iTaSC::Object Class Reference

#include <Object.hpp>

Inherited by iTaSC::ControlledObject, and iTaSC::UncontrolledObject.

Public Types
enum	ObjectType { Controlled , UnControlled }

Public Member Functions
	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 const unsigned int	getNrOfCoordinates ()
virtual void	updateKinematics (const Timestamp &)=0
virtual void	pushCache (const Timestamp &)=0
virtual void	initCache (Cache *)=0
bool	updated ()
void	updated (bool val)

Static Public Attributes
static WorldObject	world

Protected Member Functions
virtual void	updateJacobian ()=0

Protected Attributes
Cache *	m_cache
KDL::Frame	m_internalPose
bool	m_updated

Detailed Description

Definition at line 20 of file Object.hpp.

Member Enumeration Documentation

ObjectType

enum iTaSC::Object::ObjectType

Enumerator
Controlled
UnControlled

Definition at line 22 of file Object.hpp.

Constructor & Destructor Documentation

Object()

iTaSC::Object::Object ( ObjectType _type )

inline

Definition at line 33 of file Object.hpp.

References m_type.

~Object()

virtual iTaSC::Object::~Object ( )

inlinevirtual

Definition at line 34 of file Object.hpp.

Member Function Documentation

addEndEffector()

virtual int iTaSC::Object::addEndEffector ( const std::string & )

inlinevirtual

Reimplemented in iTaSC::Armature, and iTaSC::FixedObject.

Definition at line 36 of file Object.hpp.

Referenced by iTaSC::Scene::addObject().

finalize()

virtual bool iTaSC::Object::finalize ( )

inlinevirtual

Reimplemented in iTaSC::Armature, iTaSC::FixedObject, and iTaSC::MovingFrame.

Definition at line 37 of file Object.hpp.

getNrOfCoordinates()

virtual const unsigned int iTaSC::Object::getNrOfCoordinates ( )

inlinevirtual

Reimplemented in iTaSC::ControlledObject, and iTaSC::UncontrolledObject.

Definition at line 43 of file Object.hpp.

getPose()

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

inlinevirtual

Reimplemented in iTaSC::Armature, and iTaSC::FixedObject.

Definition at line 38 of file Object.hpp.

References m_internalPose.

Referenced by base_callback(), and iTaSC::Scene::update().

getType()

virtual const ObjectType iTaSC::Object::getType ( )

inlinevirtual

Definition at line 42 of file Object.hpp.

References m_type.

Referenced by iTaSC::Scene::update().

initCache()

virtual void iTaSC::Object::initCache ( Cache * )

pure virtual

Implemented in iTaSC::Armature, iTaSC::FixedObject, iTaSC::MovingFrame, and iTaSC::WorldObject.

Referenced by iTaSC::Scene::initialize().

pushCache()

virtual void iTaSC::Object::pushCache ( const Timestamp & )

pure virtual

Implemented in iTaSC::Armature, iTaSC::FixedObject, iTaSC::MovingFrame, and iTaSC::WorldObject.

updated() [1/2]

bool iTaSC::Object::updated ( )

inline

Definition at line 47 of file Object.hpp.

References m_updated.

Referenced by iTaSC::Scene::update().

updated() [2/2]

void iTaSC::Object::updated ( bool val )

inline

Definition at line 48 of file Object.hpp.

References m_updated.

updateJacobian()

virtual void iTaSC::Object::updateJacobian ( )

protectedpure virtual

Implemented in iTaSC::Armature, iTaSC::FixedObject, iTaSC::MovingFrame, and iTaSC::WorldObject.

updateKinematics()

virtual void iTaSC::Object::updateKinematics ( const Timestamp & )

pure virtual

Implemented in iTaSC::Armature, iTaSC::FixedObject, iTaSC::MovingFrame, and iTaSC::WorldObject.

Referenced by iTaSC::Scene::update().

Member Data Documentation

m_cache

Cache* iTaSC::Object::m_cache

protected

Definition at line 28 of file Object.hpp.

Referenced by iTaSC::MovingFrame::initCache().

m_internalPose

KDL::Frame iTaSC::Object::m_internalPose

protected

Definition at line 29 of file Object.hpp.

Referenced by getPose(), iTaSC::MovingFrame::MovingFrame(), iTaSC::MovingFrame::setFrame(), iTaSC::MovingFrame::updateCoordinates(), iTaSC::MovingFrame::updateJacobian(), iTaSC::MovingFrame::updateKinematics(), and iTaSC::WorldObject::WorldObject().

m_updated

bool iTaSC::Object::m_updated

protected

Definition at line 30 of file Object.hpp.

Referenced by updated(), updated(), iTaSC::Armature::updateJacobian(), and iTaSC::MovingFrame::updateJacobian().

world

WorldObject Object::world

static

Definition at line 23 of file Object.hpp.

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

• Object.hpp
• WorldObject.cpp