CUtil Class Reference

Utility functions. More...

#include <util.h>

List of all members.

Static Public Member Functions
static void *	copymem (void *destination, const void *source, int count)
	Copies count bytes from source to destintation.
static double	strtodouble (char *text, int len, bool *error=NULL)
	Custom string to double conversion function.
static char *	strtrim (char *text)
	Custom truncate (from left) string function.
static char *	strtrimright (char *text)
	Custom truncate (from right) string function.
static void	free (void **var)
	Frees a pointer and sets it to NULL.
static void *	realloc (void *var, size_t size)
	Resizes a pointer.
static void	resync ()
	Resynchs the serial communication if error occured.
static void	cout (char *text, int type=TEXT_NORMAL)
	Prints colored text to the console.
static void	waitForReturn ()
	Blocks until the return key is pressed.
static float	wordToAngle (byte lo, byte hi)
	Transforms 10bit angle representation to float representation.
static void	angleToWord (float angle, byte &lo, byte &hi)
	Transforms float angle representation to 10bit representation.
static CMatrix	getJacobian (CMatrix *currentLinks, int size, CMatrix &targetHand)
	Calculates jacobian.

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Detailed Description

Utility functions.

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Member Function Documentation

void * CUtil::copymem	(	void *	destination,
		const void *	source,
		int	count
	)			[static]

Copies count bytes from source to destintation.

double CUtil::strtodouble	(	char *	text,
		int	len,
		bool *	error = NULL
	)			[static]

Custom string to double conversion function.

char * CUtil::strtrim

(

char *

text

)

[static]

Custom truncate (from left) string function.

char * CUtil::strtrimright

(

char *

text

)

[static]

Custom truncate (from right) string function.

void CUtil::free

(

void **

var

)

[static]

Frees a pointer and sets it to NULL.

void * CUtil::realloc	(	void *	var,
		size_t	size
	)			[static]

Resizes a pointer.

void CUtil::resync

(

)

[static]

Resynchs the serial communication if error occured.

void CUtil::cout	(	char *	text,
		int	type = TEXT_NORMAL
	)			[static]

Prints colored text to the console.

void CUtil::waitForReturn

(

)

[static]

Blocks until the return key is pressed.

float CUtil::wordToAngle	(	byte	lo,
		byte	hi
	)			[static]

Transforms 10bit angle representation to float representation.

void CUtil::angleToWord	(	float	angle,
		byte &	lo,
		byte &	hi
	)			[static]

Transforms float angle representation to 10bit representation.

CMatrix CUtil::getJacobian	(	CMatrix *	currentLinks,
		int	size,
		CMatrix &	targetHand
	)			[static]

Calculates jacobian.

Parameters:

	targetHand	The target pose of the hand
	currentLinks	The current poses of all links (array)
	size	Size of currentLinks

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The documentation for this class was generated from the following files:

• include/util.h
• src/cmd.cpp
• src/util.cpp

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