Blender V5.0
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iTaSC::ControlledObject Class Referenceabstract

#include <ControlledObject.hpp>

Inherits iTaSC::Object.

Inherited by iTaSC::Armature.

Classes

class  JointLockCallback

Public Member Functions

 ControlledObject ()
virtual ~ControlledObject ()
virtual void initialize (unsigned int _nq, unsigned int _nc, unsigned int _nee)
virtual bool updateJoint (const Timestamp &timestamp, JointLockCallback &callback)=0
virtual void updateControlOutput (const Timestamp &timestamp)=0
virtual void setJointVelocity (const e_vector qdot_in)
virtual double getMaxTimestep (double &timestep)
virtual bool setControlParameter (unsigned int constraintId, unsigned int valueId, ConstraintAction action, e_scalar value, double timestep=0.0)=0
virtual const e_vector & getControlOutput () const
virtual const e_matrix & getJq (unsigned int ee) const
virtual const e_matrix & getCq () const
virtual e_matrix & getWq ()
virtual void setWq (const e_matrix &Wq_in)
virtual const e_vector & getWy () const
virtual unsigned int getNrOfCoordinates ()
virtual unsigned int getNrOfConstraints ()
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

e_scalar m_maxDeltaQ
unsigned int m_nq
unsigned int m_nc
unsigned int m_nee
e_matrix m_Wq
e_matrix m_Cq
e_vector m_Wy
e_vector m_ydot
e_vector m_qdot
std::vector< e_matrix > m_JqArray
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 23 of file ControlledObject.hpp.

Constructor & Destructor Documentation

◆ ControlledObject()

iTaSC::ControlledObject::ControlledObject ( )

Definition at line 13 of file ControlledObject.cpp.

References iTaSC::Object::Controlled, e_scalar, m_maxDeltaQ, m_nc, m_nee, m_nq, and iTaSC::Object::Object().

Referenced by iTaSC::Armature::Armature().

◆ ~ControlledObject()

iTaSC::ControlledObject::~ControlledObject ( )
virtual

Definition at line 43 of file ControlledObject.cpp.

Member Function Documentation

◆ getControlOutput()

virtual const e_vector & iTaSC::ControlledObject::getControlOutput ( ) const
inlinevirtual

Definition at line 54 of file ControlledObject.hpp.

References e_vector, and m_ydot.

◆ getCq()

virtual const e_matrix & iTaSC::ControlledObject::getCq ( ) const
inlinevirtual

Definition at line 58 of file ControlledObject.hpp.

References e_matrix, and m_Cq.

◆ getJq()

const e_matrix & iTaSC::ControlledObject::getJq ( unsigned int ee) const
virtual

Definition at line 47 of file ControlledObject.cpp.

References assert, e_matrix, m_JqArray, m_nee, and m_nq.

◆ getMaxTimestep()

double iTaSC::ControlledObject::getMaxTimestep ( double & timestep)
virtual

Definition at line 53 of file ControlledObject.cpp.

References e_scalar, m_maxDeltaQ, and m_qdot.

◆ getNrOfConstraints()

virtual unsigned int iTaSC::ControlledObject::getNrOfConstraints ( )
inlinevirtual

Definition at line 66 of file ControlledObject.hpp.

References m_nc.

Referenced by execute_scene().

◆ getNrOfCoordinates()

virtual unsigned int iTaSC::ControlledObject::getNrOfCoordinates ( )
inlinevirtual

Reimplemented from iTaSC::Object.

Definition at line 65 of file ControlledObject.hpp.

References m_nq.

◆ getWq()

virtual e_matrix & iTaSC::ControlledObject::getWq ( )
inlinevirtual

Definition at line 60 of file ControlledObject.hpp.

References e_matrix, and m_Wq.

Referenced by convert_tree().

◆ getWy()

virtual const e_vector & iTaSC::ControlledObject::getWy ( ) const
inlinevirtual

Definition at line 63 of file ControlledObject.hpp.

References e_vector, and m_Wy.

◆ initialize()

void iTaSC::ControlledObject::initialize ( unsigned int _nq,
unsigned int _nc,
unsigned int _nee )
virtual

Definition at line 20 of file ControlledObject.cpp.

References assert, e_identity_matrix, e_scalar_vector, e_zero_matrix, e_zero_vector, m_Cq, m_JqArray, m_nc, m_nee, m_nq, m_qdot, m_Wq, m_Wy, and m_ydot.

◆ setControlParameter()

virtual bool iTaSC::ControlledObject::setControlParameter ( unsigned int constraintId,
unsigned int valueId,
ConstraintAction action,
e_scalar value,
double timestep = 0.0 )
pure virtual

References e_scalar.

◆ setJointVelocity()

virtual void iTaSC::ControlledObject::setJointVelocity ( const e_vector qdot_in)
inlinevirtual

Definition at line 50 of file ControlledObject.hpp.

References e_vector, and m_qdot.

◆ setWq()

virtual void iTaSC::ControlledObject::setWq ( const e_matrix & Wq_in)
inlinevirtual

Definition at line 61 of file ControlledObject.hpp.

References e_matrix, and m_Wq.

◆ updateControlOutput()

virtual void iTaSC::ControlledObject::updateControlOutput ( const Timestamp & timestamp)
pure virtual

Implemented in iTaSC::Armature.

◆ updateJoint()

virtual bool iTaSC::ControlledObject::updateJoint ( const Timestamp & timestamp,
JointLockCallback & callback )
pure virtual

Implemented in iTaSC::Armature.

Member Data Documentation

◆ m_Cq

e_matrix iTaSC::ControlledObject::m_Cq
protected

Definition at line 27 of file ControlledObject.hpp.

Referenced by iTaSC::Armature::finalize(), getCq(), and initialize().

◆ m_JqArray

std::vector<e_matrix> iTaSC::ControlledObject::m_JqArray
protected

Definition at line 29 of file ControlledObject.hpp.

Referenced by getJq(), initialize(), and iTaSC::Armature::updateJacobian().

◆ m_maxDeltaQ

e_scalar iTaSC::ControlledObject::m_maxDeltaQ
protected

Definition at line 25 of file ControlledObject.hpp.

Referenced by ControlledObject(), and getMaxTimestep().

◆ m_nc

unsigned int iTaSC::ControlledObject::m_nc
protected

Definition at line 26 of file ControlledObject.hpp.

Referenced by ControlledObject(), getNrOfConstraints(), and initialize().

◆ m_nee

unsigned int iTaSC::ControlledObject::m_nee
protected

Definition at line 26 of file ControlledObject.hpp.

Referenced by ControlledObject(), getJq(), iTaSC::Armature::getPose(), initialize(), and iTaSC::Armature::updateJacobian().

◆ m_nq

unsigned int iTaSC::ControlledObject::m_nq
protected

Definition at line 26 of file ControlledObject.hpp.

Referenced by ControlledObject(), getJq(), getNrOfCoordinates(), initialize(), iTaSC::Armature::updateJacobian(), and iTaSC::Armature::updateJoint().

◆ m_qdot

e_vector iTaSC::ControlledObject::m_qdot
protected

Definition at line 28 of file ControlledObject.hpp.

Referenced by getMaxTimestep(), initialize(), setJointVelocity(), and iTaSC::Armature::updateJoint().

◆ m_Wq

e_matrix iTaSC::ControlledObject::m_Wq
protected

Definition at line 27 of file ControlledObject.hpp.

Referenced by getWq(), initialize(), and setWq().

◆ m_Wy

e_vector iTaSC::ControlledObject::m_Wy
protected

Definition at line 28 of file ControlledObject.hpp.

Referenced by iTaSC::Armature::finalize(), getWy(), initialize(), iTaSC::Armature::setControlParameter(), and iTaSC::Armature::updateControlOutput().

◆ m_ydot

e_vector iTaSC::ControlledObject::m_ydot
protected

Definition at line 28 of file ControlledObject.hpp.

Referenced by getControlOutput(), initialize(), and iTaSC::Armature::updateControlOutput().

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