util.hh File Reference

utility functions that can be applied to (parts of) Jacobian objects or related vectors More...

#include <utility/vector1.hh>
#include <numeric/MathVector.hh>
#include <core/kinematics/jacobian/ModuleType1.hh>
#include <core/kinematics/RT.fwd.hh>
#include <core/types.hh>

Namespaces
	core
	A class for reading in the atom type properties.
	core::kinematics
	core::kinematics::jacobian

Functions
void	core::kinematics::jacobian::weigh_columns_inversely_squared (utility::vector1< numeric::MathVector< core::Real > > &input_cols)
	method that gives weights to different columns (that all represent the same error twist in their respective torsion space), inversely proportional to the norm of the required torsion changes More...
void	core::kinematics::jacobian::weigh_columns_by_energy_grad (utility::vector1< numeric::MathVector< core::Real > > &input_cols, utility::vector1< numeric::MathVector< core::Real > > const &gradient_cols, core::Real const scaling=0.1)
	method that gives weights to different columns (that all represent the same error twist in their respective torsion space), according to a sigmoid function that gives greatest weight to input_cols alligned with negative gradient_cols. The shape of the sigmoid can be controlled using the variable 'scaling' More...
numeric::xyzVector< core::Real >	core::kinematics::jacobian::project_ZYX_euler_on_cart (numeric::xyzVector< core::Real > const euler_angles, numeric::xyzVector< core::Real > const euler_error)
	projects intrinsic Euler angles onto extrinsic Euler angles in order XYZ (i.e. projected onto Cartesian unit vectors) More...
ModuleType1::Screw	core::kinematics::jacobian::calculate_error_twist (core::kinematics::RT const RT_current, core::kinematics::RT const RT_target)
	Extract the error twist (linearized rotations) from the current and target position and orientation (in Euler angles) More...

Variables
constexpr core::Real	core::kinematics::jacobian::margin_from_zero_in_jacobian_util = 1e-6

Detailed Description

utility functions that can be applied to (parts of) Jacobian objects or related vectors

Author

teunhoevenaars (teunh.nosp@m.oeve.nosp@m.naars.nosp@m.@gma.nosp@m.il.co.nosp@m.m)