debug_utils Namespace Reference

Functions
void	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	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	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	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	printJointVelocities (const Eigen::Matrix< double, 12, 1 > &_joint_vel)
	The printJointVelocities function prints given joint- velocities to ROS using print level INFO. More...
void	printJointAccelerations (const Eigen::Matrix< double, 12, 1 > &_joint_vel)
	The printJointAccelerations function prints given joint- accelerations to ROS using print level INFO. More...
void	printJointTorques (const Eigen::Matrix< double, 12, 1 > &_joint_trq)
	The printJointTorques function prints given joint- torques to ROS using print level INFO. More...
void	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	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	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	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	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...

Function Documentation

printBaseState()

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.

Parameters

[in]

_base_state

Base State (x,y,z,roll,pitch,yaw)

Definition at line 33 of file debug_utils.cpp.

printBaseTwist()

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.

Parameters

[in]

_base_twist

Base Twist (x_vel,y_vel,z_vel,roll_rate,pitch_rate,yaw_rate)

Definition at line 46 of file debug_utils.cpp.

printBaseAccel()

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.

Parameters

[in]

_base_accel

Base Accel (x_accel,y_accel,z_accel,roll_accel,pitch_accel,yaw_accel)

Definition at line 59 of file debug_utils.cpp.

printJointState()

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.

Parameters

[in]

_joint_state

Joint angles

Definition at line 72 of file debug_utils.cpp.

printJointVelocities()

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.

Parameters

[in]

_joint_vel

Joint velocities

Definition at line 91 of file debug_utils.cpp.

printJointAccelerations()

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.

Parameters

[in]

_joint_accel

Joint accelerations

Definition at line 110 of file debug_utils.cpp.

printJointTorques()

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.

Parameters

[in]

_joint_trq

Joint torques

Definition at line 129 of file debug_utils.cpp.

printGeneralizedCoordinates()

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.

Parameters

[in]

_gen_coord

Generalized coordinates

Definition at line 148 of file debug_utils.cpp.

printGeneralizedVelocities()

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.

Parameters

[in]

_gen_vel

Generalized velocities

Definition at line 155 of file debug_utils.cpp.

printGeneralizedAccelerations()

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.

Parameters

[in]

_gen_accel

Generalized accelerations

Definition at line 162 of file debug_utils.cpp.

printFootstepPositions()

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.

Parameters

[in]

_gen_coord

Generalized coordinates

Definition at line 169 of file debug_utils.cpp.

printFootstepForces()

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.

Parameters

[in]	_contact_state	Pointer to array of contact state
[in]	_F_c	Contact forces

Definition at line 196 of file debug_utils.cpp.