scl_util Namespace Reference

Functions
void	printRobotLinkTree (const SRigidBody &link, int depth)
int	initMultiTaskCtrlDsFromParsedTasks (const std::vector< scl::STaskBase * > &arg_taskvec, const std::vector< scl::SNonControlTaskBase * > &arg_taskvec_nc, scl::SControllerMultiTask &ret_ctrl)
bool	initDynRobotFromParsedRobot (sutil::CMappedTree< std::string, scl::SRigidBodyDyn > &arg_rbd_tree, const sutil::CMappedTree< std::string, scl::SRigidBody > &arg_rb_tree)
sBool	isMuscleCompatWithRobot (const std::string &arg_msys, const std::string &arg_robot)
bool	readEigenVecFromFile (Eigen::VectorXd &arg_vec, const std::string &arg_file)
bool	readEigenVecFromFile (Eigen::VectorXd &arg_vec, const int len, const std::string &arg_file)
bool	writeEigenVecToFile (const Eigen::VectorXd &arg_vec, const std::string &arg_file)
bool	readEigenMatFromFile (Eigen::MatrixXd &arg_mat, const std::string &arg_file)
bool	readEigenMatFromFile (Eigen::MatrixXd &arg_mat, unsigned long arg_rows, unsigned long arg_cols, const std::string &arg_file)
bool	writeEigenMatToFile (const Eigen::MatrixXd &arg_mat, const std::string &arg_file)
bool	readEigenVecFromFile (Eigen::VectorXd &arg_vec, const long len, const std::string &arg_file)
unsigned int	countNumbersInString (const char *ss)
bool	isStringInVector (const std::string &arg_str, const std::vector< std::string > &arg_vec)
bool	getCurrentDir (std::string &arg_cwd)

Detailed Description

A random collection of string manipulation, os-specific etc. functions.

NOTE TODO : Feel free to add other useful functions...

Function Documentation

bool scl_util::initDynRobotFromParsedRobot	(	sutil::CMappedTree< std::string, scl::SRigidBodyDyn > &	arg_rbd_tree,
		const sutil::CMappedTree< std::string, scl::SRigidBody > &	arg_rb_tree
	)

Initializes a dynamic tree given a static tree for a robot.

int scl_util::initMultiTaskCtrlDsFromParsedTasks	(	const std::vector< scl::STaskBase * > &	arg_taskvec,
		const std::vector< scl::SNonControlTaskBase * > &	arg_taskvec_nc,
		scl::SControllerMultiTask &	ret_ctrl
	)

Checks whether dynamic type information is available. If so, it parses tasks into the control data structure

scl::sBool scl_util::isMuscleCompatWithRobot	(	const std::string &	arg_msys,
		const std::string &	arg_robot
	)

Checks if a muscle system is compatible with a given robot. Looks for both in the database

void scl_util::printRobotLinkTree	(	const scl::SRigidBody &	link,
		scl::sInt	depth
	)

Prints a robot link tree with a passed link as its root.

bool scl_util::readEigenMatFromFile	(	Eigen::MatrixXd &	arg_mat,
		const std::string &	arg_file
	)

Reads an eigen matrix of doubles from a file

The file should have a vector in each line: x11 x12 ... x21 x22 ...

Parameters

arg_mat	: The data is loaded in to this matrix
arg_file	: The filename

Returns

Count the width of a single line.

bool scl_util::readEigenMatFromFile	(	Eigen::MatrixXd &	arg_mat,
		unsigned long	arg_rows,
		unsigned long	arg_cols,
		const std::string &	arg_file
	)

Reads an eigen matrix of doubles from a file

The file should have a vector in each line: x11 x12 ... x21 x22 ...

Parameters

arg_mat	: The data is loaded in to this matrix
arg_rows	: The number of rows to read
arg_cols	: The number of columns to read
arg_file	: The filename

Returns

bool scl_util::readEigenVecFromFile	(	Eigen::VectorXd &	arg_vec,
		const std::string &	arg_file
	)

Function reads a vector from a file. The file should have a val in each line: x1 x2 x3 ...

bool scl_util::readEigenVecFromFile	(	Eigen::VectorXd &	arg_vec,
		const long	len,
		const std::string &	arg_file
	)

Function reads a vector from a file. The file should have a val in each line: x1 x2 x3 ...

bool scl_util::writeEigenMatToFile	(	const Eigen::MatrixXd &	arg_mat,
		const std::string &	arg_file
	)

Writes an eigen matrix of doubles to a file

Parameters

arg_vec	: The data to be written to disk
arg_file	: The filename

Returns

bool scl_util::writeEigenVecToFile	(	const Eigen::VectorXd &	arg_vec,
		const std::string &	arg_file
	)

Writes an eigen vector of doubles to a file

Parameters

arg_vec	: The data to be written to disk
arg_file	: The filename

Returns