miscellaneous.cpp File Reference

Miscellaneous functions implementation. More...

#include <phua_haptic/miscellaneous.h>

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Functions
void	CalculateAverageCartesianSpeed (double diffX, double diffY, double diffZ, long double time_interval, double *return_vector)
	Function acumulate position differences and calculate average speed. More...
double	get_sign (double x)
	Function to determine sign of a given number. More...
double	GetDblFromKeyboard (void)
	Gets a double number from keyboard input. More...
int	GetNbrFromKeyboard (void)
	Gets a number from keyboard input. More...
char	GetStrFromKeyboard (void)
	Gets a character from keyboard input. More...
void	HighLightText (void)
	Make somesort of highlight text. More...
int	isNumeric (const char *s)
	Function to check if string is numeric. More...
double	pc_mean (double *v, int len)
	Function to calculate mean value of an array [Taken from http://rosettacode.org/]. More...
void	print_greeting (shared_vars_t *RobotVars)
	Prints to stdout the program greeting. More...
void	print_help (void)
	Prints to stdout the program help tips. More...
void	PrintRedLine (void)
	Printf of an horizontal separator red line. More...
void	ResetTextColors (void)
	Reset color text. More...
Eigen::Matrix3d	rotx (double angle_in_degrees)
	Function to calculate rotation matrix over the X axis. More...
Eigen::Matrix3d	roty (double angle_in_degrees)
	Function to calculate rotation matrix over the Y axis. More...
Eigen::Matrix3d	rotz (double angle_in_degrees)
	Function to calculate rotation matrix over the Z axis. More...
void	ScreenClear (void)
	Sends equivalent shell command "clean" to stdout. More...
void	textcolor (int attr, int fg, int bg)
	FUNCTIONS CREATED BY VITOR SANTOS(vitor.nosp@m.@ua..nosp@m.pt) | ALL CREDITS GO TO HIM... :-) More...

Detailed Description

Miscellaneous functions implementation.

Definition in file miscellaneous.cpp.

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.

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.

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.

void ResetTextColors

(

void

)

Reset color text.

Returns

Nothing

Definition at line 303 of file miscellaneous.cpp.

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(vitor.nosp@m.@ua..nosp@m.pt) | 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.