miscellaneous-algorithms.hpp File Reference

Gathers many kinds of algorithms. More...

#include <boost/utility.hpp>
#include <cmath>
#include <state-observation/api.h>
#include <state-observation/tools/definitions.hpp>

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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.

Functions
template<class T>
T	stateObservation::tools::square (const T &x)
	computes the square of a value of any type
template<class T>
T	stateObservation::tools::derivate (const T &o1, const T &o2, double dt)
	derivates any type with finite differences
template<typename T>
int	stateObservation::tools::signum (T x)
	gives the sign of a variable (1, 0 or -1)
template<typename T>
std::string	stateObservation::tools::toString (T val)
bool	stateObservation::tools::checkIfNormalized (const Vector3 &v)
	checks if the vector is already normalized or not
bool	stateObservation::tools::checkIfNormalized (const Vector3 &v, double &outputSquaredNorm)
	checks if the vector is already normalized or not
template<typename T>
T	stateObservation::tools::clampScalar (const T &x, const T &max, const T &min)
	returns the value clamped between min and max
template<typename T>
T	stateObservation::tools::clampScalar (const T &x, const T &limit)
	returns the value clamped between limit and -limit
Vector3	stateObservation::tools::normalizedLazy (const Vector3 &v)
	normalize the vector only if it is not normalized already. Useful if the vector is likely to be normalized
double STATE_OBSERVATION_DLLAPI	stateObservation::tools::finiteTimeAccControl (double x, double xd, double kp=-1, double kv=-1)
Vector STATE_OBSERVATION_DLLAPI	stateObservation::tools::finiteTimeAccControl (const Vector &x, const Vector &xd, double kp=-1, double kv=-1)
	sqme as the scalar version but for every member of the vector
double constexpr	stateObservation::tools::Detail::sqrtNewtonRaphson (double x, double curr, double prev)
double constexpr	stateObservation::tools::sqrt (double x)
	Constexpr version of the square root.

Detailed Description

Gathers many kinds of algorithms.

Author

Mehdi Benallegue

Date

2013

Definition in file miscellaneous-algorithms.hpp.

Function Documentation

square()

template<class T>

T stateObservation::tools::square ( const T & x )

inline

computes the square of a value of any type

Definition at line 26 of file miscellaneous-algorithms.hpp.

derivate()

template<class T>

T stateObservation::tools::derivate ( const T & o1, const T & o2, double dt )

inline

derivates any type with finite differences

Definition at line 33 of file miscellaneous-algorithms.hpp.

signum()

template<typename T>

int stateObservation::tools::signum ( T x )

inline

gives the sign of a variable (1, 0 or -1)

Definition at line 41 of file miscellaneous-algorithms.hpp.

toString()

template<typename T>

std::string stateObservation::tools::toString ( T val )

inline

Definition at line 47 of file miscellaneous-algorithms.hpp.

checkIfNormalized() [1/2]

bool stateObservation::tools::checkIfNormalized ( const Vector3 & v )

inline

checks if the vector is already normalized or not

Parameters

v	the vector to normalize

Returns

true the vector is normalized

false The vector is not normalized

Definition at line 59 of file miscellaneous-algorithms.hpp.

checkIfNormalized() [2/2]

bool stateObservation::tools::checkIfNormalized ( const Vector3 & v, double & outputSquaredNorm )

inline

checks if the vector is already normalized or not

Parameters

v	the vector to normalize
outputSquaredNorm	the squared norm as an output

Returns

true the vector is normalized

false The vector is not normalized

Definition at line 77 of file miscellaneous-algorithms.hpp.

clampScalar() [1/2]

template<typename T>

T stateObservation::tools::clampScalar ( const T & x, const T & max, const T & min )

inline

returns the value clamped between min and max

Template Parameters

T	The type of the scalar

Parameters

x	the input value
max	the max value
min	the min value

Returns

T the calmped value

Definition at line 98 of file miscellaneous-algorithms.hpp.

clampScalar() [2/2]

template<typename T>

T stateObservation::tools::clampScalar ( const T & x, const T & limit )

inline

returns the value clamped between limit and -limit

Template Parameters

T	The type of the scalar

Parameters

x	the input value
limit	is the maximum absolute value allowed, has to be positive

Returns

T the clamped value

Definition at line 124 of file miscellaneous-algorithms.hpp.

normalizedLazy()

Vector3 stateObservation::tools::normalizedLazy ( const Vector3 & v )

inline

normalize the vector only if it is not normalized already. Useful if the vector is likely to be normalized

Parameters

v	the input vector

Returns

Vector3

Definition at line 133 of file miscellaneous-algorithms.hpp.

finiteTimeAccControl() [1/2]

double STATE_OBSERVATION_DLLAPI stateObservation::tools::finiteTimeAccControl ( double x, double xd, double kp = -1, double kv = -1 )

inline

provides an acceleration giving a finite time convergence to zero the state is the position x and the derivative xd and the output is the acceleration. The gains kp, kv must be negative

Definition at line 149 of file miscellaneous-algorithms.hpp.

finiteTimeAccControl() [2/2]

Vector STATE_OBSERVATION_DLLAPI stateObservation::tools::finiteTimeAccControl ( const Vector & x, const Vector & xd, double kp = -1, double kv = -1 )

inline

sqme as the scalar version but for every member of the vector

Definition at line 159 of file miscellaneous-algorithms.hpp.

sqrtNewtonRaphson()

double constexpr stateObservation::tools::Detail::sqrtNewtonRaphson ( double x, double curr, double prev )

constexpr

Definition at line 174 of file miscellaneous-algorithms.hpp.

sqrt()

double constexpr stateObservation::tools::sqrt ( double x )

constexpr

Constexpr version of the square root.

For a finite and non-negative value of "x", returns an approximation for the square root of "x" -Otherwise, returns NaN

Parameters

x

Returns

double constexpr

Definition at line 186 of file miscellaneous-algorithms.hpp.