quaterniond
typedef Eigen::AngleAxis< double >	AngleAxisd
typedef Eigen::Transform< double, 3, Eigen::Affine, Eigen::DontAlign >	Affine3d
typedef Eigen::Transform< double, 3, Eigen::Isometry, Eigen::DontAlign >	Isometry3d
typedef Affine3d	Transform3d
typedef std::vector< JointState >	JointTrajectory
typedef Vector3d	Point
typedef base::Vector3d	Position
typedef base::Quaterniond	Orientation
typedef base::Vector2d	Position2D
typedef double	Orientation2D
typedef TwistWithCovariance::Covariance	Covariance

Functions
std::ostream &	operator<< (std::ostream &os, Angle angle)
std::ostream &	operator<< (std::ostream &os, AngleSegment seg)
template<typename T >
T	NaN ()
template<typename T >
bool	isNaN (T value)
template<typename T >
T	unset ()
template<typename T >
bool	isUnset (T value)
template<typename T >
T	unknown ()
template<typename T >
bool	isUnknown (T value)
template<typename T >
T	infinity ()
template<typename T >
bool	isInfinity (T value)
Vector3d	getEuler (const Orientation &orientation)
Vector3d	getEuler (const AngleAxisd &orientation)
double	getYaw (const Orientation &orientation)
double	getYaw (const AngleAxisd &orientation)
double	getPitch (const Orientation &orientation)
double	getPitch (const AngleAxisd &orientation)
double	getRoll (const Orientation &orientation)
double	getRoll (const AngleAxisd &orientation)
Orientation	removeYaw (const Orientation &orientation)
Orientation	removeYaw (const AngleAxisd &orientation)
Orientation	removePitch (const Orientation &orientation)
Orientation	removePitch (const AngleAxisd &orientation)
Orientation	removeRoll (const Orientation &orientation)
Orientation	removeRoll (const AngleAxisd &orientation)
std::ostream &	operator<< (std::ostream &io, Pose const &pose)
std::ostream &	operator<< (std::ostream &io, Pose2D const &pose)
Temperature	operator+ (Temperature a, Temperature b)
Temperature	operator- (Temperature a, Temperature b)
Temperature	operator* (Temperature a, double b)
Temperature	operator* (double a, Temperature b)
std::ostream &	operator<< (std::ostream &os, Temperature temperature)
std::ostream &	operator<< (std::ostream &io, const Time &time)
std::ostream &	operator<< (std::ostream &stream, const TimeMark &ob)
std::ostream &	operator<< (std::ostream &out, const TransformWithCovariance &trans)
TwistWithCovariance	operator+ (TwistWithCovariance lhs, const TwistWithCovariance &rhs)
TwistWithCovariance	operator- (TwistWithCovariance lhs, const TwistWithCovariance &rhs)
TwistWithCovariance	operator* (const TwistWithCovariance &lhs, double rhs)
TwistWithCovariance	operator* (double lhs, const TwistWithCovariance &rhs)
TwistWithCovariance	operator* (const TwistWithCovariance &lhs, const TwistWithCovariance &rhs)
TwistWithCovariance	operator/ (const TwistWithCovariance &lhs, double rhs)
TwistWithCovariance	operator- (const TwistWithCovariance &arg)
std::ostream &	operator<< (std::ostream &out, const TwistWithCovariance &twist)

Detailed Description

For backward compatibility with RBS

Typedef Documentation

Affine3d

typedef Eigen::Transform<double, 3, Eigen::Affine, Eigen::DontAlign> base::Affine3d

AngleAxisd

typedef Eigen::AngleAxis<double> base::AngleAxisd

Covariance

typedef TwistWithCovariance::Covariance base::Covariance

Isometry3d

typedef Eigen::Transform<double, 3, Eigen::Isometry, Eigen::DontAlign> base::Isometry3d

JointTrajectory

typedef std::vector<JointState> base::JointTrajectory

LinearAngular6DCommand

typedef base::commands::LinearAngular6DCommand base::LinearAngular6DCommand

Matrix2d

typedef Eigen::Matrix<double, 2, 2, Eigen::DontAlign> base::Matrix2d

Matrix3d

typedef Eigen::Matrix<double, 3, 3, Eigen::DontAlign> base::Matrix3d

Matrix4d

typedef Eigen::Matrix<double, 4, 4, Eigen::DontAlign> base::Matrix4d

Matrix6d

typedef Eigen::Matrix<double, 6, 6, Eigen::DontAlign> base::Matrix6d

MatrixXd

typedef Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::DontAlign> base::MatrixXd

Orientation

typedef base::Quaterniond base::Orientation

Orientation2D

typedef double base::Orientation2D

Point

typedef base::Vector3d base::Point

Position

typedef base::Vector3d base::Position

Pose in a 3D-Space

Position2D

typedef base::Vector2d base::Position2D

Pose in a 2D-Space

Quaterniond

typedef Eigen::Quaternion<double, Eigen::DontAlign> base::Quaterniond

Transform3d

typedef Affine3d base::Transform3d

Vector2d

typedef Eigen::Matrix<double, 2, 1, Eigen::DontAlign> base::Vector2d

Vector3d

typedef Eigen::Matrix<double, 3, 1, Eigen::DontAlign> base::Vector3d

Vector4d

typedef Eigen::Matrix<double, 4, 1, Eigen::DontAlign> base::Vector4d

Vector6d

typedef Eigen::Matrix<double, 6, 1, Eigen::DontAlign> base::Vector6d

VectorXd

typedef Eigen::Matrix<double, Eigen::Dynamic, 1, Eigen::DontAlign> base::VectorXd

Function Documentation

getEuler() [1/2]

base::Vector3d base::getEuler

(

const Orientation &

orientation

)

getEuler() [2/2]

base::Vector3d base::getEuler

(

const AngleAxisd &

orientation

)

getPitch() [1/2]

double base::getPitch

(

const Orientation &

orientation

)

getPitch() [2/2]

double base::getPitch

(

const AngleAxisd &

orientation

)

getRoll() [1/2]

double base::getRoll

(

const Orientation &

orientation

)

getRoll() [2/2]

double base::getRoll

(

const AngleAxisd &

orientation

)

getYaw() [1/2]

double base::getYaw

(

const Orientation &

orientation

)

getYaw() [2/2]

double base::getYaw

(

const AngleAxisd &

orientation

)

infinity()

template<typename T >

T base::infinity

(

)

isInfinity()

template<typename T >

bool base::isInfinity

(

T

value

)

isNaN()

template<typename T >

bool base::isNaN

(

T

value

)

isUnknown()

template<typename T >

bool base::isUnknown

(

T

value

)

isUnset()

template<typename T >

bool base::isUnset

(

T

value

)

NaN()

template<typename T >

T base::NaN

(

)

operator*() [1/5]

Temperature base::operator*	(	Temperature	a,
		double	b
	)

operator*() [2/5]

Temperature base::operator*	(	double	a,
		Temperature	b
	)

operator*() [3/5]

TwistWithCovariance base::operator*	(	const TwistWithCovariance &	lhs,
		double	rhs
	)

operator*() [4/5]

TwistWithCovariance base::operator*	(	double	lhs,
		const TwistWithCovariance &	rhs
	)

operator*() [5/5]

TwistWithCovariance base::operator*	(	const TwistWithCovariance &	lhs,
		const TwistWithCovariance &	rhs
	)

In case the two twist have uncertainty

Initialize covariance

Linear velocity is at the first covariance block

Linear velocity is at the first covariance block

Angular velocity is at the first covariance block

operator+() [1/2]

Temperature base::operator+	(	Temperature	a,
		Temperature	b
	)

operator+() [2/2]

TwistWithCovariance base::operator+	(	TwistWithCovariance	lhs,
		const TwistWithCovariance &	rhs
	)

operator-() [1/3]

Temperature base::operator-	(	Temperature	a,
		Temperature	b
	)

operator-() [2/3]

TwistWithCovariance base::operator-	(	TwistWithCovariance	lhs,
		const TwistWithCovariance &	rhs
	)

operator-() [3/3]

TwistWithCovariance base::operator-

(

const TwistWithCovariance &

arg

)

unary -

operator/()

TwistWithCovariance base::operator/	(	const TwistWithCovariance &	lhs,
		double	rhs
	)

operator<<() [1/9]

std::ostream & base::operator<<	(	std::ostream &	stream,
		const TimeMark &	ob
	)

operator<<() [2/9]

std::ostream & base::operator<<	(	std::ostream &	os,
		Angle	angle
	)

operator<<() [3/9]

std::ostream & base::operator<<	(	std::ostream &	os,
		Temperature	temperature
	)

operator<<() [4/9]

std::ostream & base::operator<<	(	std::ostream &	io,
		Pose const &	pose
	)

operator<<() [5/9]

std::ostream & base::operator<<	(	std::ostream &	io,
		Pose2D const &	pose
	)

operator<<() [6/9]

std::ostream & base::operator<<	(	std::ostream &	os,
		AngleSegment	seg
	)

operator<<() [7/9]

std::ostream & base::operator<<	(	std::ostream &	out,
		const TransformWithCovariance &	trans
	)

Default std::cout function

cout the 6D pose vector (translation and scaled axis orientation) with its associated covariance matrix

operator<<() [8/9]

std::ostream & base::operator<<	(	std::ostream &	io,
		const Time &	time
	)

operator<<() [9/9]

std::ostream & base::operator<<	(	std::ostream &	out,
		const base::TwistWithCovariance &	twist
	)

Default std::cout function

cout the 6D twist vector (rotational first and linear second) with its associated covariance matrix

removePitch() [1/2]

base::Orientation base::removePitch

(

const Orientation &

orientation

)

removePitch() [2/2]

base::Orientation base::removePitch

(

const AngleAxisd &

orientation

)

removeRoll() [1/2]

base::Orientation base::removeRoll

(

const Orientation &

orientation

)

removeRoll() [2/2]

base::Orientation base::removeRoll

(

const AngleAxisd &

orientation

)

removeYaw() [1/2]

base::Orientation base::removeYaw

(

const Orientation &

orientation

)

removeYaw() [2/2]

base::Orientation base::removeYaw

(

const AngleAxisd &

orientation

)

unknown()

template<typename T >

T base::unknown

(

)

unset()

template<typename T >

T base::unset

(

)