iTaSC::Scene Class Reference

#include <Scene.hpp>

List of all members.

Classes
struct	ConstraintSet_struct
struct	Object_struct
Public Types
enum	SceneParam { MIN_TIMESTEP = 0, MAX_TIMESTEP, COUNT }
Public Member Functions
	Scene ()
virtual	~Scene ()
bool	addObject (const std::string &name, Object *object, UncontrolledObject *base=&Object::world, const std::string &baseFrame="")
bool	addConstraintSet (const std::string &name, ConstraintSet *task, const std::string &object1, const std::string &object2, const std::string &ee1="", const std::string &ee2="")
bool	addSolver (Solver *_solver)
bool	addCache (Cache *_cache)
bool	initialize ()
bool	update (double timestamp, double timestep, unsigned int numsubstep=1, bool reiterate=false, bool cache=true, bool interpolate=true)
bool	setParam (SceneParam paramId, double value)
Friends
class	SceneLock

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Detailed Description

Definition at line 23 of file Scene.hpp.

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Member Enumeration Documentation

enum iTaSC::Scene::SceneParam

Enumerator:

MIN_TIMESTEP
MAX_TIMESTEP
COUNT

Definition at line 26 of file Scene.hpp.

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Constructor & Destructor Documentation

Scene::Scene

(

)

Definition at line 53 of file itasc/scene.cpp.

Scene::~Scene

(

)

[virtual]

Definition at line 63 of file itasc/scene.cpp.

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Member Function Documentation

bool Scene::addCache

(

Cache *

_cache

)

Definition at line 178 of file itasc/scene.cpp.

bool Scene::addConstraintSet	(	const std::string &	name,
		ConstraintSet *	task,
		const std::string &	object1,
		const std::string &	object2,
		const std::string &	ee1 = "",
		const std::string &	ee2 = ""
	)

Definition at line 147 of file itasc/scene.cpp.

References iTaSC::ConstraintSet::getNrOfConstraints().

bool Scene::addObject	(	const std::string &	name,
		Object *	object,
		UncontrolledObject *	base = &Object::world,
		const std::string &	baseFrame = ""
	)

Definition at line 92 of file itasc/scene.cpp.

References iTaSC::Object::addEndEffector(), iTaSC::Object::Controlled, iTaSC::ControlledObject(), iTaSC::UncontrolledObject::getNrOfCoordinates(), iTaSC::Object::getNrOfCoordinates(), iTaSC::Object::getType(), iTaSC::Object::UnControlled, and iTaSC::Object::world.

bool Scene::addSolver

(

Solver *

_solver

)

Definition at line 169 of file itasc/scene.cpp.

bool Scene::initialize

(

void

)

Definition at line 187 of file itasc/scene.cpp.

bool Scene::setParam	(	SceneParam	paramId,
		double	value
	)

Definition at line 77 of file itasc/scene.cpp.

References MAX_TIMESTEP, and MIN_TIMESTEP.

bool Scene::update	(	double	timestamp,
		double	timestep,
		unsigned int	numsubstep = 1,
		bool	reiterate = false,
		bool	cache = true,
		bool	interpolate = true
	)

Definition at line 260 of file itasc/scene.cpp.

References iTaSC::Timestamp::cache, iTaSC::changeBase(), iTaSC::Object::Controlled, iTaSC::ControlledObject(), e_matrix, e_scalar, e_vector6, e_zero_vector, KDL::epsilon, iTaSC::getControlOutput(), iTaSC::getJq(), iTaSC::getWq(), iTaSC::getWy(), i, iTaSC::Timestamp::interpolate, iTaSC::Timestamp::numstep, iTaSC::project(), iTaSC::Timestamp::realTimestamp, iTaSC::Timestamp::realTimestep, iTaSC::Timestamp::reiterate, SceneLock, iTaSC::setCacheTimestamp(), iTaSC::Solver::solve(), iTaSC::Timestamp::substep, KDL::svd_eigen_HH(), iTaSC::Object::UnControlled, iTaSC::Timestamp::update, and iTaSC::updateControlOutput().

Referenced by execute_scene().

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Friends And Related Function Documentation

friend class SceneLock [friend]

Definition at line 24 of file Scene.hpp.

Referenced by update().

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

• Scene.hpp
• itasc/scene.cpp