iTaSC::WorldObject Class Reference

#include <WorldObject.hpp>

Inherits iTaSC::UncontrolledObject.

Public Member Functions
	WorldObject ()
virtual	~WorldObject ()
virtual void	updateCoordinates (const Timestamp &)
virtual void	updateKinematics (const Timestamp &)
virtual void	pushCache (const Timestamp &)
virtual void	initCache (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 int	addEndEffector (const std::string &)
virtual bool	finalize ()
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 15 of file WorldObject.hpp.

Constructor & Destructor Documentation

WorldObject()

iTaSC::WorldObject::WorldObject

(

)

Definition at line 16 of file WorldObject.cpp.

References KDL::Frame::Identity(), initialize(), and iTaSC::Object::m_internalPose.

~WorldObject()

iTaSC::WorldObject::~WorldObject ( )

virtual

Definition at line 22 of file WorldObject.cpp.

Member Function Documentation

initCache()

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

inlinevirtual

Implements iTaSC::Object.

Definition at line 23 of file WorldObject.hpp.

pushCache()

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

inlinevirtual

Implements iTaSC::Object.

Definition at line 22 of file WorldObject.hpp.

updateCoordinates()

virtual void iTaSC::WorldObject::updateCoordinates ( const Timestamp & )

inlinevirtual

Implements iTaSC::UncontrolledObject.

Definition at line 20 of file WorldObject.hpp.

updateJacobian()

virtual void iTaSC::WorldObject::updateJacobian ( )

inlineprotectedvirtual

Implements iTaSC::Object.

Definition at line 25 of file WorldObject.hpp.

updateKinematics()

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

inlinevirtual

Implements iTaSC::Object.

Definition at line 21 of file WorldObject.hpp.

---

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

• WorldObject.hpp
• WorldObject.cpp