#include <CopyPose.hpp>
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 ×tamp) |
| virtual void | pushCache (const Timestamp ×tamp) |
| virtual void | updateJacobian () |
| virtual bool | initialise (Frame &init_pose) |
| virtual void | initCache (Cache *_cache) |
| virtual void | updateControlOutput (const Timestamp ×tamp) |
| virtual void | modelUpdate (Frame &_external_pose, const Timestamp ×tamp) |
| virtual double | getMaxTimestep (double ×tep) |
Detailed Description
Definition at line 16 of file CopyPose.hpp.
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.
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 20 of file CopyPose.cpp.
References iTaSC::ConstraintValues::alpha, assert, CTL_ALL, CTL_POSITION, CTL_POSITIONX, CTL_POSITIONY, CTL_POSITIONZ, CTL_ROTATION, CTL_ROTATIONX, CTL_ROTATIONY, CTL_ROTATIONZ, e_identity_matrix, iTaSC::ConstraintValues::feedback, iTaSC::ConstraintSingleValue::id, iTaSC::ConstraintValues::id, ID_POSITION, ID_POSITIONX, ID_POSITIONY, ID_POSITIONZ, ID_ROTATION, ID_ROTATIONX, ID_ROTATIONY, ID_ROTATIONZ, iTaSC::ConstraintSet::m_Cf, iTaSC::ConstraintSet::m_Jf, iTaSC::ConstraintSet::m_nc, iTaSC::ConstraintSet::m_Wy, iTaSC::ConstraintValues::number, iTaSC::ConstraintSet::reset(), iTaSC::ConstraintValues::tolerance, and iTaSC::ConstraintValues::values.
| iTaSC::CopyPose::~CopyPose | ( | ) | [virtual] |
Definition at line 115 of file CopyPose.cpp.
Member Function Documentation
| const ConstraintValues * iTaSC::CopyPose::getControlParameters | ( | unsigned int * | _nvalues | ) | [virtual] |
Implements iTaSC::ConstraintSet.
Definition at line 456 of file CopyPose.cpp.
References CTL_POSITIONX, CTL_ROTATION, CTL_ROTATIONX, KDL::diff(), iTaSC::F_identity, iTaSC::ConstraintSet::m_internalPose, KDL::Twist::rot, and KDL::Twist::vel.
| double iTaSC::CopyPose::getMaxTimestep | ( | double & | timestep | ) | [protected, virtual] |
Reimplemented from iTaSC::ConstraintSet.
Definition at line 471 of file CopyPose.cpp.
References e_scalar, iTaSC::ConstraintSet::m_chidot, and iTaSC::ConstraintSet::m_maxDeltaChi.
| void iTaSC::CopyPose::initCache | ( | Cache * | _cache | ) | [protected, virtual] |
Implements iTaSC::ConstraintSet.
Definition at line 132 of file CopyPose.cpp.
References iTaSC::Cache::addChannel().
| bool iTaSC::CopyPose::initialise | ( | Frame & | init_pose | ) | [protected, virtual] |
Reimplemented from iTaSC::ConstraintSet.
Definition at line 119 of file CopyPose.cpp.
References iTaSC::ConstraintSet::m_externalPose, iTaSC::ConstraintSet::m_internalPose, and updateJacobian().
| void iTaSC::CopyPose::modelUpdate | ( | Frame & | _external_pose, |
| const Timestamp & | timestamp | ||
| ) | [protected, virtual] |
Reimplemented from iTaSC::ConstraintSet.
Definition at line 126 of file CopyPose.cpp.
References iTaSC::ConstraintSet::m_externalPose, iTaSC::ConstraintSet::m_internalPose, and updateJacobian().
| void iTaSC::CopyPose::pushCache | ( | const Timestamp & | timestamp | ) | [protected, virtual] |
Implements iTaSC::ConstraintSet.
Definition at line 258 of file CopyPose.cpp.
References iTaSC::Timestamp::cache, iTaSC::Timestamp::cacheTimestamp, and iTaSC::Timestamp::substep.
Referenced by updateKinematics().
| bool iTaSC::CopyPose::setControlParameters | ( | struct ConstraintValues * | _values, |
| unsigned int | _nvalues, | ||
| double | timestep | ||
| ) | [virtual] |
Implements iTaSC::ConstraintSet.
Definition at line 361 of file CopyPose.cpp.
References CTL_POSITIONX, CTL_ROTATION, CTL_ROTATIONX, iTaSC::ConstraintValues::id, ID_POSITION, ID_POSITIONZ, ID_ROTATION, and ID_ROTATIONZ.
Referenced by updateControlOutput().
| void iTaSC::CopyPose::updateControlOutput | ( | const Timestamp & | timestamp | ) | [protected, virtual] |
Implements iTaSC::ConstraintSet.
Definition at line 425 of file CopyPose.cpp.
References iTaSC::Timestamp::cacheTimestamp, CTL_POSITIONX, CTL_ROTATION, CTL_ROTATIONX, KDL::diff(), iTaSC::F_identity, iTaSC::Timestamp::interpolate, iTaSC::ConstraintSet::m_constraintCallback, iTaSC::ConstraintSet::m_constraintParam, iTaSC::ConstraintSet::m_internalPose, iTaSC::ConstraintSet::m_substep, iTaSC::Timestamp::realTimestep, iTaSC::Timestamp::reiterate, KDL::Twist::rot, setControlParameters(), iTaSC::Timestamp::substep, and KDL::Twist::vel.
| void iTaSC::CopyPose::updateJacobian | ( | ) | [protected, virtual] |
Implements iTaSC::ConstraintSet.
Definition at line 276 of file CopyPose.cpp.
Referenced by initialise(), and modelUpdate().
| void iTaSC::CopyPose::updateKinematics | ( | const Timestamp & | timestamp | ) | [protected, virtual] |
Implements iTaSC::ConstraintSet.
Definition at line 265 of file CopyPose.cpp.
References CTL_POSITIONX, CTL_ROTATION, CTL_ROTATIONX, iTaSC::Timestamp::interpolate, and pushCache().
The documentation for this class was generated from the following files: