ControlledObject.hpp File Reference

#include "kdl/frames.hpp"
#include "eigen_types.hpp"
#include "Object.hpp"
#include "ConstraintSet.hpp"
#include <vector>

Go to the source code of this file.

Classes
class	iTaSC::JointLockCallback
Namespaces
namespace	iTaSC
Defines
#define	CONSTRAINT_ID_ALL   ((unsigned int)-1)
Functions
	iTaSC::ControlledObject ()
virtual	iTaSC::~ControlledObject ()
virtual void	iTaSC::initialize (unsigned int _nq, unsigned int _nc, unsigned int _nee)
virtual bool	iTaSC::updateJoint (const Timestamp &timestamp, JointLockCallback &callback)
virtual void	iTaSC::updateControlOutput (const Timestamp &timestamp)
virtual void	iTaSC::setJointVelocity (const e_vector qdot_in)
virtual double	iTaSC::getMaxTimestep (double &timestep)
virtual bool	iTaSC::setControlParameter (unsigned int constraintId, unsigned int valueId, ConstraintAction action, e_scalar value, double timestep=0.0)=0
virtual const e_vector &	iTaSC::getControlOutput () const
virtual const e_matrix &	iTaSC::getJq (unsigned int ee) const
virtual const e_matrix &	iTaSC::getCq () const
virtual e_matrix &	iTaSC::getWq ()
virtual void	iTaSC::setWq (const e_matrix &Wq_in)
virtual const e_vector &	iTaSC::getWy () const
virtual const unsigned int	iTaSC::getNrOfCoordinates ()
virtual const unsigned int	iTaSC::getNrOfConstraints ()
Variables
unsigned int	iTaSC::m_nq
unsigned int	iTaSC::m_nc
unsigned int	iTaSC::m_nee
e_matrix	iTaSC::m_Wq
e_matrix	iTaSC::m_Cq
e_vector	iTaSC::m_Wy
e_vector	iTaSC::m_ydot
e_vector	iTaSC::m_qdot
std::vector< e_matrix >	iTaSC::m_JqArray

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Define Documentation

#define CONSTRAINT_ID_ALL   ((unsigned int)-1)

Referenced by itasc_update_param().