jspace/jspace/tao_util.hpp File Reference

Author:

Roland Philippsen (roland DOT philippsen AT gmx DOT net)

More...

#include <stdexcept>
#include <string>
#include <vector>
#include <map>

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Namespaces
namespace	jspace
Classes
struct	jspace::tao_node_info_s
	Note: TAO supports multiple joints per link, but all use cases so far seem to require that exactly one joint sits between two links, so we treat joint names just as link names until further notice. More...
struct	jspace::tao_tree_info_s
Typedefs
typedef std::map< int, taoDNode * >	jspace::idToNodeMap_t
Functions
tao_tree_info_s *	jspace::create_bare_tao_tree_info (taoNodeRoot *root)
	Create a minimal tao_tree_info_s from a TAO tree.
int	jspace::tao_consistency_check (taoNodeRoot *root,std::ostream *msg)
	Run a consistency check on a TAO tree.
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.

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Detailed Description

Author:

Roland Philippsen (roland DOT philippsen AT gmx DOT net)

Definition in file tao_util.hpp.

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