iTaSC::CopyPose Class Reference

#include <CopyPose.hpp>

Inheritance diagram for iTaSC::CopyPose:

List of all members.

Classes
struct	ControlState
Public Types
enum	ID {   ID_POSITION = 0, ID_POSITIONX = 1, ID_POSITIONY = 2, ID_POSITIONZ = 3,   ID_ROTATION = 4, ID_ROTATIONX = 5, ID_ROTATIONY = 6, ID_ROTATIONZ = 7 }
enum	CTL {   CTL_NONE = 0x00, CTL_POSITIONX = 0x01, CTL_POSITIONY = 0x02, CTL_POSITIONZ = 0x04,   CTL_POSITION = 0x07, CTL_ROTATIONX = 0x08, CTL_ROTATIONY = 0x10, CTL_ROTATIONZ = 0x20,   CTL_ROTATION = 0x38, CTL_ALL = 0x3F }
Public Member Functions
	CopyPose (unsigned int control_output=CTL_ALL, unsigned int dynamic_output=CTL_NONE, double armlength=1.0, double accuracy=1e-6, unsigned int maximum_iterations=100)
virtual	~CopyPose ()
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 void	modelUpdate (Frame &_external_pose, const Timestamp &timestamp)
virtual double	getMaxTimestep (double &timestep)

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Detailed Description

Definition at line 16 of file CopyPose.hpp.

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Member Enumeration Documentation

enum iTaSC::CopyPose::CTL

Enumerator:

CTL_NONE
CTL_POSITIONX
CTL_POSITIONY
CTL_POSITIONZ
CTL_POSITION
CTL_ROTATIONX
CTL_ROTATIONY
CTL_ROTATIONZ
CTL_ROTATION
CTL_ALL

Definition at line 39 of file CopyPose.hpp.

enum iTaSC::CopyPose::ID

Enumerator:

ID_POSITION
ID_POSITIONX
ID_POSITIONY
ID_POSITIONZ
ID_ROTATION
ID_ROTATIONX
ID_ROTATIONY
ID_ROTATIONZ

Definition at line 29 of file CopyPose.hpp.

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Constructor & Destructor Documentation

iTaSC::CopyPose::CopyPose	(	unsigned int	control_output = CTL_ALL,
		unsigned int	dynamic_output = CTL_NONE,
		double	armlength = 1.0,
		double	accuracy = 1e-6,
		unsigned int	maximum_iterations = 100
	)

Definition at line 22 of file CopyPose.cpp.

References assert, e_identity_matrix, iTaSC::m_Cf(), iTaSC::m_Jf(), iTaSC::m_nc, and iTaSC::m_Wy.

iTaSC::CopyPose::~CopyPose

(

)

[virtual]

Definition at line 117 of file CopyPose.cpp.

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Member Function Documentation

const ConstraintValues * iTaSC::CopyPose::getControlParameters

(

unsigned int *

_nvalues

)

[virtual]

Implements iTaSC::ConstraintSet.

Definition at line 458 of file CopyPose.cpp.

double iTaSC::CopyPose::getMaxTimestep

(

double &

timestep

)

[protected, virtual]

Reimplemented from iTaSC::ConstraintSet.

Definition at line 473 of file CopyPose.cpp.

References iTaSC::ConstraintSet::m_maxDeltaChi.

void iTaSC::CopyPose::initCache

(

Cache *

_cache

)

[protected, virtual]

Implements iTaSC::ConstraintSet.

Definition at line 134 of file CopyPose.cpp.

References iTaSC::Cache::addChannel().

bool iTaSC::CopyPose::initialise

(

Frame &

init_pose

)

[protected, virtual]

Reimplemented from iTaSC::ConstraintSet.

Definition at line 121 of file CopyPose.cpp.

void iTaSC::CopyPose::modelUpdate	(	Frame &	_external_pose,
		const Timestamp &	timestamp
	)		[protected, virtual]

Reimplemented from iTaSC::ConstraintSet.

Definition at line 128 of file CopyPose.cpp.

void iTaSC::CopyPose::pushCache

(

const Timestamp &

timestamp

)

[protected, virtual]

Implements iTaSC::ConstraintSet.

Definition at line 260 of file CopyPose.cpp.

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

Implements iTaSC::ConstraintSet.

Definition at line 363 of file CopyPose.cpp.

References CTL_POSITIONX, CTL_ROTATION, CTL_ROTATIONX, ID_POSITION, ID_POSITIONZ, ID_ROTATION, and ID_ROTATIONZ.

void iTaSC::CopyPose::updateControlOutput

(

const Timestamp &

timestamp

)

[protected, virtual]

Implements iTaSC::ConstraintSet.

Definition at line 427 of file CopyPose.cpp.

void iTaSC::CopyPose::updateJacobian

(

)

[protected, virtual]

Implements iTaSC::ConstraintSet.

Definition at line 278 of file CopyPose.cpp.

void iTaSC::CopyPose::updateKinematics

(

const Timestamp &

timestamp

)

[protected, virtual]

Implements iTaSC::ConstraintSet.

Definition at line 267 of file CopyPose.cpp.

References CTL_POSITIONX, CTL_ROTATION, and CTL_ROTATIONX.

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

• CopyPose.hpp
• CopyPose.cpp