iTaSC::FixedObject Class Reference

#include <FixedObject.hpp>

Inherits iTaSC::UncontrolledObject.

Public Member Functions
	FixedObject ()
virtual	~FixedObject ()
int	addFrame (const std::string &name, const Frame &frame)
virtual void	updateCoordinates (const Timestamp &timestamp)
virtual int	addEndEffector (const std::string &name)
virtual bool	finalize ()
virtual const Frame &	getPose (const unsigned int frameIndex)
virtual void	updateKinematics (const Timestamp &timestamp)
virtual void	pushCache (const Timestamp &timestamp)
virtual void	initCache (Cache *_cache)
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 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 18 of file FixedObject.hpp.

Constructor & Destructor Documentation

FixedObject()

iTaSC::FixedObject::FixedObject

(

)

Definition at line 14 of file FixedObject.cpp.

~FixedObject()

iTaSC::FixedObject::~FixedObject ( )

virtual

Definition at line 19 of file FixedObject.cpp.

Member Function Documentation

addEndEffector()

int iTaSC::FixedObject::addEndEffector ( const std::string & name )

virtual

Reimplemented from iTaSC::Object.

Definition at line 41 of file FixedObject.cpp.

addFrame()

int iTaSC::FixedObject::addFrame	(	const std::string &	name,
		const Frame &	frame )

Definition at line 24 of file FixedObject.cpp.

finalize()

bool iTaSC::FixedObject::finalize ( )

virtual

Reimplemented from iTaSC::Object.

Definition at line 54 of file FixedObject.cpp.

References initialize().

getPose()

const Frame & iTaSC::FixedObject::getPose ( const unsigned int frameIndex )

virtual

Reimplemented from iTaSC::Object.

Definition at line 63 of file FixedObject.cpp.

References iTaSC::F_identity.

initCache()

virtual void iTaSC::FixedObject::initCache ( Cache * _cache )

inlinevirtual

Implements iTaSC::Object.

Definition at line 31 of file FixedObject.hpp.

pushCache()

virtual void iTaSC::FixedObject::pushCache ( const Timestamp & timestamp )

inlinevirtual

Implements iTaSC::Object.

Definition at line 30 of file FixedObject.hpp.

updateCoordinates()

virtual void iTaSC::FixedObject::updateCoordinates ( const Timestamp & timestamp )

inlinevirtual

Implements iTaSC::UncontrolledObject.

Definition at line 25 of file FixedObject.hpp.

updateJacobian()

virtual void iTaSC::FixedObject::updateJacobian ( )

inlineprotectedvirtual

Implements iTaSC::Object.

Definition at line 34 of file FixedObject.hpp.

updateKinematics()

virtual void iTaSC::FixedObject::updateKinematics ( const Timestamp & timestamp )

inlinevirtual

Implements iTaSC::Object.

Definition at line 29 of file FixedObject.hpp.

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

• FixedObject.hpp
• FixedObject.cpp