iTaSC::Scene Class Reference

#include <Scene.hpp>

Public Types
enum	SceneParam { MIN_TIMESTEP = 0 , MAX_TIMESTEP , COUNT }

Public Member Functions
	Scene ()
virtual	~Scene ()
bool	addObject (const std::string &name, Object *object, UncontrolledObject *base=&Object::world, const std::string &baseFrame="")
bool	addConstraintSet (const std::string &name, ConstraintSet *task, const std::string &object1, const std::string &object2, const std::string &ee1="", const std::string &ee2="")
bool	addSolver (Solver *_solver)
bool	addCache (Cache *_cache)
bool	initialize ()
bool	update (double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true)
bool	setParam (SceneParam paramId, double value)

Friends
class	SceneLock

Detailed Description

Definition at line 24 of file Scene.hpp.

Member Enumeration Documentation

SceneParam

enum iTaSC::Scene::SceneParam

Enumerator
MIN_TIMESTEP
MAX_TIMESTEP
COUNT

Definition at line 27 of file Scene.hpp.

Constructor & Destructor Documentation

Scene()

Scene::Scene

(

)

Definition at line 53 of file Scene.cpp.

~Scene()

Scene::~Scene ( )

virtual

Definition at line 83 of file Scene.cpp.

Member Function Documentation

addCache()

bool Scene::addCache

(

Cache *

_cache

)

Definition at line 223 of file Scene.cpp.

References NULL.

addConstraintSet()

bool Scene::addConstraintSet	(	const std::string &	name,
		ConstraintSet *	task,
		const std::string &	object1,
		const std::string &	object2,
		const std::string &	ee1 = "",
		const std::string &	ee2 = "" )

Definition at line 181 of file Scene.cpp.

addObject()

bool Scene::addObject	(	const std::string &	name,
		Object *	object,
		UncontrolledObject *	base = &Object::world,
		const std::string &	baseFrame = "" )

Definition at line 112 of file Scene.cpp.

References iTaSC::Object::addEndEffector(), iTaSC::UncontrolledObject::getNrOfCoordinates(), and result.

addSolver()

bool Scene::addSolver

(

Solver *

_solver

)

Definition at line 213 of file Scene.cpp.

References NULL.

initialize()

bool Scene::initialize

(

)

Definition at line 233 of file Scene.cpp.

References count, iTaSC::Range::count, e_zero_matrix, e_zero_vector, iTaSC::ConstraintSet::getCf(), iTaSC::Solver::init(), iTaSC::ConstraintSet::initCache(), iTaSC::Object::initCache(), iTaSC::ConstraintSet::initialise(), NULL, iTaSC::project(), and result.

setParam()

bool Scene::setParam	(	SceneParam	paramId,
		double	value )

Definition at line 97 of file Scene.cpp.

References MAX_TIMESTEP, and MIN_TIMESTEP.

update()

bool Scene::update	(	double	timestamp,
		double	timestep,
		unsigned int	numsubstep = 1,
		bool	reiterate = false,
		bool	cache = true,
		bool	interpolate = true )

Definition at line 310 of file Scene.cpp.

References iTaSC::Timestamp::cache, iTaSC::changeBase(), iTaSC::Range::count, e_matrix, e_scalar, e_vector6, e_zero_vector, KDL::epsilon, floor(), iTaSC::ConstraintSet::getControlOutput(), iTaSC::ConstraintSet::getJf(), iTaSC::UncontrolledObject::getJu(), iTaSC::ConstraintSet::getMaxTimestep(), iTaSC::UncontrolledObject::getNrOfCoordinates(), iTaSC::Object::getPose(), iTaSC::Object::getType(), iTaSC::ConstraintSet::initialise(), iTaSC::Timestamp::interpolate, iTaSC::ConstraintSet::modelUpdate(), iTaSC::Timestamp::numstep, iTaSC::project(), iTaSC::Timestamp::realTimestamp, iTaSC::Timestamp::realTimestep, iTaSC::Timestamp::reiterate, iTaSC::setCacheTimestamp(), iTaSC::ConstraintSet::setJointVelocity(), iTaSC::SceneLock::setRange(), iTaSC::Solver::solve(), iTaSC::ConstraintSet::substep(), iTaSC::Timestamp::substep, KDL::svd_eigen_HH(), iTaSC::Timestamp::update, iTaSC::ConstraintSet::updateControlOutput(), iTaSC::Object::updated(), iTaSC::ConstraintSet::updateKinematics(), and iTaSC::Object::updateKinematics().

Referenced by execute_scene().

Friends And Related Symbol Documentation

SceneLock

friend class SceneLock

friend

Definition at line 25 of file Scene.hpp.

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

• Scene.hpp
• Scene.cpp