#include <Eigen/StdVector>
#include <iostream>
#include <fstream>
#include <thread>
#include <Eigen/Geometry>
#include <limits>
#include <Eigen/Dense>
#include <mutex>
#include <chrono>
#include <stdlib.h>
#include <time.h>
#include <ctime>
#include <string>
#include <atomic>

Classes
class	DH_table_entry
	DH Table Class. More...

class	Snake_Path
	Snake Path Class. More...

class	Endorob
	This is the main Class: EndoRob that you can use to control your own weird looking robot... More...

class	Virtual_Snake
	Virtual Snake Robot Class. More...

class	Motion_RW
	Motion recorder Class. More...

Macros
#define	VERBOSE_MODE 1

#define	M_PI 3.1415926535897932384626433832795

#define	INF_LIM std::numeric_limits<double>::infinity()

Typedefs
typedef unsigned int	uint

typedef long long	llong

typedef Eigen::MatrixXd	Mat

typedef Eigen::Matrix4d	Mat4d

typedef Eigen::Matrix3d	Mat3d

typedef Eigen::Vector3d	Vec3d

typedef Eigen::Vector2d	Vec2d

typedef Eigen::VectorXd	Vec

typedef Eigen::Quaterniond	Quat

typedef std::chrono::high_resolution_clock::time_point	Time_point

typedef std::chrono::high_resolution_clock	chrono_time

typedef std::chrono::milliseconds	Ms

typedef std::chrono::duration< double >	Delta_t

Enumerations
enum	Joint_type { Joint_type::Revolute, Joint_type::Prismatic, Joint_type::Rolling, Joint_type::Rolling_flex, Joint_type::Flex }
	Currently supported joint types: More...

enum	Solver_type { Solver_type::Jacobian_pseudo_inverse, Solver_type::Full_body_jacobian, Solver_type::Jacobian_DLS, Solver_type::Jacobian_pseudo_inverse_null_space, Solver_type::Jacobian_transpose }
	Currently supported solvers. More...

enum	DH_type { DH_standard, DH_modified }
	DH two typical standards: More...

Functions
bool	is_almost_equal (const double &a, const double &b, const double &tolerance=1E-4)

bool	is_geq (const double &a, const double &b, const double &tolerance=1E-4)

bool	is_leq (const double &a, const double &b, const double &tolerance=1E-4)

double	rad_to_degree (const double &val)

double	degree_to_rad (const double &val)

Macro Definition Documentation

◆ INF_LIM

#define INF_LIM std::numeric_limits<double>::infinity()

Definition at line 169 of file endorob.h.

◆ M_PI

#define M_PI 3.1415926535897932384626433832795

Definition at line 131 of file endorob.h.

◆ VERBOSE_MODE

#define VERBOSE_MODE 1

Definition at line 128 of file endorob.h.

Typedef Documentation

◆ chrono_time

typedef std::chrono::high_resolution_clock chrono_time

Definition at line 173 of file endorob.h.

◆ Delta_t

typedef std::chrono::duration<double> Delta_t

Definition at line 175 of file endorob.h.

◆ llong

typedef long long llong

Definition at line 157 of file endorob.h.

◆ Mat

typedef Eigen::MatrixXd Mat

Definition at line 160 of file endorob.h.

◆ Mat3d

typedef Eigen::Matrix3d Mat3d

Definition at line 162 of file endorob.h.

◆ Mat4d

typedef Eigen::Matrix4d Mat4d

Definition at line 161 of file endorob.h.

◆ Ms

typedef std::chrono::milliseconds Ms

Definition at line 174 of file endorob.h.

◆ Quat

typedef Eigen::Quaterniond Quat

Definition at line 166 of file endorob.h.

◆ Time_point

typedef std::chrono::high_resolution_clock::time_point Time_point

Definition at line 172 of file endorob.h.

◆ uint

typedef unsigned int uint

Definition at line 156 of file endorob.h.

◆ Vec

typedef Eigen::VectorXd Vec

Definition at line 165 of file endorob.h.

◆ Vec2d

typedef Eigen::Vector2d Vec2d

Definition at line 164 of file endorob.h.

◆ Vec3d

typedef Eigen::Vector3d Vec3d

Definition at line 163 of file endorob.h.

Enumeration Type Documentation

◆ DH_type

enum DH_type

DH two typical standards:

Enumerator
DH_standard	Standard DH approach.
DH_modified	Modified DH approach (better than standard!)

Definition at line 331 of file endorob.h.

◆ Joint_type

enum Joint_type

strong

Currently supported joint types:

Enumerator
Revolute	Standard revolute joint.
Prismatic	Standard prismatic joint.
Rolling	Rolling-joint (two circular surfaces rolling against each other, changing the contact point)
Rolling_flex	Multi-stage flexible joint with Rolling-joints (two circular surfaces rolling against each other, changing the contact point)
Flex	For continuum or flexible joints (under development)

Definition at line 138 of file endorob.h.

◆ Solver_type

enum Solver_type

strong

Currently supported solvers.

Traditional Jacobian based pseudo-inverse, Full-body Jacobien (pseudo-inverse), Damped Least Square, pseudo-inverse with null-space

Enumerator
Jacobian_pseudo_inverse	Simple pseudo-inverse approach.
Full_body_jacobian	Full body Jacobian approach for full joint control.
Jacobian_DLS	Damped least square approach.
Jacobian_pseudo_inverse_null_space	Pseudo iverse with null space.
Jacobian_transpose	Jacobian transpose.

Definition at line 148 of file endorob.h.

Function Documentation

◆ degree_to_rad()

double degree_to_rad ( const double & val )

Definition at line 4845 of file endorob.cpp.

◆ is_almost_equal()

bool is_almost_equal	(	const double &	a,
		const double &	b,
		const double &	tolerance = `1E-4`
	)

Definition at line 4850 of file endorob.cpp.

◆ is_geq()

bool is_geq	(	const double &	a,
		const double &	b,
		const double &	tolerance = `1E-4`
	)

Definition at line 4857 of file endorob.cpp.

◆ is_leq()

bool is_leq	(	const double &	a,
		const double &	b,
		const double &	tolerance = `1E-4`
	)

Definition at line 4865 of file endorob.cpp.

◆ rad_to_degree()

double rad_to_degree ( const double & val )

Definition at line 4840 of file endorob.cpp.

Classes

Macros

Typedefs

Enumerations

Functions