#include "tao_util.hpp"
#include "strutil.hpp"
#include <tao/dynamics/taoNode.h>
#include <tao/dynamics/taoDNode.h>
#include <tao/dynamics/taoJoint.h>
#include <limits>
Go to the source code of this file.
Namespaces | |
| namespace | jspace |
Typedefs | |
| typedef std::map< int, int > | jspace::id_counter_t |
Functions | |
| void | jspace::mapNodesToIDs (idToNodeMap_t &idToNodeMap, taoDNode *node) throw (std::runtime_error) |
| Create a map between tao nodes and IDs. | |
| int | jspace::countNumberOfLinks (taoDNode *root) |
| Count the total number of links connected to the given node, following all children in to the leaf nodes. | |
| int | jspace::countNumberOfJoints (taoDNode *node) |
| Count the total number of joints attached to the given node and all its descendants. | |
| int | jspace::countDegreesOfFreedom (taoDNode *node) |
| Count the total number of degrees of freedom of all the joints attached to the given node and all its descendants. | |
| double | jspace::computeTotalMass (taoDNode *node) |
| Sum up the mass of the given node plus all its descendants. | |
| static void | jspace::_recurse_create_bare_tao_tree_info (tao_tree_info_s *tree_info, taoDNode *node) |
| tao_tree_info_s * | jspace::create_bare_tao_tree_info (taoNodeRoot *root) |
| Create a minimal tao_tree_info_s from a TAO tree. | |
| static void | jspace::tao_collect_ids (taoDNode *node, id_counter_t &id_counter) |
| int | jspace::tao_consistency_check (taoNodeRoot *root,std::ostream *msg) |
| Run a consistency check on a TAO tree. | |
Definition in file tao_util.cpp.
1.5.4