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Tesseract 0.28.4
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Tesseract 0.28.4
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Common Tesseract Utility Functions. More...
#include <tesseract/common/macros.h>#include <ctime>#include <random>#include <string>#include <type_traits>#include <console_bridge/console.h>#include <fstream>#include <iostream>#include <iomanip>#include <tinyxml2.h>#include <cassert>#include <tesseract/common/utils.h>Namespaces | |
| namespace | tesseract::common |
| Namespace owning boost's hash_is_avalanching, and defined iff boost has the trait at all. | |
Functions | |
| template bool | tesseract::common::toNumeric< double > (const std::string &, double &) |
| template bool | tesseract::common::toNumeric< float > (const std::string &, float &) |
| template bool | tesseract::common::toNumeric< int > (const std::string &, int &) |
| template bool | tesseract::common::toNumeric< long > (const std::string &, long &) |
| template bool | tesseract::common::isIdentical< std::string > (const std::vector< std::string > &, const std::vector< std::string > &, bool, const std::function< bool(const std::string &, const std::string &)> &, const std::function< bool(const std::string &, const std::string &)> &) |
| template bool | tesseract::common::isIdentical< Eigen::Index > (const std::vector< Eigen::Index > &, const std::vector< Eigen::Index > &, bool, const std::function< bool(const Eigen::Index &, const Eigen::Index &)> &, const std::function< bool(const Eigen::Index &, const Eigen::Index &)> &) |
| template<typename E > | |
| std::enable_if_t<!std::is_polymorphic< E >::value > | tesseract::common::my_rethrow_if_nested (const E &) |
| template<typename E > | |
| std::enable_if_t< std::is_polymorphic< E >::value > | tesseract::common::my_rethrow_if_nested (const E &e) |
| std::string | tesseract::common::fileToString (const std::filesystem::path &filepath) |
| Read in the contents of the file into a string. | |
| void | tesseract::common::twistChangeRefPoint (Eigen::Ref< Eigen::VectorXd > twist, const Eigen::Ref< const Eigen::Vector3d > &ref_point) |
| Change the reference point of the provided Twist. | |
| void | tesseract::common::twistChangeBase (Eigen::Ref< Eigen::VectorXd > twist, const Eigen::Isometry3d &change_base) |
| Change the base coordinate system of the Twist. | |
| void | tesseract::common::jacobianChangeBase (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Isometry3d &change_base) |
| Change the base coordinate system of the jacobian. | |
| void | tesseract::common::jacobianChangeRefPoint (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Ref< const Eigen::Vector3d > &ref_point) |
| Change the reference point of the jacobian. | |
| Eigen::VectorXd | tesseract::common::concat (const Eigen::VectorXd &a, const Eigen::VectorXd &b) |
| Concatenate two vector. | |
| std::pair< Eigen::Vector3d, double > | tesseract::common::calcRotationalErrorDecomposed (const Eigen::Ref< const Eigen::Matrix3d > &R) |
| Eigen::Vector3d | tesseract::common::calcRotationalError (const Eigen::Ref< const Eigen::Matrix3d > &R) |
| Calculate the rotation error vector given a rotation error matrix where the angle is between [-pi, pi]. | |
| Eigen::VectorXd | tesseract::common::calcTransformError (const Eigen::Isometry3d &t1, const Eigen::Isometry3d &t2) |
| Calculate error between two transforms expressed in t1 coordinate system. | |
| void | tesseract::common::applyTolerances (Eigen::Ref< Eigen::VectorXd > v, const Eigen::Ref< const Eigen::VectorXd > &lower_tolerance, const Eigen::Ref< const Eigen::VectorXd > &upper_tolerance) |
| Apply a per-component dead-band tolerance to an error vector in place. | |
| Eigen::VectorXd | tesseract::common::calcJacobianTransformErrorDiff (const Eigen::Isometry3d &target, const Eigen::Isometry3d &source, const Eigen::Isometry3d &source_perturbed) |
| Calculate jacobian transform error difference expressed in the target frame coordinate system. | |
| Eigen::VectorXd | tesseract::common::calcJacobianTransformErrorDiff (const Eigen::Isometry3d &target, const Eigen::Isometry3d &source, const Eigen::Isometry3d &source_perturbed, const Eigen::Ref< const Eigen::VectorXd > &lower_tolerance, const Eigen::Ref< const Eigen::VectorXd > &upper_tolerance) |
| Calculate jacobian transform error difference with optional per-component dead-band tolerances. | |
| Eigen::VectorXd | tesseract::common::calcJacobianTransformErrorDiff (const Eigen::Isometry3d &target, const Eigen::Isometry3d &target_perturbed, const Eigen::Isometry3d &source, const Eigen::Isometry3d &source_perturbed) |
| Calculate jacobian transform error difference expressed in the target frame coordinate system. | |
| Eigen::VectorXd | tesseract::common::calcJacobianTransformErrorDiff (const Eigen::Isometry3d &target, const Eigen::Isometry3d &target_perturbed, const Eigen::Isometry3d &source, const Eigen::Isometry3d &source_perturbed, const Eigen::Ref< const Eigen::VectorXd > &lower_tolerance, const Eigen::Ref< const Eigen::VectorXd > &upper_tolerance) |
| Calculate jacobian transform error difference (dynamic target) with optional per-component dead-band tolerances. | |
| Eigen::Vector4d | tesseract::common::computeRandomColor () |
| This computes a random color RGBA [0, 1] with alpha set to 1. | |
| void | tesseract::common::printNestedException (const std::exception &e, int level=0) |
| Print a nested exception. | |
| std::string | tesseract::common::getTempPath () |
| Get the host temp directory path. | |
| bool | tesseract::common::isNumeric (const std::string &s) |
| Determine if a string is a number. | |
| bool | tesseract::common::isNumeric (const std::vector< std::string > &sv) |
| Determine if each string in vector is a number. | |
| Eigen::VectorXd | tesseract::common::generateRandomNumber (const Eigen::Ref< const Eigen::MatrixX2d > &limits) |
| Given a set of limits it will generate a vector of random numbers between the limit. | |
| void | tesseract::common::ltrim (std::string &s) |
| Left trim string. | |
| void | tesseract::common::rtrim (std::string &s) |
| Right trim string. | |
| void | tesseract::common::trim (std::string &s) |
| Trim left and right of string. | |
| std::string | tesseract::common::getTimestampString () |
| Get Timestamp string. | |
| void | tesseract::common::reorder (Eigen::Ref< Eigen::VectorXd > v, std::vector< Eigen::Index > order) |
| Reorder Eigen::VectorXd implace given index list. | |
| int | tesseract::common::QueryStringValue (const tinyxml2::XMLElement *xml_element, std::string &value) |
| Query a string value from xml element. | |
| int | tesseract::common::QueryStringText (const tinyxml2::XMLElement *xml_element, std::string &text) |
| Query a string Text from xml element. | |
| int | tesseract::common::QueryStringValue (const tinyxml2::XMLAttribute *xml_attribute, std::string &value) |
| Query a string value from xml attribute. | |
| int | tesseract::common::QueryStringAttribute (const tinyxml2::XMLElement *xml_element, const char *name, std::string &value) |
| Query a string attribute from an xml element. | |
| std::string | tesseract::common::StringAttribute (const tinyxml2::XMLElement *xml_element, const char *name, std::string default_value) |
| Get string attribute if exist. If it does not exist it returns the default value. | |
| int | tesseract::common::QueryStringAttributeRequired (const tinyxml2::XMLElement *xml_element, const char *name, std::string &value) |
| Query a string attribute from an xml element and print error log. | |
| int | tesseract::common::QueryDoubleAttributeRequired (const tinyxml2::XMLElement *xml_element, const char *name, double &value) |
| Query a double attribute from an xml element and print error log. | |
| int | tesseract::common::QueryIntAttributeRequired (const tinyxml2::XMLElement *xml_element, const char *name, int &value) |
| Query a int attribute from an xml element and print error log. | |
| bool | tesseract::common::almostEqualRelativeAndAbs (double a, double b, double max_diff=1e-6, double max_rel_diff=std::numeric_limits< double >::epsilon()) |
| Check if two double are relatively equal. | |
| bool | tesseract::common::almostEqualRelativeAndAbs (const Eigen::Ref< const Eigen::VectorXd > &v1, const Eigen::Ref< const Eigen::VectorXd > &v2, double max_diff=1e-6, double max_rel_diff=std::numeric_limits< double >::epsilon()) |
| Check if two Eigen VectorXd are relatively and absolute equal. | |
| bool | tesseract::common::almostEqualRelativeAndAbs (const Eigen::Ref< const Eigen::VectorXd > &v1, const Eigen::Ref< const Eigen::VectorXd > &v2, const Eigen::Ref< const Eigen::VectorXd > &max_diff, const Eigen::Ref< const Eigen::VectorXd > &max_rel_diff) |
| Check if two Eigen VectorXd are relatively and absolute equal. | |
| std::vector< LinkId > | tesseract::common::getAllowedCollisions (const std::vector< LinkId > &link_ids, const AllowedCollisionEntries &acm_entries, bool remove_duplicates=true) |
| Gets allowed collisions for a set of link ids. | |
Common Tesseract Utility Functions.
1.9.8