iTaSC::UncontrolledObject Class Reference

#include <UncontrolledObject.hpp>

Inherits iTaSC::Object.

Inherited by iTaSC::FixedObject, iTaSC::MovingFrame, and iTaSC::WorldObject.

Public Member Functions
	UncontrolledObject ()
virtual	~UncontrolledObject ()
virtual void	initialize (unsigned int _nu, unsigned int _nf)
virtual const e_matrix &	getJu (unsigned int frameIndex) const
virtual const e_vector &	getXudot () const
virtual void	updateCoordinates (const Timestamp &timestamp)=0
virtual unsigned int	getNrOfCoordinates ()
virtual unsigned int	getNrOfFrames ()
Public Member Functions inherited from iTaSC::Object
	Object (ObjectType _type)
virtual	~Object ()
virtual int	addEndEffector (const std::string &)
virtual bool	finalize ()
virtual const KDL::Frame &	getPose (const unsigned int end_effector=0)
virtual ObjectType	getType ()
virtual void	updateKinematics (const Timestamp &)=0
virtual void	pushCache (const Timestamp &)=0
virtual void	initCache (Cache *)=0
bool	updated ()
void	updated (bool val)

Protected Attributes
unsigned int	m_nu
unsigned int	m_nf
e_vector	m_xudot
std::vector< e_matrix >	m_JuArray
Protected Attributes inherited from iTaSC::Object
Cache *	m_cache
KDL::Frame	m_internalPose
bool	m_updated

Additional Inherited Members
Public Types inherited from iTaSC::Object
enum	ObjectType { Controlled , UnControlled }
Static Public Attributes inherited from iTaSC::Object
static WorldObject	world
Protected Member Functions inherited from iTaSC::Object
virtual void	updateJacobian ()=0

Detailed Description

Definition at line 17 of file UncontrolledObject.hpp.

Constructor & Destructor Documentation

UncontrolledObject()

iTaSC::UncontrolledObject::UncontrolledObject

(

)

Definition at line 13 of file UncontrolledObject.cpp.

References m_nf, m_nu, m_xudot, iTaSC::Object::Object(), and iTaSC::Object::UnControlled.

Referenced by iTaSC::FixedObject::FixedObject(), iTaSC::MovingFrame::MovingFrame(), and iTaSC::WorldObject::WorldObject().

~UncontrolledObject()

iTaSC::UncontrolledObject::~UncontrolledObject ( )

virtual

Definition at line 18 of file UncontrolledObject.cpp.

Member Function Documentation

getJu()

const e_matrix & iTaSC::UncontrolledObject::getJu ( unsigned int frameIndex ) const

virtual

Definition at line 36 of file UncontrolledObject.cpp.

References assert, e_matrix, m_JuArray, m_nf, and m_nu.

Referenced by iTaSC::Scene::update().

getNrOfCoordinates()

virtual unsigned int iTaSC::UncontrolledObject::getNrOfCoordinates ( )

inlinevirtual

Reimplemented from iTaSC::Object.

Definition at line 31 of file UncontrolledObject.hpp.

References m_nu.

Referenced by iTaSC::Scene::addObject(), and iTaSC::Scene::update().

getNrOfFrames()

virtual unsigned int iTaSC::UncontrolledObject::getNrOfFrames ( )

inlinevirtual

Definition at line 32 of file UncontrolledObject.hpp.

References m_nf.

getXudot()

virtual const e_vector & iTaSC::UncontrolledObject::getXudot ( ) const

inlinevirtual

Definition at line 29 of file UncontrolledObject.hpp.

References e_vector, and m_xudot.

initialize()

void iTaSC::UncontrolledObject::initialize ( unsigned int _nu, unsigned int _nf )

virtual

Definition at line 22 of file UncontrolledObject.cpp.

References assert, e_zero_matrix, e_zero_vector, m_JuArray, m_nf, m_nu, and m_xudot.

updateCoordinates()

virtual void iTaSC::UncontrolledObject::updateCoordinates ( const Timestamp & timestamp )

pure virtual

Implemented in iTaSC::FixedObject, iTaSC::MovingFrame, and iTaSC::WorldObject.

Member Data Documentation

m_JuArray

std::vector<e_matrix> iTaSC::UncontrolledObject::m_JuArray

protected

Definition at line 21 of file UncontrolledObject.hpp.

Referenced by getJu(), initialize(), iTaSC::MovingFrame::MovingFrame(), and iTaSC::MovingFrame::updateJacobian().

m_nf

unsigned int iTaSC::UncontrolledObject::m_nf

protected

Definition at line 19 of file UncontrolledObject.hpp.

Referenced by getJu(), getNrOfFrames(), initialize(), and UncontrolledObject().

m_nu

unsigned int iTaSC::UncontrolledObject::m_nu

protected

Definition at line 19 of file UncontrolledObject.hpp.

Referenced by getJu(), getNrOfCoordinates(), initialize(), and UncontrolledObject().

m_xudot

e_vector iTaSC::UncontrolledObject::m_xudot

protected

Definition at line 20 of file UncontrolledObject.hpp.

Referenced by getXudot(), initialize(), UncontrolledObject(), and iTaSC::MovingFrame::updateCoordinates().

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

• UncontrolledObject.hpp
• UncontrolledObject.cpp