scl Namespace Reference

Classes
class	SActuatorSettings
class	CActuatorBase
class	CActuatorSetBase
class	SActuatorSetBase
class	CActuatorMuscle
class	CActuatorSetMuscle
class	SActuatorMuscle
class	SActuatorSetMuscle
class	CControllerBase
class	SControllerBase
class	CControllerGc
class	SControllerGc
class	CControllerMultiTask
class	CNonControlTaskBase
class	CServo
class	CTaskBase
class	SControllerMultiTask
class	SNonControlTaskBase
class	SServo
class	STaskBase
class	CTaskComPos
class	CTaskGc
class	CTaskGcLimitCentering
class	CTaskGcSet
class	CTaskNULL
class	CTaskNullSpaceDamping
class	CTaskOpPos
class	CTaskOpPosContactForce
class	CTaskOpPosNoGravity
class	CTaskOpPosPIDA1OrderInfTime
class	STaskComPos
class	STaskGc
class	STaskGcLimitCentering
class	STaskGcSet
class	STaskNullSpaceDamping
class	STaskOpPos
class	STaskOpPosContactForce
class	STaskOpPosNoGravity
class	STaskOpPosPIDA1OrderInfTime
class	SMusclePointParsed
class	SMuscleParsed
class	SActuatorSetMuscleParsed
class	SActuatorSetParsed
struct	SParserData
class	SControllerData
struct	SGuiData
struct	SIOData
class	SDatabase
struct	SForce
struct	SForceContact
class	SGcModel
struct	SGraphicsParsed
class	SObject
class	SRigidBodyGraphics
struct	SRigidBody
class	SRigidBodyDyn
struct	SRobotSensors
struct	SRobotActuators
struct	SRobotIO
struct	SRobotParsed
class	SUIParsed
class	SVirtualLinkage
struct	sFloat3
struct	sString2
class	CDynamicsAnalyticRPP
class	CDynamicsAnalyticBase
class	CDynamicsBase
class	CDynamicsScl
class	CDynamicsTao
class	CTaoRepCreator
class	CGraphicsBase
class	CGraphicsChai
struct	SRobotRenderObj
class	SGraphicsChai
struct	SGraphicsChaiMuscleSet
struct	SGraphicsChaiRigidBody
struct	SGraphicsChaiMesh
class	CHapticsChai
class	CHapticsBase
class	CParserBase
class	CParserOsim
class	CParserOsimForOldFiles
class	CParserSai
class	STaskParsedData
class	SNonControlTaskParsedData
class	CParserScl
class	CParserSclTiXml
class	CRobot
class	CRobotApp
class	SRobot
class	CCallbackEcho
class	CCallbackPrint
class	CCallbackSet
class	CCallbackHelp
class	CCallbackDecrement
class	CCallbackIncrement
class	SSensorBase
class	CSensorBase
class	CSensorSetBase
class	CTrajectoryGenerator
class	CSimbodyDynamics

Typedefs
typedef bool	sBool
typedef char	sChar
typedef unsigned long	sUInt
typedef int	sInt
typedef long long	sLongLong
typedef double	sFloat
typedef double	sClock
typedef Eigen::Matrix< sFloat, 6, 1 >	sSpatialVector
	Typedef (possibly clearer to read). More...
typedef Eigen::Matrix< sFloat, 6, 6 >	sSpatialXForm
	Typedef since we use this pretty commonly. More...
typedef sutil::CSingleton < SDatabase >	CDatabase
typedef sutil::CSingleton < sutil::CMappedList < std::string, SObject * > >	CDatabaseDynObj

Enumerations
enum	EJointType {   JOINT_TYPE_PRISMATIC_X = 0, JOINT_TYPE_PRISMATIC_Y = 1, JOINT_TYPE_PRISMATIC_Z = 2, JOINT_TYPE_REVOLUTE_X = 4,   JOINT_TYPE_REVOLUTE_Y = 5, JOINT_TYPE_REVOLUTE_Z = 6, JOINT_TYPE_SPHERICAL = 8, JOINT_TYPE_SPLINE = 9,   JOINT_TYPE_NOTASSIGNED = -1 }
enum	ERenderType { RENDER_TYPE_SPHERE = 0, RENDER_TYPE_CYLINDER = 1, RENDER_TYPE_ELLIPSOID = 2 }

Functions
static void	tao_collect_ids (taoDNode *node, std::map< int, int > &id_counter)
static bool	tao_consistency_check (taoNodeRoot *root)
bool	addRobotPrintables ()
sBool	sclTransform (Eigen::Affine3d &arg_T, const Eigen::Vector3d &arg_offset, const Eigen::Quaterniond &arg_ori_in_parent, const sFloat arg_q, const EJointType arg_jtype)
void	dh2TransformationMatrix (Eigen::Matrix4d &arg_mat, const sFloat &alpha, const sFloat &a, const sFloat &d, const sFloat &theta)
sBool	quat2axisangle (const Eigen::Quaternion< sFloat > &arg_q, Eigen::Vector4d &arg_aa)

Variables
const sFloat	CHAI_SPHERE_RENDER_RADIUS = 0.0001
const sFloat	CHAI_SPHERE_MUSC_VIA_RADIUS = 0.008
const sFloat	CHAI_MUSC_THICKNESS = 10

Detailed Description

A singleton to unify all the disparate data sources in scl. Similar to a very fast database.

The data structure is universally available for any subcomponent of Scl to use.

A data structure to store the main servo loop's data. The main servo loop accesses the current torques to be applied from each task, computes the range spaces of the tasks and projects the torques through them to obtain the combined robot torque.

Typedef Documentation

typedef sutil::CSingleton<SDatabase> scl::CDatabase

Data structure wrapper which will contain all the data required to simulate and/or control a set of robots.

These classes will provide direct memory access to all the data stored within it.

TODO : Thread safety : 1-writer + n-readers for different subcomponents

typedef sutil::CSingleton<sutil::CMappedList<std::string,SObject*> > scl::CDatabaseDynObj

Data structure wrapper which will contain all the data that a user might query during run time. This data will typically be accessed through callbacks.

typedef bool scl::sBool

Standard bool

typedef char scl::sChar

Standard char

typedef double scl::sClock

Clock (Can use system clock measurements which require more than a float

typedef double scl::sFloat

Standard floating point ops in general NOTE : Float is precise to 7 significant-digits This is fine for most scl ops.

typedef int scl::sInt

Standard int (4-byte)

typedef long long scl::sLongLong

Standard longlong

typedef Eigen::Matrix<sFloat, 6, 1> scl::sSpatialVector

Typedef (possibly clearer to read).

typedef Eigen::Matrix<sFloat, 6, 6> scl::sSpatialXForm

Typedef since we use this pretty commonly.

Enumeration Type Documentation

enum scl::EJointType

Enum for the different joint types in scl Note: Arbitrary joint axis rotations are not supported. You may instead rotate the transformation from the previous link's frame to go to a standard axis (x,y,z). It is best to just use z when you can (our convention).

Function Documentation

void scl::dh2TransformationMatrix	(	Eigen::Matrix4d &	arg_mat,
		const sFloat &	alpha,
		const sFloat &	a,
		const sFloat &	d,
		const sFloat &	theta
	)

Creates a transformation matrix given a set of dh parameters z = axis or rotation. x = joint(i-1) to joint(i). y = z cross x SI units : radian, meters alpha : Angle about common normal (Z_n-1 to Z_n) a (or r) : Length of common normal (Z_n-1 to Z_n = radius) d : Offset along z to common normal theta : Angle about prev z, from old x to new x.

sBool scl::quat2axisangle	(	const Eigen::Quaternion< sFloat > &	arg_q,
		Eigen::Vector4d &	arg_aa
	)

Converts a quaternion into an axis-angle (x,y,z,theta) representation.

At axis-angle's two singularities (pi and 0), the passed vector4 will be set to all zeros.

angle = 2 * acos(qw) x = qx / sqrt(1-qw*qw) y = qy / sqrt(1-qw*qw) z = qz / sqrt(1-qw*qw)

http://www.euclideanspace.com/maths/geometry/rotations/ conversions/quaternionToAngle/index.htm

sBool scl::sclTransform	(	Eigen::Affine3d &	arg_T,
		const Eigen::Vector3d &	arg_offset,
		const Eigen::Quaterniond &	arg_ori_in_parent,
		const sFloat	arg_q,
		const EJointType	arg_jtype
	)

Creates a transformation matrix from a given joint specification and a generalized coordinate.