Worldsim Utility Functions

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

Functions
FARSA_WSIM_TEMPLATE 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].
FARSA_WSIM_TEMPLATE 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 >
FARSA_WSIM_TEMPLATE const T	max (const T &t1, const U &t2)
	Template for max calculation.
template<class T , class U >
FARSA_WSIM_TEMPLATE const T	min (const T &t1, const U &t2)
	Template for min calculation.
FARSA_WSIM_TEMPLATE real	ramp (real minv, real maxv, real value)
	Function for imposing a range for a real variable.
FARSA_WSIM_TEMPLATE real	toDegree (real x)
	convert radians to degree
FARSA_WSIM_TEMPLATE real	toRad (real x)
	convert degree to radians

Detailed Description

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

Function Documentation

FARSA_WSIM_TEMPLATE 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().

FARSA_WSIM_TEMPLATE 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().

FARSA_WSIM_TEMPLATE 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().

FARSA_WSIM_TEMPLATE 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().

FARSA_WSIM_TEMPLATE 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().

FARSA_WSIM_TEMPLATE 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().

FARSA_WSIM_TEMPLATE 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().