iTaSC::MovingFrame Class Reference

#include <MovingFrame.hpp>

Inheritance diagram for iTaSC::MovingFrame:

List of all members.

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 void	finalize ()
Protected Member Functions
virtual void	updateJacobian ()

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Detailed Description

Definition at line 19 of file MovingFrame.hpp.

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Constructor & Destructor Documentation

iTaSC::MovingFrame::MovingFrame

(

const Frame &

frame = F_identity

)

Definition at line 18 of file MovingFrame.cpp.

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

iTaSC::MovingFrame::~MovingFrame

(

)

[virtual]

Definition at line 27 of file MovingFrame.cpp.

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Member Function Documentation

void iTaSC::MovingFrame::finalize

(

)

[virtual]

Reimplemented from iTaSC::Object.

Definition at line 31 of file MovingFrame.cpp.

References updateJacobian().

void iTaSC::MovingFrame::initCache

(

Cache *

_cache

)

[virtual]

Implements iTaSC::Object.

Definition at line 36 of file MovingFrame.cpp.

References iTaSC::Cache::addChannel(), and iTaSC::Object::m_cache.

void iTaSC::MovingFrame::pushCache

(

const Timestamp &

timestamp

)

[virtual]

Implements iTaSC::Object.

Definition at line 120 of file MovingFrame.cpp.

References iTaSC::Timestamp::cache, iTaSC::Timestamp::cacheTimestamp, and iTaSC::Timestamp::substep.

Referenced by updateKinematics().

bool iTaSC::MovingFrame::setCallback	(	MovingFrameCallback	_function,
		void *	_param
	)

Definition at line 86 of file MovingFrame.cpp.

Referenced by convert_tree().

bool iTaSC::MovingFrame::setFrame

(

const Frame &

frame

)

Definition at line 80 of file MovingFrame.cpp.

References iTaSC::Object::m_internalPose.

void iTaSC::MovingFrame::updateCoordinates

(

const Timestamp &

timestamp

)

[virtual]

Implements iTaSC::UncontrolledObject.

Definition at line 93 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().

void iTaSC::MovingFrame::updateJacobian

(

)

[protected, virtual]

Implements iTaSC::Object.

Definition at line 142 of file MovingFrame.cpp.

References e_matrix, iTaSC::Object::m_internalPose, iTaSC::m_jac, 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().

void iTaSC::MovingFrame::updateKinematics

(

const Timestamp &

timestamp

)

[virtual]

Implements iTaSC::Object.

Definition at line 126 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