iTaSC::Distance Class Reference

#include <Distance.hpp>

Inheritance diagram for iTaSC::Distance:

List of all members.

Public Types
enum	ID { ID_DISTANCE = 1 }
Public Member Functions
	Distance (double armlength=1.0, double accuracy=1e-6, unsigned int maximum_iterations=100)
virtual	~Distance ()
virtual bool	setControlParameters (struct ConstraintValues *_values, unsigned int _nvalues, double timestep)
virtual const ConstraintValues *	getControlParameters (unsigned int *_nvalues)
Protected Member Functions
virtual void	updateKinematics (const Timestamp &timestamp)
virtual void	pushCache (const Timestamp &timestamp)
virtual void	updateJacobian ()
virtual bool	initialise (Frame &init_pose)
virtual void	initCache (Cache *_cache)
virtual void	updateControlOutput (const Timestamp &timestamp)
virtual bool	closeLoop ()

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Detailed Description

Definition at line 19 of file Distance.hpp.

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Member Enumeration Documentation

enum iTaSC::Distance::ID

Enumerator:

ID_DISTANCE

Definition at line 31 of file Distance.hpp.

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Constructor & Destructor Documentation

iTaSC::Distance::Distance	(	double	armlength = 1.0,
		double	accuracy = 1e-6,
		unsigned int	maximum_iterations = 100
	)

Definition at line 22 of file Distance.cpp.

References KDL::epsilon, iTaSC::m_Cf(), iTaSC::m_fksolver, iTaSC::m_jacsolver, iTaSC::m_Wy, KDL::Joint::RotX, KDL::Joint::RotY, KDL::Joint::RotZ, and KDL::Joint::TransY.

iTaSC::Distance::~Distance

(

)

[virtual]

Definition at line 55 of file Distance.cpp.

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Member Function Documentation

bool iTaSC::Distance::closeLoop

(

)

[protected, virtual]

Reimplemented from iTaSC::ConstraintSet.

Definition at line 110 of file Distance.cpp.

References KDL::Equal(), iTaSC::F_identity, KDL::Frame::Inverse(), iTaSC::ConstraintSet::m_externalPose, iTaSC::ConstraintSet::m_internalPose, iTaSC::ConstraintSet::m_threshold, and updateJacobian().

const ConstraintValues * iTaSC::Distance::getControlParameters

(

unsigned int *

_nvalues

)

[virtual]

Implements iTaSC::ConstraintSet.

Definition at line 282 of file Distance.cpp.

References iTaSC::ConstraintValues::action, iTaSC::ConstraintSingleValue::action, iTaSC::ConstraintSet::m_chi, iTaSC::ConstraintSet::m_ydot, iTaSC::ConstraintSingleValue::y, iTaSC::ConstraintSingleValue::yd, iTaSC::ConstraintSingleValue::yddot, and iTaSC::ConstraintSingleValue::ydot.

void iTaSC::Distance::initCache

(

Cache *

_cache

)

[protected, virtual]

Implements iTaSC::ConstraintSet.

Definition at line 119 of file Distance.cpp.

References iTaSC::Cache::addChannel().

bool iTaSC::Distance::initialise

(

Frame &

init_pose

)

[protected, virtual]

Reimplemented from iTaSC::ConstraintSet.

Definition at line 100 of file Distance.cpp.

References iTaSC::ConstraintSet::m_externalPose, and updateJacobian().

void iTaSC::Distance::pushCache

(

const Timestamp &

timestamp

)

[protected, virtual]

Implements iTaSC::ConstraintSet.

Definition at line 167 of file Distance.cpp.

Referenced by updateKinematics().

bool iTaSC::Distance::setControlParameters	(	struct ConstraintValues *	_values,
		unsigned int	_nvalues,
		double	timestep
	)		[virtual]

Implements iTaSC::ConstraintSet.

Definition at line 203 of file Distance.cpp.

References iTaSC::ACT_ALPHA, iTaSC::ACT_FEEDBACK, iTaSC::ACT_TOLERANCE, iTaSC::ACT_VALUE, iTaSC::ACT_VELOCITY, iTaSC::ConstraintValues::action, iTaSC::ConstraintSingleValue::action, iTaSC::ConstraintValues::alpha, KDL::epsilon, iTaSC::ConstraintValues::feedback, i, iTaSC::ConstraintValues::id, iTaSC::ConstraintSingleValue::id, ID_DISTANCE, if(), iTaSC::ConstraintSet::m_Wy, iTaSC::ConstraintValues::tolerance, iTaSC::ConstraintValues::values, iTaSC::ConstraintSingleValue::yd, and iTaSC::ConstraintSingleValue::yddot.

Referenced by updateControlOutput().

void iTaSC::Distance::updateControlOutput

(

const Timestamp &

timestamp

)

[protected, virtual]

Implements iTaSC::ConstraintSet.

Definition at line 295 of file Distance.cpp.

References iTaSC::ConstraintValues::action, iTaSC::ConstraintSingleValue::action, iTaSC::Timestamp::cacheTimestamp, error(), iTaSC::Timestamp::interpolate, iTaSC::ConstraintSet::m_chi, iTaSC::ConstraintSet::m_constraintCallback, iTaSC::ConstraintSet::m_constraintParam, iTaSC::ConstraintSet::m_substep, iTaSC::ConstraintSet::m_ydot, KDL::Norm(), iTaSC::Timestamp::realTimestep, iTaSC::Timestamp::reiterate, setControlParameters(), TNT::sign(), iTaSC::Timestamp::substep, iTaSC::ConstraintSingleValue::y, iTaSC::ConstraintSingleValue::yd, iTaSC::ConstraintSingleValue::yddot, and iTaSC::ConstraintSingleValue::ydot.

void iTaSC::Distance::updateJacobian

(

)

[protected, virtual]

Implements iTaSC::ConstraintSet.

Definition at line 190 of file Distance.cpp.

References KDL::changeRefPoint(), i, KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), iTaSC::ConstraintSet::m_chi, iTaSC::ConstraintSet::m_internalPose, iTaSC::ConstraintSet::m_Jf, and KDL::Frame::p.

Referenced by closeLoop(), and initialise().

void iTaSC::Distance::updateKinematics

(

const Timestamp &

timestamp

)

[protected, virtual]

Implements iTaSC::ConstraintSet.

Definition at line 173 of file Distance.cpp.

References KDL::epsilon, iTaSC::Timestamp::interpolate, pushCache(), iTaSC::Timestamp::realTimestep, and iTaSC::Timestamp::substep.

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

• Distance.hpp
• Distance.cpp