iTaSC::ControlledObject Class Reference

#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 const unsigned int	getNrOfCoordinates ()
virtual const 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 const 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 e_scalar, and m_maxDeltaQ.

~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 m_ydot.

getCq()

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

inlinevirtual

Definition at line 58 of file ControlledObject.hpp.

References m_Cq.

getJq()

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

virtual

Definition at line 47 of file ControlledObject.cpp.

References 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 const unsigned int iTaSC::ControlledObject::getNrOfConstraints ( )

inlinevirtual

Definition at line 66 of file ControlledObject.hpp.

References m_nc.

Referenced by execute_scene().

getNrOfCoordinates()

virtual const 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 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 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 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

setJointVelocity()

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

inlinevirtual

Definition at line 50 of file ControlledObject.hpp.

References m_qdot.

setWq()

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

inlinevirtual

Definition at line 61 of file ControlledObject.hpp.

References 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 getNrOfConstraints(), and initialize().

m_nee

unsigned int iTaSC::ControlledObject::m_nee

protected

Definition at line 26 of file ControlledObject.hpp.

Referenced by 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 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().

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

• ControlledObject.hpp
• ControlledObject.cpp