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Tesseract
Motion Planning Environment
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Tesseract
Motion Planning Environment
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Common Tesseract Utility Functions. More...
#include <tesseract_common/macros.h>#include <array>#include <vector>#include <string>#include <sstream>#include <stdexcept>#include <random>#include <iomanip>#include <Eigen/Core>#include <iostream>#include <tinyxml2.h>#include <tesseract_common/allowed_collision_matrix.h>#include <tesseract_common/types.h>
Go to the source code of this file.
Namespaces | |
| namespace | tesseract_common |
Functions | |
| template<typename... Args> | |
| std::string | tesseract_common::strFormat (const std::string &format, Args... args) |
| std::string | tesseract_common::fileToString (const tesseract_common::fs::path &filepath) |
| Read in the contents of the file into a string. More... | |
| 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. More... | |
| void | tesseract_common::twistChangeBase (Eigen::Ref< Eigen::VectorXd > twist, const Eigen::Isometry3d &change_base) |
| Change the base coordinate system of the Twist. More... | |
| void | tesseract_common::jacobianChangeBase (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Isometry3d &change_base) |
| Change the base coordinate system of the jacobian. More... | |
| void | tesseract_common::jacobianChangeRefPoint (Eigen::Ref< Eigen::MatrixXd > jacobian, const Eigen::Ref< const Eigen::Vector3d > &ref_point) |
| Change the reference point of the jacobian. More... | |
| Eigen::VectorXd | tesseract_common::concat (const Eigen::VectorXd &a, const Eigen::VectorXd &b) |
| Concatenate two vector. More... | |
| 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]. More... | |
| Eigen::Vector3d | tesseract_common::calcRotationalError2 (const Eigen::Ref< const Eigen::Matrix3d > &R) |
| Calculate the rotation error vector given a rotation error matrix where the angle is between [0, 2 * pi]. More... | |
| Eigen::VectorXd | tesseract_common::calcTransformError (const Eigen::Isometry3d &t1, const Eigen::Isometry3d &t2) |
| Calculate error between two transforms expressed in t1 coordinate system. More... | |
| Eigen::Vector4d | tesseract_common::computeRandomColor () |
| This computes a random color RGBA [0, 1] with alpha set to 1. More... | |
| void | tesseract_common::printNestedException (const std::exception &e, int level=0) |
| Print a nested exception. More... | |
| std::string | tesseract_common::getTempPath () |
| Get the host temp directory path. More... | |
| bool | tesseract_common::isNumeric (const std::string &s) |
| Determine if a string is a number. More... | |
| bool | tesseract_common::isNumeric (const std::vector< std::string > &sv) |
| Determine if each string in vector is a number. More... | |
| 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. More... | |
| void | tesseract_common::ltrim (std::string &s) |
| Left trim string. More... | |
| void | tesseract_common::rtrim (std::string &s) |
| Right trim string. More... | |
| void | tesseract_common::trim (std::string &s) |
| Trim left and right of string. More... | |
| template<typename T > | |
| bool | tesseract_common::isIdentical (const std::vector< T > &vec1, const std::vector< T > &vec2, bool ordered=true, const std::function< bool(const T &, const T &)> &equal_pred=[](const T &v1, const T &v2) { return v1==v2;}, const std::function< bool(const T &, const T &)> &comp=[](const T &v1, const T &v2) { return v1< v2;}) |
| Check if two vector of strings are identical. More... | |
| template<typename KeyValueContainerType , typename ValueType > | |
| bool | tesseract_common::isIdenticalMap (const KeyValueContainerType &map_1, const KeyValueContainerType &map_2, const std::function< bool(const ValueType &, const ValueType &)> &value_eq=[](const ValueType &v1, const ValueType &v2) { return v1==v2;}) |
| Checks if 2 maps are identical. More... | |
| template<typename ValueType > | |
| bool | tesseract_common::isIdenticalSet (const std::set< ValueType > &set_1, const std::set< ValueType > &set_2, const std::function< bool(const ValueType &, const ValueType &)> &value_eq=[](const ValueType &v1, const ValueType &v2) { return v1==v2;}) |
| Checks if 2 sets are identical. More... | |
| template<typename ValueType , std::size_t Size> | |
| bool | tesseract_common::isIdenticalArray (const std::array< ValueType, Size > &array_1, const std::array< ValueType, Size > &array_2, const std::function< bool(const ValueType &, const ValueType &)> &value_eq=[](const ValueType &v1, const ValueType &v2) { return v1==v2;}) |
| Checks if 2 arrays are identical. More... | |
| template<typename T > | |
| bool | tesseract_common::pointersEqual (const std::shared_ptr< T > &p1, const std::shared_ptr< T > &p2) |
| Checks if 2 pointers point to objects that are ==. More... | |
| template<typename T > | |
| bool | tesseract_common::pointersComparison (const std::shared_ptr< T > &p1, const std::shared_ptr< T > &p2) |
| Comparison operator for the objects 2 points point to. More... | |
| std::string | tesseract_common::getTimestampString () |
| Get Timestamp string. More... | |
| void | tesseract_common::reorder (Eigen::Ref< Eigen::VectorXd > v, std::vector< Eigen::Index > order) |
| Reorder Eigen::VectorXd implace given index list. More... | |
| tinyxml2::XMLError | tesseract_common::QueryStringValue (const tinyxml2::XMLElement *xml_element, std::string &value) |
| Query a string value from xml element. More... | |
| tinyxml2::XMLError | tesseract_common::QueryStringText (const tinyxml2::XMLElement *xml_element, std::string &text) |
| Query a string Text from xml element. More... | |
| tinyxml2::XMLError | tesseract_common::QueryStringValue (const tinyxml2::XMLAttribute *xml_attribute, std::string &value) |
| Query a string value from xml attribute. More... | |
| tinyxml2::XMLError | tesseract_common::QueryStringAttribute (const tinyxml2::XMLElement *xml_element, const char *name, std::string &value) |
| Query a string attribute from an xml element. More... | |
| 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. More... | |
| tinyxml2::XMLError | 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. More... | |
| tinyxml2::XMLError | 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. More... | |
| tinyxml2::XMLError | 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. More... | |
| 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. More... | |
| 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. More... | |
| 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. More... | |
| template<typename FloatType > | |
| bool | tesseract_common::toNumeric (const std::string &s, FloatType &value) |
| Convert a string to a numeric value type. More... | |
| std::vector< std::string > | tesseract_common::getAllowedCollisions (const std::vector< std::string > &link_names, const AllowedCollisionEntries &acm_entries, bool remove_duplicates=true) |
| Gets allowed collisions for a set of link names. More... | |
Variables | |
| static std::mt19937 | tesseract_common::mersenne { static_cast<std::mt19937::result_type>(std::time(nullptr)) } |
| Random number generator. More... | |
Common Tesseract Utility Functions.
1.9.5