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 <phua_haptic/types.h>

Include dependency graph for miscellaneous.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

#define	PFLN   {printf("Passing through File [%s] @ Line [%d].\n", __FILE__, __LINE__);}
#define	RESET   0
#define	BRIGHT   1
#define	DIM   2
#define	UNDERLINE   3
#define	BLINK   4
#define	REVERSE   7
#define	HIDDEN   8
#define	BLACK   0
#define	RED   1
#define	GREEN   2
#define	YELLOW   3
#define	BLUE   4
#define	MAGENTA   5
#define	CYAN   6
#define	GRAY   7
#define	WHITE   8
template<typename Type >
Type	RetrievePrecisionFromDouble (Type original, Type precision)
	Retrieve a value cropped with the required precision. More...
template<typename Type >
Type	DegToRad (Type deg)
	Templated degree to radian conversion function. More...
template<typename Type >
Type	RadToDeg (Type rad)
	Templated radian to degree conversion function. More...
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	pc_mean (double *v, int len)
	Function to calculate mean value of an array [Taken from http://rosettacode.org/]. 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...
template<class T >
T	pc_mean (std::vector< T > vect)
	Template function to calculate mean value of an array. More...
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. More...
int	isNumeric (const char *s)
	Function to check if string is numeric. More...
double	get_sign (double x)
	Function to determine sign of a given number. More...
void	print_help (void)
	Prints to stdout the program help tips. More...
void	print_greeting (shared_vars_t *RobotVars)
	Prints to stdout the program greeting. More...
int	GetNbrFromKeyboard (void)
	Gets a number from keyboard input. More...
char	GetStrFromKeyboard (void)
	Gets a character from keyboard input. More...
double	GetDblFromKeyboard (void)
	Gets a double number from keyboard input. 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...
void	PrintRedLine (void)
	Printf of an horizontal separator red line. More...
void	ResetTextColors (void)
	Reset color text. More...
void	HighLightText (void)
	Make somesort of highlight text. More...

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.

Macro Definition 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

)

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
	)

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.

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.

template<class T >

T pc_mean

(

std::vector< T >

vect

)

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.

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

)

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
	)

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(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.