Definitions of types and some structures. More...

#include <chrono>
#include <deque>
#include <stdexcept>
#include <vector>
#include <boost/assert.hpp>
#include <boost/timer/timer.hpp>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include <boost/math/constants/constants.hpp>
#include <state-observation/api.h>
#include <fstream>
#include <state-observation/tools/definitions.hxx>

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Classes
struct	stateObservation::isEigen< T >
	Checks if it is derived from EigenBase (the base class of all dense functions). More...
struct	stateObservation::isMatrix< T >
	Checks if a class is a specialization of Eigen::Matrix. More...
struct	stateObservation::isMatrix< Eigen::Matrix< _Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols > >
struct	stateObservation::EigenType< T >
struct	stateObservation::MatrixType< T >
class	stateObservation::FixOrDynMatrixToolsBySize< compileTimeRows, compileTimeCols >
class	stateObservation::FixOrDynMatrixToolsBySize<-1, compileTimeCols >
class	stateObservation::FixOrDynMatrixToolsBySize< compileTimeRows, -1 >
class	stateObservation::FixOrDynMatrixToolsBySize<-1, -1 >
class	stateObservation::FixOrDynMatrixTools< MatrixT >
class	stateObservation::DebugItemDefaultValue< T, defaultValue >
class	stateObservation::detail::DebugItemDefaultError< i, dummy >
class	stateObservation::detail::DebugItemDefaultError< message, dummy >
class	stateObservation::detail::DebugItemDefaultError< exception, dummy >
class	stateObservation::detail::DebugItemDefaultError< exceptionAddr, dummy >
class	stateObservation::DebugItem< T, defaultValue, debug >
class	stateObservation::DebugItem< T, defaultValue, false >
	this specialization contains no object More...
struct	stateObservation::EmptyChecker
	This structure is used as an additionalChecker for a CheckedItem that doesn't require additional tests. More...
class	stateObservation::CheckedItem< T, lazy, alwaysCheck, assertion, eigenAlignedNew, additionalChecker >
	this is a structure allowing for automatically verifying that the item has been initialized or not. The chckitm_reset() function allows to set it back to "not initialized" state. More...
struct	stateObservation::CheckNaN
	Additional checker that allows to check for the presence of NaN values in the item. More...
class	stateObservation::IndexedMatrixT< MatrixType, lazy >
	This class describes a structure composed by a matrix of a given size and a time-index parameter. It can tell also if it is initialized or not. More...
class	stateObservation::IndexedMatrixArrayT< MatrixType, Allocator >
	This class describes a structure that enables to store array of matrices with time indexation. More...
struct	stateObservation::tools::SimplestStopwatch

Namespaces
namespace	stateObservation
	Filtering of divergent component of motion (DCM) and estimation of a bias betweeen the DCM and the corresponding zero moment point for a linearized inverted pendulum model.

Macros
#define	M_PI boost::math::constants::pi<double>()

Typedefs
typedef Eigen::VectorXd	stateObservation::Vector
	Dynamic sized scalar vector.
typedef Eigen::Matrix< double, 1, 1 >	stateObservation::Vector1
	1D Vector
typedef Eigen::Matrix< double, 2, 1 >	stateObservation::Vector2
	2d Vector
typedef Eigen::Vector3d	stateObservation::Vector3
	3D vector
typedef Eigen::Matrix< double, 3, 1, Eigen::DontAlign >	stateObservation::Vector3Unaligned
	3D vector unaligned
typedef Eigen::Vector4d	stateObservation::Vector4
	4D vector
typedef Eigen::Matrix< double, 5, 1 >	stateObservation::Vector5
	5D vector
typedef Eigen::Matrix< double, 6, 1 >	stateObservation::Vector6
	6D vector
typedef Eigen::MatrixXd	stateObservation::Matrix
	Dynamic sized Matrix.
typedef Eigen::Matrix< double, 1, 1 >	stateObservation::Matrix1
	1D scalar Matrix
typedef Eigen::Matrix2d	stateObservation::Matrix2
	2D scalar Matrix
typedef Eigen::Matrix3d	stateObservation::Matrix3
	3x3 Scalar Matrix
typedef Eigen::Matrix< double, 3, 3, Eigen::DontAlign >	stateObservation::Matrix3Unaligned
	3x3 Scalar Matrix Unaligned
typedef Eigen::Matrix4d	stateObservation::Matrix4
	4x4 Scalar Matrix
typedef Eigen::Matrix< double, 5, 5 >	stateObservation::Matrix5
	5x5 Scalar Matrix
typedef Eigen::Matrix< double, 6, 6 >	stateObservation::Matrix6
	6x6 Scalar Matrix
typedef Eigen::Matrix< double, 12, 12 >	stateObservation::Matrix12
	12x12 scalar Matrix
typedef Eigen::Quaterniond	stateObservation::Quaternion
	Quaternion.
typedef Eigen::Quaternion< double, Eigen::DontAlign >	stateObservation::QuaternionUnaligned
	Quaternion Unaligned.
typedef Eigen::AngleAxis< double >	stateObservation::AngleAxis
	Euler Axis/Angle representation of orientation.
typedef Eigen::Rotation2D< double >	stateObservation::Rotation2D
	2D rotations
typedef Eigen::Index	stateObservation::Index
typedef long int	stateObservation::TimeIndex
typedef Index	stateObservation::TimeSize
typedef DebugItemDefaultValue< bool, true >	stateObservation::detail::defaultTrue
typedef DebugItemDefaultError< message >	stateObservation::detail::defaultErrorMSG
typedef DebugItemDefaultError< exception >	stateObservation::detail::defaultException
typedef DebugItemDefaultError< exceptionAddr >	stateObservation::detail::defaultExceptionAddr
typedef CheckedItem< Matrix3, false, false, true, true, CheckNaN >	stateObservation::CheckedMatrix3
typedef CheckedItem< Matrix6, false, false, true, true, CheckNaN >	stateObservation::CheckedMatrix6
typedef CheckedItem< Matrix12, false, false, true, true, CheckNaN >	stateObservation::CheckedMatrix12
typedef CheckedItem< Vector3, false, false, true, true, CheckNaN >	stateObservation::CheckedVector3
typedef CheckedItem< Vector6, false, false, true, true, CheckNaN >	stateObservation::CheckedVector6
typedef CheckedItem< Quaternion, false, false, true, true >	stateObservation::CheckedQuaternion
typedef IndexedMatrixT< Matrix >	stateObservation::IndexedMatrix
typedef IndexedMatrixT< Vector >	stateObservation::IndexedVector
typedef IndexedMatrixT< Vector3 >	stateObservation::IndexedVector3
typedef IndexedMatrixT< Matrix3 >	stateObservation::IndexedMatrix3
typedef IndexedMatrixArrayT< Matrix >	stateObservation::IndexedMatrixArray
typedef IndexedMatrixArrayT< Vector >	stateObservation::IndexedVectorArray
typedef boost::timer::auto_cpu_timer	stateObservation::auto_cpu_timer
typedef boost::timer::cpu_timer	stateObservation::cpu_timer
typedef boost::timer::cpu_timer	stateObservation::cpu_times

Enumerations
enum	errorType { message , exception , exceptionAddr }

Functions
void STATE_OBSERVATION_DLLAPI	stateObservation::detail::defaultSum (const Vector &stateVector, const Vector &tangentVector, Vector &sum)
void STATE_OBSERVATION_DLLAPI	stateObservation::detail::defaultDifference (const Vector &stateVector1, const Vector &stateVector2, Vector &difference)
bool	stateObservation::isApprox (double a, double b, double relativePrecision=cst::epsilon1)
	checks if two scalars have approximately the same value up to a given relative precision
bool	stateObservation::isApproxAbs (double a, double b, double absolutePrecision=cst::epsilon1)
	checks if two scalars have approximately the same value up to a given absolute precision
std::string STATE_OBSERVATION_DLLAPI	stateObservation::tools::matrixToString (const Matrix &mat)
std::string STATE_OBSERVATION_DLLAPI	stateObservation::tools::vectorToString (const Vector &v)
Matrix STATE_OBSERVATION_DLLAPI	stateObservation::tools::stringToMatrix (const std::string &str, Index rows, Index cols)
Vector STATE_OBSERVATION_DLLAPI	stateObservation::tools::stringToVector (const std::string &str, Index length)
Vector STATE_OBSERVATION_DLLAPI	stateObservation::tools::stringToVector (const std::string &str)

Variables
static const bool	stateObservation::isDebug = true
template<typename T, const T defaultValue>
const T	stateObservation::DebugItemDefaultValue< T, defaultValue >::v = defaultValue
template<int dummy>
const char *	stateObservation::detail::DebugItemDefaultError< message, dummy >::v
template<int dummy>
const std::runtime_error	stateObservation::detail::DebugItemDefaultError< exception, dummy >::v
template<int dummy>
const std::runtime_error *	stateObservation::detail::DebugItemDefaultError< exceptionAddr, dummy >::v = &DebugItemDefaultError<exception>::v
constexpr double	stateObservation::cst::gravityConstant = 9.80665
const Vector	stateObservation::cst::gravity = gravityConstant * Vector3::UnitZ()
	Gravity Vector along Z.
constexpr double	stateObservation::cst::epsilonAngle = 1e-16
	angles considered Zero
constexpr double	stateObservation::cst::epsilon1 = std::numeric_limits<double>::epsilon()
	number considered zero when compared to 1

Detailed Description

Definitions of types and some structures.

Author: Mehdi Benallegue

Date: 2013

Definition in file definitions.hpp.

Macro Definition Documentation

◆ M_PI

#define M_PI boost::math::constants::pi<double>()

Definition at line 34 of file definitions.hpp.

Typedef Documentation

◆ defaultTrue

typedef DebugItemDefaultValue<bool, true> stateObservation::detail::defaultTrue

Definition at line 226 of file definitions.hpp.

◆ defaultErrorMSG

typedef DebugItemDefaultError<message> stateObservation::detail::defaultErrorMSG

Definition at line 274 of file definitions.hpp.

◆ defaultException

typedef DebugItemDefaultError<exception> stateObservation::detail::defaultException

Definition at line 275 of file definitions.hpp.

◆ defaultExceptionAddr

typedef DebugItemDefaultError<exceptionAddr> stateObservation::detail::defaultExceptionAddr

Definition at line 276 of file definitions.hpp.

Enumeration Type Documentation

◆ errorType

enum stateObservation::detail::errorType

Definition at line 228 of file definitions.hpp.

Variable Documentation

◆ DebugItemDefaultError< message, dummy >::v

template<int dummy>

const char* stateObservation::detail::DebugItemDefaultError< message, dummy >::v

Initial value:

                               = "The Object is not initialized. \
If this happened during initialization then run command chckitm_set() \
to switch it to set. And if the initialization is incomplete, run \
chckitm_reset() afterwards."

Definition at line 262 of file definitions.hpp.

◆ DebugItemDefaultError< exception, dummy >::v

template<int dummy>

const std::runtime_error stateObservation::detail::DebugItemDefaultError< exception, dummy >::v

Initial value:

=

std::runtime_error(DebugItemDefaultError<message>::v)

stateObservation::detail::DebugItemDefaultError

Definition definitions.hpp:237

Definition at line 268 of file definitions.hpp.

◆ DebugItemDefaultError< exceptionAddr, dummy >::v

template<int dummy>

const std::runtime_error* stateObservation::detail::DebugItemDefaultError< exceptionAddr, dummy >::v = &DebugItemDefaultError<exception>::v

Definition at line 272 of file definitions.hpp.

◆ gravityConstant

double stateObservation::cst::gravityConstant = 9.80665

constexpr

Definition at line 663 of file definitions.hpp.

◆ gravity

const Vector stateObservation::cst::gravity = gravityConstant * Vector3::UnitZ()

Gravity Vector along Z.

Definition at line 666 of file definitions.hpp.

◆ epsilonAngle

double stateObservation::cst::epsilonAngle = 1e-16

constexpr

angles considered Zero

Definition at line 669 of file definitions.hpp.

◆ epsilon1

double stateObservation::cst::epsilon1 = std::numeric_limits<double>::epsilon()

constexpr

number considered zero when compared to 1

Definition at line 672 of file definitions.hpp.

Classes

Namespaces

Macros

Typedefs

Enumerations

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ M_PI

Typedef Documentation

◆ defaultTrue

◆ defaultErrorMSG

◆ defaultException

◆ defaultExceptionAddr

Enumeration Type Documentation

◆ errorType

Variable Documentation

◆ DebugItemDefaultError< message, dummy >::v

◆ DebugItemDefaultError< exception, dummy >::v

◆ DebugItemDefaultError< exceptionAddr, dummy >::v

◆ gravityConstant

◆ gravity

◆ epsilonAngle

◆ epsilon1