iTaSC::Object Class Reference

#include <Object.hpp>

Inheritance diagram for iTaSC::Object:

List of all members.

Public Types
enum	ObjectType { Controlled, UnControlled }
Public Member Functions
	Object (ObjectType _type)
virtual	~Object ()
virtual int	addEndEffector (const std::string &name)
virtual void	finalize ()
virtual const KDL::Frame &	getPose (const unsigned int end_effector=0)
virtual const ObjectType	getType ()
virtual const unsigned int	getNrOfCoordinates ()
virtual void	updateKinematics (const Timestamp &timestamp)=0
virtual void	pushCache (const Timestamp &timestamp)=0
virtual void	initCache (Cache *_cache)=0
bool	updated ()
void	updated (bool val)
Static Public Attributes
static WorldObject	world
Protected Member Functions
virtual void	updateJacobian ()=0
Protected Attributes
Cache *	m_cache
KDL::Frame	m_internalPose
bool	m_updated

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Detailed Description

Definition at line 19 of file Object.hpp.

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Member Enumeration Documentation

enum iTaSC::Object::ObjectType

Enumerator:

Controlled
UnControlled

Definition at line 21 of file Object.hpp.

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Constructor & Destructor Documentation

iTaSC::Object::Object

(

ObjectType

_type

)

[inline]

Definition at line 32 of file Object.hpp.

virtual iTaSC::Object::~Object

(

)

[inline, virtual]

Definition at line 33 of file Object.hpp.

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Member Function Documentation

virtual int iTaSC::Object::addEndEffector

(

const std::string &

name

)

[inline, virtual]

Reimplemented in iTaSC::FixedObject.

Definition at line 35 of file Object.hpp.

Referenced by iTaSC::Scene::addObject().

virtual void iTaSC::Object::finalize

(

)

[inline, virtual]

Reimplemented in iTaSC::FixedObject, and iTaSC::MovingFrame.

Definition at line 36 of file Object.hpp.

virtual const unsigned int iTaSC::Object::getNrOfCoordinates

(

)

[inline, virtual]

Reimplemented in iTaSC::UncontrolledObject.

Definition at line 39 of file Object.hpp.

Referenced by iTaSC::Scene::addObject().

virtual const KDL::Frame& iTaSC::Object::getPose

(

const unsigned int

end_effector = 0

)

[inline, virtual]

Reimplemented in iTaSC::FixedObject.

Definition at line 37 of file Object.hpp.

References m_internalPose.

Referenced by base_callback().

virtual const ObjectType iTaSC::Object::getType

(

void

)

[inline, virtual]

Definition at line 38 of file Object.hpp.

Referenced by iTaSC::Scene::addObject().

virtual void iTaSC::Object::initCache

(

Cache *

_cache

)

[pure virtual]

Implemented in iTaSC::FixedObject, iTaSC::MovingFrame, and iTaSC::WorldObject.

virtual void iTaSC::Object::pushCache

(

const Timestamp &

timestamp

)

[pure virtual]

Implemented in iTaSC::FixedObject, iTaSC::MovingFrame, and iTaSC::WorldObject.

void iTaSC::Object::updated

(

bool

val

)

[inline]

Definition at line 44 of file Object.hpp.

References m_updated, and simple_enum_gen::val.

bool iTaSC::Object::updated

(

)

[inline]

Definition at line 43 of file Object.hpp.

References m_updated.

virtual void iTaSC::Object::updateJacobian

(

)

[protected, pure virtual]

Implemented in iTaSC::FixedObject, iTaSC::MovingFrame, and iTaSC::WorldObject.

virtual void iTaSC::Object::updateKinematics

(

const Timestamp &

timestamp

)

[pure virtual]

Implemented in iTaSC::FixedObject, iTaSC::MovingFrame, and iTaSC::WorldObject.

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Member Data Documentation

Cache* iTaSC::Object::m_cache [protected]

Definition at line 27 of file Object.hpp.

Referenced by iTaSC::MovingFrame::initCache().

KDL::Frame iTaSC::Object::m_internalPose [protected]

Definition at line 28 of file Object.hpp.

Referenced by getPose(), iTaSC::MovingFrame::setFrame(), iTaSC::MovingFrame::updateCoordinates(), iTaSC::MovingFrame::updateJacobian(), iTaSC::MovingFrame::updateKinematics(), and iTaSC::WorldObject::WorldObject().

bool iTaSC::Object::m_updated [protected]

Definition at line 29 of file Object.hpp.

Referenced by updated(), and iTaSC::MovingFrame::updateJacobian().

WorldObject Object::world [static]

Definition at line 22 of file Object.hpp.

Referenced by iTaSC::Scene::addObject().

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

• Object.hpp
• WorldObject.cpp