include/barrett/units.h File Reference

#include <boost/tuple/tuple.hpp>
#include <Eigen/Geometry>
#include <barrett/math/matrix.h>

Go to the source code of this file.

Classes
struct	barrett::units::JointTorques< R >
struct	barrett::units::JointPositions< R >
struct	barrett::units::JointVelocities< R >
struct	barrett::units::JointAccelerations< R >
struct	barrett::units::CartesianForce
	Template metafunction yielding the 3-element math::Vector used to represent a Cartesian force. Result available in the nested type typedef. More...
struct	barrett::units::CartesianTorque
	Template metafunction yielding the 3-element math::Vector used to represent a Cartesian torque. Result available in the nested type typedef. More...
struct	barrett::units::CartesianPosition
	Template metafunction yielding the 3-element math::Vector used to represent a Cartesian position. Result available in the nested type typedef. More...
struct	barrett::units::CartesianVelocity
	Template metafunction yielding the 3-element math::Vector used to represent a Cartesian velocity. Result available in the nested type typedef. More...
struct	barrett::units::CartesianAcceleration
	Template metafunction yielding the 3-element math::Vector used to represent a Cartesian acceleration. Result available in the nested type typedef. More...
Namespaces
namespace	barrett::units
namespace	barrett
Defines
#define	BARRETT_UNITS_FIXED_SIZE_TYPEDEFS
#define	BARRETT_UNITS_TYPEDEFS(dimension)
#define	BARRETT_UNITS_TEMPLATE_TYPEDEFS(dimension)

---

Detailed Description

Includes all members of the barrett::units namespace.

Date:

Oct 16, 2009

Author:

Dan Cody

See also:

barrett::units

---

Define Documentation

#define BARRETT_UNITS_FIXED_SIZE_TYPEDEFS

Value:

typedef ::barrett::units::CartesianForce::type cf_type;  \
        typedef ::barrett::units::CartesianTorque::type ct_type;  \
        typedef ::barrett::units::CartesianPosition::type cp_type;  \
        typedef ::barrett::units::CartesianVelocity::type cv_type;  \
        typedef ::barrett::units::CartesianAcceleration::type ca_type;  \
        typedef ::boost::tuple<cp_type, ::Eigen::Quaterniond> pose_type

Creates a standard set of typedefs in the local scope for the subset of built-in barrett::units that have a fixed size.

Many classes use this macro to define internal short-hand names for the barrett::units they use frequently.

The following typedefs are defined:

• cf_type The barrett::units::CartesianForce::type
• ct_type The barrett::units::CartesianTorque::type
• cp_type The barrett::units::CartesianPosition::type
• cv_type The barrett::units::CartesianVelocity::type
• ca_type The barrett::units::CartesianAcceleration::type
• pose_type A boost::tuple<> type containing a cp_type and an Eigen::Quaterniond

See also:

BARRETT_UNITS_TYPEDEFS

#define BARRETT_UNITS_TEMPLATE_TYPEDEFS

(

dimension

)

Value:

typedef typename ::barrett::math::Matrix<dimension,dimension> sqm_type;  \
        typedef typename ::barrett::math::Vector<dimension>::type v_type;  \
        typedef typename ::barrett::units::JointTorques<dimension>::type jt_type;  \
        typedef typename ::barrett::units::JointPositions<dimension>::type jp_type;  \
        typedef typename ::barrett::units::JointVelocities<dimension>::type jv_type;  \
        typedef typename ::barrett::units::JointAccelerations<dimension>::type ja_type;  \
        BARRETT_UNITS_FIXED_SIZE_TYPEDEFS

Used in place of BARRETT_UNITS_TYPEDEFS when dimension is dependent on a template parameter of the containing class.

C++ requires the use of the typename keyword under these conditions.

See also:

BARRETT_UNITS_TYPEDEFS

#define BARRETT_UNITS_TYPEDEFS

(

dimension

)

Value:

typedef ::barrett::math::Matrix<dimension,dimension> sqm_type;  \
        typedef ::barrett::math::Vector<dimension>::type v_type;  \
        typedef ::barrett::units::JointTorques<dimension>::type jt_type;  \
        typedef ::barrett::units::JointPositions<dimension>::type jp_type;  \
        typedef ::barrett::units::JointVelocities<dimension>::type jv_type;  \
        typedef ::barrett::units::JointAccelerations<dimension>::type ja_type;  \
        BARRETT_UNITS_FIXED_SIZE_TYPEDEFS

Creates a standard set of typedefs in the local scope for all built-in barrett::units.

Many classes use this macro to define internal short-hand names for the barrett::units they use frequently.

Parameters:

dimension

This positive integer is used in the typedefs below as the template parameter for those types that require one.

The following typedefs are defined:

• sqm_type The unitless square barrett::math::Matrix of the given dimension
• v_type The unitless barrett::math::Vector of the given dimension
• jt_type The barrett::units::JointTorques::type of the given dimension
• jp_type The barrett::units::JointPositions::type of the given dimension
• jv_type The barrett::units::JointVelocities::type of the given dimension
• ja_type The barrett::units::JointAccelerations::type of the given dimension
• all typedefs from BARRETT_UNITS_FIXED_SIZE_TYPEDEFS

See also:

BARRETT_UNITS_TEMPLATE_TYPEDEFS

BARRETT_UNITS_FIXED_SIZE_TYPEDEFS