debug_utils.h File Reference

#include <cmath>
#include "ros/ros.h"
#include <math_utils/angle_utils.h>
#include <Eigen/Core>

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Namespaces
	debug_utils

Functions
void	debug_utils::printBaseState (const Eigen::Matrix< double, 6, 1 > &_base_state)
	The printBaseState function prints a given base- state to ROS using print level INFO. More...
void	debug_utils::printBaseTwist (const Eigen::Matrix< double, 6, 1 > &_base_twist)
	The printBaseTwist function prints a given base- twist to ROS using print level INFO. More...
void	debug_utils::printBaseAccel (const Eigen::Matrix< double, 6, 1 > &_base_accel)
	The printBaseAccel function prints a given base- accel to ROS using print level INFO. More...
void	debug_utils::printJointState (const Eigen::Matrix< double, 12, 1 > &_joint_state)
	The printJointState function prints a given joint- state to ROS using print level INFO. More...
void	debug_utils::printJointVelocities (const Eigen::Matrix< double, 12, 1 > &_joint_vel)
	The printJointVelocities function prints given joint- velocities to ROS using print level INFO. More...
void	debug_utils::printJointAccelerations (const Eigen::Matrix< double, 12, 1 > &_joint_vel)
	The printJointAccelerations function prints given joint- accelerations to ROS using print level INFO. More...
void	debug_utils::printJointTorques (const Eigen::Matrix< double, 12, 1 > &_joint_trq)
	The printJointTorques function prints given joint- torques to ROS using print level INFO. More...
void	debug_utils::printGeneralizedCoordinates (const Eigen::Matrix< double, 18, 1 > &_gen_coord)
	The printGeneralizedCoordinates function prints a given set of generalized coordinates to ROS using print level INFO. More...
void	debug_utils::printGeneralizedVelocities (const Eigen::Matrix< double, 18, 1 > &_gen_vel)
	The printGeneralizedVelocities function prints a given set of generalized velocities to ROS using print level INFO. More...
void	debug_utils::printGeneralizedAccelerations (const Eigen::Matrix< double, 18, 1 > &_gen_accel)
	The printGeneralizedAccelerations function prints a given set of generalized accelerations to ROS using print level INFO. More...
void	debug_utils::printFootstepPositions (const Eigen::Matrix< Eigen::Vector3d, 4, 1 > &_f_pos)
	The printFootstepPositions function prints a given set of footstep positions to ROS using print level INFO. More...
void	debug_utils::printFootstepForces (const int *_contact_state, const Eigen::VectorXd &_F_c)
	The printFootstepPositions function prints a given set of footstep forces to ROS using print level INFO. More...