#include <Eigen/Core>
#include <Eigen/Geometry>
#include <array>
#include "v_repLib.h"

Include dependency graph for Eigen.hpp:

This graph shows which files directly or indirectly include this file:

Namespaces
	vrepquat

Enumerations
enum	vrepquat::vrep_quat { vrepquat::x, vrepquat::y, vrepquat::z, vrepquat::w }

Functions
template<typename Input >
Eigen::Vector3d	eigenRotToEigenVector3dAngleAxis (Input eigenQuat)

template<typename P >
std::array< float, 3 >	EigenToVrepPosition (const P &p)

template<typename Q >
std::array< float, 4 >	EigenToVrepQuaternion (const Q &q)

std::pair< Eigen::Vector3d, Eigen::Vector3d >	getAxisAngleAndTranslation (int ObjectHandle, int BaseFrameObjectHandle)

Eigen::Affine3d	getJointTransform (int objectHandle)
	Eigen version of simGetJointMatrix. More...

Eigen::Affine3d	getObjectTransform (int objectHandle, int relativeToObjectHandle=-1)

std::pair< Eigen::Quaterniond, Eigen::Vector3d >	getObjectTransformQuaternionTranslationPair (int objectHandle, int relativeToObjectHandle=-1)

template<typename T >
void	setObjectTransform (int objectHandle, int relativeToObjectHandle, T &transform)

template<typename Input >
Eigen::Vector3d	vrepQuatToEigenVector3dAngleAxis (Input vrepQuat)

template<typename InputIterator >
Eigen::Quaterniond	vrepToEigenQuaternion (InputIterator vrepQuat)

Eigen::Affine3d	vrepToEigenTransform (const std::array< float, 12 > &vrepTransform)

template<typename InputIterator >
Eigen::Vector3d	vrepToEigenVector3d (InputIterator vrepVec)

Detailed Description

Todo:: convert to use template metaprgramming to define simple functions that simplify and automate the necessary conversions

Definition in file Eigen.hpp.

Function Documentation

§ eigenRotToEigenVector3dAngleAxis()

template<typename Input >

Eigen::Vector3d eigenRotToEigenVector3dAngleAxis ( Input eigenQuat )

Definition at line 63 of file Eigen.hpp.

§ EigenToVrepPosition()

template<typename P >

std::array<float,3> EigenToVrepPosition ( const P & p )

Definition at line 47 of file Eigen.hpp.

§ EigenToVrepQuaternion()

template<typename Q >

std::array<float,4> EigenToVrepQuaternion ( const Q & q )

Definition at line 32 of file Eigen.hpp.

§ getAxisAngleAndTranslation()

std::pair<Eigen::Vector3d,Eigen::Vector3d> getAxisAngleAndTranslation	(	int	ObjectHandle,
		int	BaseFrameObjectHandle
	)

Definition at line 96 of file Eigen.hpp.

§ getJointTransform()

Eigen::Affine3d getJointTransform ( int objectHandle )

Eigen version of simGetJointMatrix.

Definition at line 176 of file Eigen.hpp.

§ getObjectTransform()

Eigen::Affine3d getObjectTransform	(	int	objectHandle,
		int	relativeToObjectHandle = `-1`
	)

Parameters

objectHandle	The V-Rep object handle for which the transform is needed
relativeToObjectHandle	The frame of reference in which to get the object handle, -1 (the default) gets the absolute position aka world frame

See also: http://www.coppeliarobotics.com/helpFiles/en/regularApi/simGetObjectPosition.htm; http://www.coppeliarobotics.com/helpFiles/en/regularApi/simGetObjectQuaternion.htm

Definition at line 135 of file Eigen.hpp.

§ getObjectTransformQuaternionTranslationPair()

std::pair<Eigen::Quaterniond,Eigen::Vector3d> getObjectTransformQuaternionTranslationPair	(	int	objectHandle,
		int	relativeToObjectHandle = `-1`
	)

Parameters

objectHandle	The V-Rep object handle for which the transform is needed
relativeToObjectHandle	The frame of reference in which to get the object handle, -1 (the default) gets the absolute position aka world frame

See also: http://www.coppeliarobotics.com/helpFiles/en/regularApi/simGetObjectPosition.htm; http://www.coppeliarobotics.com/helpFiles/en/regularApi/simGetObjectQuaternion.htm

Todo:: TODO(ahundt) handle errors/return codes from simGetObjectPosition

Definition at line 160 of file Eigen.hpp.

§ setObjectTransform()

template<typename T >

void setObjectTransform	(	int	objectHandle,
		int	relativeToObjectHandle,
		T &	transform
	)

Definition at line 117 of file Eigen.hpp.

§ vrepQuatToEigenVector3dAngleAxis()

template<typename Input >

Eigen::Vector3d vrepQuatToEigenVector3dAngleAxis ( Input vrepQuat )

Definition at line 57 of file Eigen.hpp.

§ vrepToEigenQuaternion()

template<typename InputIterator >

Eigen::Quaterniond vrepToEigenQuaternion ( InputIterator vrepQuat )

Definition at line 21 of file Eigen.hpp.

§ vrepToEigenTransform()

Eigen::Affine3d vrepToEigenTransform ( const std::array< float, 12 > & vrepTransform )

See also: http://www.coppeliarobotics.com/helpFiles/en/regularApi/simGetJointMatrix.htm

Definition at line 77 of file Eigen.hpp.

§ vrepToEigenVector3d()