Worldsim Utility Functions

These functions are globally availables, just include worldsimconfig.h to use them. More...

Functions
float	invLinearMap (float x, float min=-10, float max=10, float outMin=-1, float outMax=1)
	Inversed Linear mapping from [min,max] to [outMin, outMax].
float	linearMap (float x, float min=-10, float max=10, float outMin=-1, float outMax=1)
	Linear mapping from [min,max] to [outMin, outMax].
template<class T , class U >
const T	max (const T &t1, const U &t2)
	Template for max calculation.
template<class T , class U >
const T	min (const T &t1, const U &t2)
	Template for min calculation.
real	ramp (real minv, real maxv, real value)
	Function for imposing a range for a real variable.
real	toDegree (real x)
	convert radians to degree
real	toRad (real x)
	convert degree to radians

Detailed Description

These functions are globally availables, just include worldsimconfig.h to use them.

Function Documentation

float farsa::invLinearMap ( float  x, float  min = -10, float  max = 10, float  outMin = -1, float  outMax = 1  )

inline

Inversed Linear mapping from [min,max] to [outMin, outMax].

  -----—\             outMax
           \
            -----—   outMin
       min   max
  

Definition at line 149 of file worldsimconfig.h.

References farsa::max(), and farsa::min().

float farsa::linearMap ( float  x, float  min = -10, float  max = 10, float  outMin = -1, float  outMax = 1  )

inline

Linear mapping from [min,max] to [outMin, outMax].

            /-----—  outMax
           /
  -----—/            outMin
       min   max
 

Definition at line 130 of file worldsimconfig.h.

References farsa::max(), and farsa::min().

const T farsa::max	(	const T &	t1,
		const U &	t2
	)

Template for max calculation.

Definition at line 104 of file worldsimconfig.h.

Referenced by Frame::alignWithFrame(), RenderWObjectContainer::drawSkyGroundBox(), wMatrix::getEuleroAngles(), RenderWorld::init(), farsa::invLinearMap(), farsa::linearMap(), PhyiCub::PhyiCub(), wPID::pidloop(), RenderWorld::resourceChanged(), MultiMotorController::setLimits(), World::setMultiThread(), and wPID::wPID().

const T farsa::min	(	const T &	t1,
		const U &	t2
	)

Template for min calculation.

Definition at line 92 of file worldsimconfig.h.

Referenced by RenderWObjectContainer::drawSkyGroundBox(), wMatrix::getEuleroAngles(), RenderWorld::init(), farsa::invLinearMap(), farsa::linearMap(), PhyiCub::PhyiCub(), wPID::pidloop(), RenderWorld::resourceChanged(), MultiMotorController::setLimits(), and wPID::wPID().

real farsa::ramp ( real  minv, real  maxv, real  value  )

inline

Function for imposing a range for a real variable.

Definition at line 115 of file worldsimconfig.h.

Referenced by PhyiCub::PhyiCub(), MultiMotorController::positionMove(), MultiMotorController::relativeMove(), PhyDOF::setDesiredPosition(), PhyDOF::setLimits(), PhyDOF::setStiffness(), and DOFStatusListener::update().

real farsa::toDegree ( real  x )

inline

convert radians to degree

Definition at line 84 of file worldsimconfig.h.

Referenced by MultiMotorController::getEncoder(), MultiMotorController::getEncoders(), MultiMotorController::getEncoderSpeed(), MultiMotorController::getEncoderSpeeds(), MultiMotorController::getLimits(), MultiMotorController::getLimitsRaw(), MultiMotorController::getRefAcceleration(), MultiMotorController::getRefAccelerations(), MultiMotorController::getRefSpeed(), and MultiMotorController::getRefSpeeds().

real farsa::toRad ( real  x )

inline

convert degree to radians

Definition at line 77 of file worldsimconfig.h.

Referenced by PhyiCub::configurePosture(), MultiMotorController::MultiMotorController(), PhyEpuck::PhyEpuck(), PhyiCub::PhyiCub(), PhyKhepera::PhyKhepera(), PhyMarXbot::PhyMarXbot(), MultiMotorController::positionMove(), MultiMotorController::relativeMove(), MultiMotorController::setLimits(), MultiMotorController::setLimitsRaw(), MultiMotorController::setRefAcceleration(), MultiMotorController::setRefAccelerations(), MultiMotorController::setRefSpeed(), MultiMotorController::setRefSpeeds(), and MultiMotorController::velocityMove().