/home/laradmin/lar/bases/phua_haptic/include/miscellaneous.h File Reference

miscellaneous.h file for this module. Contains prototypes, includes and defines. More...

#include <stdio.h>
#include <stdlib.h>
#include <ctype.h>
#include <string.h>
#include <math.h>
#include <time.h>
#include <iostream>
#include <vector>
#include <Eigen/Dense>
#include <armadillo>
#include <types.h>
Include dependency graph for miscellaneous.h:
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Go to the source code of this file.



#define BLACK   0
#define BLINK   4
#define BLUE   4
#define BRIGHT   1
#define CYAN   6
#define DIM   2
#define GRAY   7
#define GREEN   2
#define HIDDEN   8
#define MAGENTA   5
#define PFLN   {printf("Passing through File [%s] @ Line [%d].\n", __FILE__, __LINE__);}
#define RED   1
#define RESET   0
#define REVERSE   7
#define UNDERLINE   3
#define WHITE   8
#define YELLOW   3
void CalculateAverageCartesianSpeed (double diffX, double diffY, double diffZ, long double time_interval, double *return_vector)
 Function acumulate position differences and calculate average speed.
template<typename Type >
Type DegToRad (Type deg)
 Templated degree to radian conversion function.
double get_sign (double x)
 Function to determine sign of a given number.
double GetDblFromKeyboard (void)
 Gets a double number from keyboard input.
int GetNbrFromKeyboard (void)
 Gets a number from keyboard input.
char GetStrFromKeyboard (void)
 Gets a character from keyboard input.
void HighLightText (void)
 Make somesort of highlight text.
int isNumeric (const char *s)
 Function to check if string is numeric.
template<typename Type >
bool IsWithinRange (Type value, Type lower_bound, Type upper_bound)
 Template function to determine if a given value is within a give range.
template<class T >
T pc_mean (std::vector< T > vect)
 Template function to calculate mean value of an array.
double pc_mean (double *v, int len)
 Function to calculate mean value of an array [Taken from http://rosettacode.org/].
void print_greeting (shared_vars_t *RobotVars)
 Prints to stdout the program greeting.
void print_help (void)
 Prints to stdout the program help tips.
void PrintRedLine (void)
 Printf of an horizontal separator red line.
template<typename Type >
Type RadToDeg (Type rad)
 Templated radian to degree conversion function.
void ResetTextColors (void)
 Reset color text.
template<typename Type >
Type RetrievePrecisionFromDouble (Type original, Type precision)
 Retrieve a value cropped with the required precision.
Eigen::Matrix3d rotx (double angle_in_degrees)
 Function to calculate rotation matrix over the X axis.
Eigen::Matrix3d roty (double angle_in_degrees)
 Function to calculate rotation matrix over the Y axis.
Eigen::Matrix3d rotz (double angle_in_degrees)
 Function to calculate rotation matrix over the Z axis.
void ScreenClear (void)
 Sends equivalent shell command "clean" to stdout.
void textcolor (int attr, int fg, int bg)
 FUNCTIONS CREATED BY VITOR SANTOS([email protected]) | ALL CREDITS GO TO HIM... :-).

Detailed Description

miscellaneous.h file for this module. Contains prototypes, includes and defines.

This modules contains several functions used overall.

Author:
pedro_cruz
Version:
2.0
Date:
3 May 2012

Definition in file miscellaneous.h.

Define Documentation

#define BLACK   0

@ Colors

Definition at line 277 of file miscellaneous.h.

#define BLINK   4

Definition at line 270 of file miscellaneous.h.

#define BLUE   4

Definition at line 281 of file miscellaneous.h.

#define BRIGHT   1

Definition at line 267 of file miscellaneous.h.

#define CYAN   6

Definition at line 283 of file miscellaneous.h.

#define DIM   2

Definition at line 268 of file miscellaneous.h.

#define GRAY   7

Definition at line 284 of file miscellaneous.h.

#define GREEN   2

Definition at line 279 of file miscellaneous.h.

#define HIDDEN   8

Definition at line 272 of file miscellaneous.h.

#define MAGENTA   5

Definition at line 282 of file miscellaneous.h.

#define PFLN   {printf("Passing through File [%s] @ Line [%d].\n", __FILE__, __LINE__);}

Definition at line 55 of file miscellaneous.h.

#define RED   1

Definition at line 278 of file miscellaneous.h.

#define RESET   0

@ Attributes

Definition at line 266 of file miscellaneous.h.

#define REVERSE   7

Definition at line 271 of file miscellaneous.h.

#define UNDERLINE   3

Definition at line 269 of file miscellaneous.h.

#define WHITE   8

Definition at line 285 of file miscellaneous.h.

#define YELLOW   3

Definition at line 280 of file miscellaneous.h.

Function Documentation

void CalculateAverageCartesianSpeed ( double  diffX,
double  diffY,
double  diffZ,
long double  time_interval,
double *  return_vector 
)

Function acumulate position differences and calculate average speed.

This function stores position diffencial values and calculates mean value over time.

Parameters:
[in] diffX xx axis position differences.
[in] diffY yy axis position differences.
[in] diffZ zz axis position differences.
[in] time_interval time intervals of each given space differences.
[out] return_vector destination return array.
Returns:
none.

Definition at line 121 of file miscellaneous.cpp.

template<typename Type >
Type DegToRad ( Type  deg  )  [inline]

Templated degree to radian conversion function.

Parameters:
[in] deg angle in degrees.
Returns:
angle in radians.

Definition at line 79 of file miscellaneous.h.

double get_sign ( double  x  ) 

Function to determine sign of a given number.

This function determines the sign of a number and return -1 or 1, for negative or positive respectively.

Parameters:
[in] x number to evaluate.
Returns:
-1 for negative, 1 for positive.

Definition at line 254 of file miscellaneous.cpp.

double GetDblFromKeyboard ( void   ) 

Gets a double number from keyboard input.

This function retrieves a double number from a keyboard input.

Returns:
returns a double number from input.

Definition at line 275 of file miscellaneous.cpp.

int GetNbrFromKeyboard ( void   ) 

Gets a number from keyboard input.

This function retrieves a number from a keyboard input.

Returns:
returns an integer from input.

Definition at line 259 of file miscellaneous.cpp.

char GetStrFromKeyboard ( void   ) 

Gets a character from keyboard input.

This function retrieves a character from a keyboard input.

Returns:
returns a character from input.

Definition at line 267 of file miscellaneous.cpp.

void HighLightText ( void   ) 

Make somesort of highlight text.

Returns:
Nothing

Definition at line 308 of file miscellaneous.cpp.

int isNumeric ( const char *  s  ) 

Function to check if string is numeric.

Returns true (non-zero) if character-string parameter represents a signed or unsigned floating-point number. Otherwise returns false (zero). [Taken from http://rosettacode.org/] | my edit: strtod() warning supression

Parameters:
[in] s a const char array to evaluate.
Returns:
true (non-zero) / otherwise returns false (zero).

Definition at line 244 of file miscellaneous.cpp.

template<typename Type >
bool IsWithinRange ( Type  value,
Type  lower_bound,
Type  upper_bound 
) [inline]

Template function to determine if a given value is within a give range.

Parameters:
[in] value the value to evaluate.
[in] lower_bound the lower bound of the range.
[in] upper_bound the upper bound of the range.
Returns:
TRUE if value is within range,FALSE if not.

Definition at line 173 of file miscellaneous.h.

template<class T >
T pc_mean ( std::vector< T >  vect  )  [inline]

Template function to calculate mean value of an array.

This function calculates the mean value of an a given vector, that can be of any type.

Parameters:
[in] vect vector to calculated mean.
Returns:
mean value calculated.

Definition at line 155 of file miscellaneous.h.

double pc_mean ( double *  v,
int  len 
)

Function to calculate mean value of an array [Taken from http://rosettacode.org/].

Parameters:
[in] v pointer to the array to calculate.
[in] len lenght of array elements to use in the calculation.
Returns:
mean value calculated.

Definition at line 235 of file miscellaneous.cpp.

void print_greeting ( shared_vars_t *  RobotVars  ) 

Prints to stdout the program greeting.

This function prints to stdout a greeting message.

Parameters:
[in] RobotVars structure defined in types.h with the joint values.

Definition at line 91 of file miscellaneous.cpp.

void print_help ( void   ) 

Prints to stdout the program help tips.

This function prints to stdout a set of program help tips.

Definition at line 37 of file miscellaneous.cpp.

void PrintRedLine ( void   ) 

Printf of an horizontal separator red line.

Returns:
Nothing

Definition at line 294 of file miscellaneous.cpp.

template<typename Type >
Type RadToDeg ( Type  rad  )  [inline]

Templated radian to degree conversion function.

Parameters:
[in] rad angle in radians.
Returns:
angle in degree.

Definition at line 95 of file miscellaneous.h.

void ResetTextColors ( void   ) 

Reset color text.

Returns:
Nothing

Definition at line 303 of file miscellaneous.cpp.

template<typename Type >
Type RetrievePrecisionFromDouble ( Type  original,
Type  precision 
) [inline]

Retrieve a value cropped with the required precision.

Parameters:
[in] original the original value to be cropped.
[in] precision the precision required.
Returns:
the cropped value.

Definition at line 65 of file miscellaneous.h.

Eigen::Matrix3d rotx ( double  angle_in_degrees  ) 

Function to calculate rotation matrix over the X axis.

Parameters:
[in] angle_in_degrees angle for rotation.
Returns:
rotation matrix.

Definition at line 157 of file miscellaneous.cpp.

Eigen::Matrix3d roty ( double  angle_in_degrees  ) 

Function to calculate rotation matrix over the Y axis.

Parameters:
[in] angle_in_degrees angle for rotation.
Returns:
rotation matrix.

Definition at line 183 of file miscellaneous.cpp.

Eigen::Matrix3d rotz ( double  angle_in_degrees  ) 

Function to calculate rotation matrix over the Z axis.

Parameters:
[in] angle_in_degrees angle for rotation.
Returns:
rotation matrix.

Definition at line 209 of file miscellaneous.cpp.

void ScreenClear ( void   ) 

Sends equivalent shell command "clean" to stdout.

Returns:
none.

Definition at line 283 of file miscellaneous.cpp.

void textcolor ( int  attr,
int  fg,
int  bg 
)

FUNCTIONS CREATED BY VITOR SANTOS([email protected]) | ALL CREDITS GO TO HIM... :-).

Set the color of text that follows

Parameters:
[in] attr Type of attribute (RESET, BRIGHT, BLINK, etc...
[in] fg Color of foreground
[in] bg Color of background
Returns:
Nothing

Definition at line 289 of file miscellaneous.cpp.

 All Classes Files Functions Variables Defines

phua_haptic
Author(s): Pedro Cruz
autogenerated on Wed Jul 23 04:33:52 2014