ORCA: Optimization-based framework for Robotic Control Applications
Classes | Namespaces | Functions
Utils.h File Reference
#include <Eigen/Geometry>
#include <ignition/math/Vector3.hh>
#include <ignition/math/Quaternion.hh>
#include <ignition/math/Pose3.hh>
#include <gazebo/msgs/wrench_stamped.pb.h>
#include <orca/math/Utils.h>
#include <stdio.h>
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Classes

class  orca::gazebo::GazeboWrenchSensor
 A Wrench sensor w.r.t. a base_link. Wrench is expressed from the world to the body, in the base_link frame. More...
 
class  orca::gazebo::GazeboForceTorqueSensor
 
class  orca::gazebo::GazeboContactSensor
 

Namespaces

 orca
 
 orca::gazebo
 

Functions

Eigen::Matrix< double, 6, 1 > & gazeboMsgToEigen (const ::gazebo::msgs::WrenchStamped &w, Eigen::Matrix< double, 6, 1 > &e_out)
 
Eigen::Matrix< double, 6, 1 > gazeboMsgToEigen (const ::gazebo::msgs::WrenchStamped &w)
 
Eigen::Quaterniond quatFromRPY (double roll, double pitch, double yaw)
 
Eigen::Vector3d convVec3 (const ignition::math::Vector3d &_vec3)
 
Eigen::Vector3d convVec3 (const gazebo::msgs::Vector3d &_vec3)
 
ignition::math::Vector3d convVec3 (const Eigen::Vector3d &_vec3)
 
Eigen::Quaterniond convQuat (const ignition::math::Quaterniond &_quat)
 
ignition::math::Quaterniond convQuat (const Eigen::Quaterniond &_quat)
 
Eigen::Affine3d convPose (const ignition::math::Pose3d &_pose)
 
ignition::math::Pose3d convPose (const Eigen::Affine3d &_T)
 
std::string custom_exec (const std::string &_cmd)
 

Function Documentation

◆ convPose() [1/2]

Eigen::Affine3d convPose ( const ignition::math::Pose3d &  _pose)
inline

◆ convPose() [2/2]

ignition::math::Pose3d convPose ( const Eigen::Affine3d &  _T)
inline

◆ convQuat() [1/2]

Eigen::Quaterniond convQuat ( const ignition::math::Quaterniond &  _quat)
inline

◆ convQuat() [2/2]

ignition::math::Quaterniond convQuat ( const Eigen::Quaterniond &  _quat)
inline

◆ convVec3() [1/3]

Eigen::Vector3d convVec3 ( const ignition::math::Vector3d &  _vec3)
inline

◆ convVec3() [2/3]

Eigen::Vector3d convVec3 ( const gazebo::msgs::Vector3d &  _vec3)
inline

◆ convVec3() [3/3]

ignition::math::Vector3d convVec3 ( const Eigen::Vector3d &  _vec3)
inline

◆ custom_exec()

std::string custom_exec ( const std::string &  _cmd)
inline

◆ gazeboMsgToEigen() [1/2]

Eigen::Matrix<double,6,1>& gazeboMsgToEigen ( const ::gazebo::msgs::WrenchStamped &  w,
Eigen::Matrix< double, 6, 1 > &  e_out 
)
inline

◆ gazeboMsgToEigen() [2/2]

Eigen::Matrix<double,6,1> gazeboMsgToEigen ( const ::gazebo::msgs::WrenchStamped &  w)
inline

◆ quatFromRPY()

Eigen::Quaterniond quatFromRPY ( double  roll,
double  pitch,
double  yaw 
)
inline