Blender: iTaSC::MovingFrame Class Reference

Blender V3.3

#include <MovingFrame.hpp>

Inheritance diagram for iTaSC::MovingFrame:

Public Member Functions
	MovingFrame (const Frame &frame=F_identity)

virtual	~MovingFrame ()

bool	setFrame (const Frame &frame)

bool	setCallback (MovingFrameCallback _function, void *_param)

virtual void	updateCoordinates (const Timestamp &timestamp)

virtual void	updateKinematics (const Timestamp &timestamp)

virtual void	pushCache (const Timestamp &timestamp)

virtual void	initCache (Cache *_cache)

virtual bool	finalize ()

Public Member Functions inherited from iTaSC::UncontrolledObject
	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 const unsigned int	getNrOfCoordinates ()

virtual const unsigned int	getNrOfFrames ()

Public Member Functions inherited from iTaSC::Object
	Object (ObjectType _type)

virtual	~Object ()

virtual int	addEndEffector (const std::string &name)

virtual const KDL::Frame &	getPose (const unsigned int end_effector=0)

virtual const ObjectType	getType ()

bool	updated ()

void	updated (bool val)

Protected Member Functions
virtual void	updateJacobian ()

Additional Inherited Members
Public Types inherited from iTaSC::Object
enum	ObjectType { Controlled , UnControlled }

Static Public Attributes inherited from iTaSC::Object
static WorldObject	world

Protected Attributes inherited from iTaSC::UncontrolledObject
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

Detailed Description

Definition at line 23 of file MovingFrame.hpp.

Constructor & Destructor Documentation

◆ MovingFrame()

iTaSC::MovingFrame::MovingFrame ( const Frame & frame = F_identity )

Definition at line 14 of file MovingFrame.cpp.

References e_identity_matrix, e_matrix, iTaSC::UncontrolledObject::initialize(), iTaSC::Object::m_internalPose, and iTaSC::UncontrolledObject::m_JuArray.

◆ ~MovingFrame()

iTaSC::MovingFrame::~MovingFrame ( )

virtual

Definition at line 23 of file MovingFrame.cpp.

Member Function Documentation

◆ finalize()

bool iTaSC::MovingFrame::finalize ( )

virtual

Reimplemented from iTaSC::Object.

Definition at line 27 of file MovingFrame.cpp.

References updateJacobian().

◆ initCache()

void iTaSC::MovingFrame::initCache ( Cache * _cache )

virtual

Implements iTaSC::Object.

Definition at line 33 of file MovingFrame.cpp.

References iTaSC::Cache::addChannel(), iTaSC::frameCacheSize, and iTaSC::Object::m_cache.

◆ pushCache()

void iTaSC::MovingFrame::pushCache ( const Timestamp & timestamp )

virtual

Implements iTaSC::Object.

Definition at line 117 of file MovingFrame.cpp.

References iTaSC::Timestamp::cache, iTaSC::Timestamp::cacheTimestamp, and iTaSC::Timestamp::substep.

Referenced by updateKinematics().

◆ setCallback()

bool iTaSC::MovingFrame::setCallback	(	MovingFrameCallback	_function,
		void *	_param
	)

Definition at line 83 of file MovingFrame.cpp.

Referenced by convert_tree().

◆ setFrame()

bool iTaSC::MovingFrame::setFrame ( const Frame & frame )

Definition at line 77 of file MovingFrame.cpp.

References iTaSC::Object::m_internalPose.

◆ updateCoordinates()

void iTaSC::MovingFrame::updateCoordinates ( const Timestamp & timestamp )

virtual

Implements iTaSC::UncontrolledObject.

Definition at line 90 of file MovingFrame.cpp.

References iTaSC::Timestamp::cacheTimestamp, KDL::diff(), e_zero_vector, iTaSC::Timestamp::interpolate, iTaSC::Object::m_internalPose, iTaSC::UncontrolledObject::m_xudot, iTaSC::Timestamp::realTimestep, iTaSC::Timestamp::reiterate, iTaSC::Timestamp::substep, updateJacobian(), and KDL::Twist::Zero().

◆ updateJacobian()

void iTaSC::MovingFrame::updateJacobian ( )

protectedvirtual

Implements iTaSC::Object.

Definition at line 139 of file MovingFrame.cpp.

References e_matrix, iTaSC::Object::m_internalPose, iTaSC::UncontrolledObject::m_JuArray, iTaSC::Object::m_updated, KDL::Frame::p, KDL::Vector::x(), KDL::Vector::y(), and KDL::Vector::z().

Referenced by finalize(), updateCoordinates(), and updateKinematics().

◆ updateKinematics()

void iTaSC::MovingFrame::updateKinematics ( const Timestamp & timestamp )

virtual

Implements iTaSC::Object.

Definition at line 123 of file MovingFrame.cpp.

References KDL::Frame::Integrate(), iTaSC::Timestamp::interpolate, KDL::Rotation::Inverse(), KDL::Frame::M, iTaSC::Object::m_internalPose, pushCache(), iTaSC::Timestamp::realTimestep, iTaSC::Timestamp::substep, and updateJacobian().

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