iTaSC::MovingFrame Class Reference

#include <MovingFrame.hpp>

Inherits iTaSC::UncontrolledObject.

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 &)
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 24 of file MovingFrame.hpp.

Constructor & Destructor Documentation

MovingFrame()

iTaSC::MovingFrame::MovingFrame

(

const Frame &

frame = F_identity

)

Definition at line 15 of file MovingFrame.cpp.

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

~MovingFrame()

iTaSC::MovingFrame::~MovingFrame ( )

virtual

Definition at line 24 of file MovingFrame.cpp.

Member Function Documentation

finalize()

bool iTaSC::MovingFrame::finalize ( )

virtual

Reimplemented from iTaSC::Object.

Definition at line 28 of file MovingFrame.cpp.

References updateJacobian().

initCache()

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

virtual

Implements iTaSC::Object.

Definition at line 34 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 118 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 84 of file MovingFrame.cpp.

Referenced by convert_tree().

setFrame()

bool iTaSC::MovingFrame::setFrame

(

const Frame &

frame

)

Definition at line 78 of file MovingFrame.cpp.

References iTaSC::Object::m_internalPose.

updateCoordinates()

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

virtual

Implements iTaSC::UncontrolledObject.

Definition at line 91 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 140 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 124 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().

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

• MovingFrame.hpp
• MovingFrame.cpp