Classes
class	Dynamics
class	FirstOrderFilter
class	Kinematics
struct	Vector
class	Matrix
struct	Traits< Eigen::MatrixBase< TraitsDerived > >
struct	Traits< Matrix< R, C, Units > >
class	Spline
class	Spline< Eigen::Quaternion< Scalar > >
class	Spline< boost::tuple< T0, T1, T2, T3, T4, T5, T6, T7, T8, T9 > >
struct	Traits
class	TrapezoidalVelocityProfile
Functions
template<int R, int C, typename Units >
std::ostream &	operator<< (std::ostream &os, const Matrix< R, C, Units > &a)
template<typename Derived >
const Eigen::CwiseUnaryOp < detail::CwiseSignOp < typename Eigen::ei_traits < Derived >::Scalar >, Derived >	sign (const Eigen::MatrixBase< Derived > &x)
double	sign (double x)
template<typename Derived >
const Eigen::CwiseUnaryOp < Eigen::ei_scalar_abs_op < typename Eigen::ei_traits < Derived >::Scalar >, Derived >	abs (const Eigen::MatrixBase< Derived > &x)
template<typename Derived1 , typename Derived2 >
const Eigen::CwiseBinaryOp < Eigen::ei_scalar_min_op < typename Eigen::ei_traits < Derived1 >::Scalar > , Derived1, Derived2 >	min (const Eigen::MatrixBase< Derived1 > &a, const Eigen::MatrixBase< Derived2 > &b)
double	min (double a, double b)
template<typename Derived1 , typename Derived2 >
const Eigen::CwiseBinaryOp < Eigen::ei_scalar_max_op < typename Eigen::ei_traits < Derived1 >::Scalar > , Derived1, Derived2 >	max (const Eigen::MatrixBase< Derived1 > &a, const Eigen::MatrixBase< Derived2 > &b)
double	max (double a, double b)
template<typename Derived >
const Eigen::CwiseUnaryOp < detail::CwiseUnarySaturateOp < typename Eigen::ei_traits < Derived >::Scalar >, Derived >	saturate (const Eigen::MatrixBase< Derived > &x, double limit)
template<typename Derived1 , typename Derived2 >
const Eigen::CwiseBinaryOp < detail::CwiseBinarySaturateOp < typename Eigen::ei_traits < Derived1 >::Scalar > , Derived1, Derived2 >	saturate (const Eigen::MatrixBase< Derived1 > &x, const Eigen::MatrixBase< Derived2 > &limit)
double	saturate (double x, double limit)
template<typename Derived >
const Eigen::CwiseUnaryOp < detail::CwiseUnarySaturateOp < typename Eigen::ei_traits < Derived >::Scalar >, Derived >	saturate (const Eigen::MatrixBase< Derived > &x, double lowerLimit, double upperLimit)
double	saturate (double x, double lowerLimit, double upperLimit)
template<typename Derived >
const Eigen::CwiseUnaryOp < detail::CwiseUnaryDeadbandOp < typename Eigen::ei_traits < Derived >::Scalar >, Derived >	deadband (const Eigen::MatrixBase< Derived > &x, double cutoff)
template<typename Derived1 , typename Derived2 >
const Eigen::CwiseBinaryOp < detail::CwiseBinaryDeadbandOp < typename Eigen::ei_traits < Derived1 >::Scalar > , Derived1, Derived2 >	deadband (const Eigen::MatrixBase< Derived1 > &x, const Eigen::MatrixBase< Derived2 > &cutoff)
double	deadband (double x, double cutoff)

Detailed Description

Provides an interface to linear-algebra libraries and implementations of basic robot control algorithms.

Function Documentation

template<typename Derived >

const Eigen::CwiseUnaryOp< Eigen::ei_scalar_abs_op< typename Eigen::ei_traits< Derived >::Scalar >, Derived > barrett::math::abs ( const Eigen::MatrixBase< Derived > & x ) [inline]

Computes the absolute value of its input.

The function operates coefficient-wise for barrett::math::Vector inputs.

Template Parameters:

Designed to operate on a double or barrett::math::Vector.

Parameters:

[in] x

Return values:

x	if `x >= 0`
-x	if `x < 0`

template<typename Derived >

const Eigen::CwiseUnaryOp< detail::CwiseUnaryDeadbandOp< typename Eigen::ei_traits< Derived >::Scalar >, Derived > barrett::math::deadband	(	const Eigen::MatrixBase< Derived > &	x,
		double	cutoff
	)		`[inline]`

Maps input values smaller than the given cutoff to zero.

The function operates coefficient-wise for barrett::math::Vector inputs.

Template Parameters:

Designed to operate on a double or barrett::math::Vector.

Parameters:

[in]	x	Input value.
[in]	cutoff	The smallest input value that produces a non-zero return value.

Return values:

x-sign(x)*cutoff	if `abs(x) > cutoff`
0	otherwise.

template<typename Derived1 , typename Derived2 >

const Eigen::CwiseBinaryOp< Eigen::ei_scalar_max_op< typename Eigen::ei_traits< Derived1 >::Scalar >, Derived1, Derived2 > barrett::math::max	(	const Eigen::MatrixBase< Derived1 > &	a,
		const Eigen::MatrixBase< Derived2 > &	b
	)		`[inline]`

Returns the maximum of its two inputs.

The function operates coefficient-wise for barrett::math::Vector inputs.

Template Parameters:

Designed to operate on a double or barrett::math::Vector.

Parameters:

[in]	a
[in]	b

Return values:

a	if `a > b`
b	otherwise.

template<typename Derived1 , typename Derived2 >

const Eigen::CwiseBinaryOp< Eigen::ei_scalar_min_op< typename Eigen::ei_traits< Derived1 >::Scalar >, Derived1, Derived2 > barrett::math::min	(	const Eigen::MatrixBase< Derived1 > &	a,
		const Eigen::MatrixBase< Derived2 > &	b
	)		`[inline]`

Returns the minimum of its two inputs.

The function operates coefficient-wise for barrett::math::Vector inputs.

Template Parameters:

Designed to operate on a double or barrett::math::Vector.

Parameters:

[in]	a
[in]	b

Return values:

a	if `a < b`
b	otherwise.

template<typename Derived >

const Eigen::CwiseUnaryOp< detail::CwiseUnarySaturateOp< typename Eigen::ei_traits< Derived >::Scalar >, Derived > barrett::math::saturate	(	const Eigen::MatrixBase< Derived > &	x,
		double	limit
	)		`[inline]`

Ensures the input does not exceed the given limits.

The function operates coefficient-wise for barrett::math::Vector inputs.

Template Parameters:

Designed to operate on a double or barrett::math::Vector.

Parameters:

[in]	x	Input value.
[in]	limit	The maximum absolute value of the return value.

Return values:

x	if `abs(x) < limit`
sign(x)*limit	otherwise.

template<typename Derived >

const Eigen::CwiseUnaryOp< detail::CwiseSignOp< typename Eigen::ei_traits< Derived >::Scalar >, Derived > barrett::math::sign ( const Eigen::MatrixBase< Derived > & x ) [inline]

Computes the sign (positive, zero, or negative) of its input.

Sometimes referred to as the signum function. The function operates coefficient-wise for barrett::math::Vector inputs.

Template Parameters:

Designed to operate on a double or barrett::math::Vector.

Parameters:

[in] x

Return values:

1	if `x > 0`
0	if `x == 0`
-1	if `x < 0`

Classes

Functions

Detailed Description

Function Documentation