#include <ControlledObject.hpp>
Classes | |
| class | JointLockCallback |
Public Member Functions | |
| ControlledObject () | |
| virtual | ~ControlledObject () |
| virtual void | initialize (unsigned int _nq, unsigned int _nc, unsigned int _nee) |
| virtual bool | updateJoint (const Timestamp ×tamp, JointLockCallback &callback)=0 |
| virtual void | updateControlOutput (const Timestamp ×tamp)=0 |
| virtual void | setJointVelocity (const e_vector qdot_in) |
| virtual double | getMaxTimestep (double ×tep) |
| virtual bool | setControlParameter (unsigned int constraintId, unsigned int valueId, ConstraintAction action, e_scalar value, double timestep=0.0)=0 |
| virtual const e_vector & | getControlOutput () const |
| virtual const e_matrix & | getJq (unsigned int ee) const |
| virtual const e_matrix & | getCq () const |
| virtual e_matrix & | getWq () |
| virtual void | setWq (const e_matrix &Wq_in) |
| virtual const e_vector & | getWy () const |
| virtual const unsigned int | getNrOfCoordinates () |
| virtual const unsigned int | getNrOfConstraints () |
Protected Attributes | |
| e_scalar | m_maxDeltaQ |
| unsigned int | m_nq |
| unsigned int | m_nc |
| unsigned int | m_nee |
| e_matrix | m_Wq |
| e_matrix | m_Cq |
| e_vector | m_Wy |
| e_vector | m_ydot |
| e_vector | m_qdot |
| std::vector< e_matrix > | m_JqArray |
Detailed Description
Definition at line 22 of file ControlledObject.hpp.
Constructor & Destructor Documentation
| iTaSC::ControlledObject::ControlledObject | ( | ) |
Definition at line 15 of file ControlledObject.cpp.
References e_scalar, and m_maxDeltaQ.
| iTaSC::ControlledObject::~ControlledObject | ( | ) | [virtual] |
Definition at line 45 of file ControlledObject.cpp.
Member Function Documentation
| virtual const e_vector& iTaSC::ControlledObject::getControlOutput | ( | ) | const [inline, virtual] |
Definition at line 53 of file ControlledObject.hpp.
References m_ydot.
| virtual const e_matrix& iTaSC::ControlledObject::getCq | ( | ) | const [inline, virtual] |
Definition at line 57 of file ControlledObject.hpp.
References m_Cq.
| const e_matrix & iTaSC::ControlledObject::getJq | ( | unsigned int | ee | ) | const [virtual] |
| double iTaSC::ControlledObject::getMaxTimestep | ( | double & | timestep | ) | [virtual] |
Definition at line 55 of file ControlledObject.cpp.
References e_scalar, m_maxDeltaQ, and m_qdot.
| virtual const unsigned int iTaSC::ControlledObject::getNrOfConstraints | ( | ) | [inline, virtual] |
| virtual const unsigned int iTaSC::ControlledObject::getNrOfCoordinates | ( | ) | [inline, virtual] |
Reimplemented from iTaSC::Object.
Definition at line 64 of file ControlledObject.hpp.
References m_nq.
| virtual e_matrix& iTaSC::ControlledObject::getWq | ( | ) | [inline, virtual] |
Definition at line 59 of file ControlledObject.hpp.
References m_Wq.
| virtual const e_vector& iTaSC::ControlledObject::getWy | ( | ) | const [inline, virtual] |
Definition at line 62 of file ControlledObject.hpp.
References m_Wy.
| void iTaSC::ControlledObject::initialize | ( | unsigned int | _nq, |
| unsigned int | _nc, | ||
| unsigned int | _nee | ||
| ) | [virtual] |
Definition at line 22 of file ControlledObject.cpp.
References assert, e_identity_matrix, e_scalar_vector, e_zero_matrix, e_zero_vector, m_Cq, m_JqArray, m_nc, m_nee, m_nq, m_qdot, m_Wq, m_Wy, and m_ydot.
Referenced by iTaSC::Armature::finalize().
| virtual bool iTaSC::ControlledObject::setControlParameter | ( | unsigned int | constraintId, |
| unsigned int | valueId, | ||
| ConstraintAction | action, | ||
| e_scalar | value, | ||
| double | timestep = 0.0 |
||
| ) | [pure virtual] |
| virtual void iTaSC::ControlledObject::setJointVelocity | ( | const e_vector | qdot_in | ) | [inline, virtual] |
Definition at line 49 of file ControlledObject.hpp.
References m_qdot.
| virtual void iTaSC::ControlledObject::setWq | ( | const e_matrix & | Wq_in | ) | [inline, virtual] |
Definition at line 60 of file ControlledObject.hpp.
References m_Wq.
| virtual void iTaSC::ControlledObject::updateControlOutput | ( | const Timestamp & | timestamp | ) | [pure virtual] |
Implemented in iTaSC::Armature.
| virtual bool iTaSC::ControlledObject::updateJoint | ( | const Timestamp & | timestamp, |
| JointLockCallback & | callback | ||
| ) | [pure virtual] |
Implemented in iTaSC::Armature.
Member Data Documentation
e_matrix iTaSC::ControlledObject::m_Cq [protected] |
Definition at line 26 of file ControlledObject.hpp.
Referenced by iTaSC::Armature::finalize(), getCq(), and initialize().
std::vector<e_matrix> iTaSC::ControlledObject::m_JqArray [protected] |
Definition at line 28 of file ControlledObject.hpp.
Referenced by getJq(), initialize(), and iTaSC::Armature::updateJacobian().
e_scalar iTaSC::ControlledObject::m_maxDeltaQ [protected] |
Definition at line 24 of file ControlledObject.hpp.
Referenced by ControlledObject(), and getMaxTimestep().
unsigned int iTaSC::ControlledObject::m_nc [protected] |
Definition at line 25 of file ControlledObject.hpp.
Referenced by getNrOfConstraints(), and initialize().
unsigned int iTaSC::ControlledObject::m_nee [protected] |
Definition at line 25 of file ControlledObject.hpp.
Referenced by getJq(), iTaSC::Armature::getPose(), initialize(), and iTaSC::Armature::updateJacobian().
unsigned int iTaSC::ControlledObject::m_nq [protected] |
Definition at line 25 of file ControlledObject.hpp.
Referenced by getJq(), getNrOfCoordinates(), initialize(), iTaSC::Armature::updateJacobian(), and iTaSC::Armature::updateJoint().
e_vector iTaSC::ControlledObject::m_qdot [protected] |
Definition at line 27 of file ControlledObject.hpp.
Referenced by getMaxTimestep(), initialize(), setJointVelocity(), and iTaSC::Armature::updateJoint().
e_matrix iTaSC::ControlledObject::m_Wq [protected] |
Definition at line 26 of file ControlledObject.hpp.
Referenced by getWq(), initialize(), and setWq().
e_vector iTaSC::ControlledObject::m_Wy [protected] |
Definition at line 27 of file ControlledObject.hpp.
Referenced by iTaSC::Armature::finalize(), getWy(), initialize(), iTaSC::Armature::setControlParameter(), and iTaSC::Armature::updateControlOutput().
e_vector iTaSC::ControlledObject::m_ydot [protected] |
Definition at line 27 of file ControlledObject.hpp.
Referenced by getControlOutput(), initialize(), and iTaSC::Armature::updateControlOutput().
The documentation for this class was generated from the following files: