Blender  V3.3
Public Types | Public Member Functions | Static Public Attributes | Protected Member Functions | Protected Attributes | List of all members
iTaSC::Object Class Referenceabstract

#include <Object.hpp>

Inheritance diagram for iTaSC::Object:
iTaSC::ControlledObject iTaSC::UncontrolledObject iTaSC::Armature iTaSC::FixedObject iTaSC::MovingFrame iTaSC::WorldObject

Public Types

enum  ObjectType { Controlled , UnControlled }
 

Public Member Functions

 Object (ObjectType _type)
 
virtual ~Object ()
 
virtual int addEndEffector (const std::string &name)
 
virtual bool finalize ()
 
virtual const KDL::FramegetPose (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

Cachem_cache
 
KDL::Frame m_internalPose
 
bool m_updated
 

Detailed Description

Definition at line 19 of file Object.hpp.

Member Enumeration Documentation

◆ ObjectType

enum iTaSC::Object::ObjectType
Enumerator
Controlled 
UnControlled 

Definition at line 21 of file Object.hpp.

Constructor & Destructor Documentation

◆ Object()

iTaSC::Object::Object ( ObjectType  _type)
inline

Definition at line 32 of file Object.hpp.

References m_type.

◆ ~Object()

virtual iTaSC::Object::~Object ( )
inlinevirtual

Definition at line 33 of file Object.hpp.

Member Function Documentation

◆ addEndEffector()

virtual int iTaSC::Object::addEndEffector ( const std::string &  name)
inlinevirtual

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

Definition at line 35 of file Object.hpp.

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

◆ finalize()

virtual bool iTaSC::Object::finalize ( )
inlinevirtual

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

Definition at line 36 of file Object.hpp.

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

◆ getNrOfCoordinates()

virtual const unsigned int iTaSC::Object::getNrOfCoordinates ( )
inlinevirtual

Reimplemented in iTaSC::UncontrolledObject, and iTaSC::ControlledObject.

Definition at line 39 of file Object.hpp.

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

◆ getPose()

virtual const KDL::Frame& iTaSC::Object::getPose ( const unsigned int  end_effector = 0)
inlinevirtual

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

Definition at line 37 of file Object.hpp.

References m_internalPose.

Referenced by base_callback().

◆ getType()

virtual const ObjectType iTaSC::Object::getType ( )
inlinevirtual

Definition at line 38 of file Object.hpp.

References m_type.

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

◆ initCache()

virtual void iTaSC::Object::initCache ( Cache _cache)
pure virtual

◆ pushCache()

virtual void iTaSC::Object::pushCache ( const Timestamp timestamp)
pure virtual

◆ updated() [1/2]

bool iTaSC::Object::updated ( )
inline

Definition at line 43 of file Object.hpp.

References m_updated.

◆ updated() [2/2]

void iTaSC::Object::updated ( bool  val)
inline

Definition at line 44 of file Object.hpp.

References m_updated.

◆ updateJacobian()

virtual void iTaSC::Object::updateJacobian ( )
protectedpure virtual

◆ updateKinematics()

virtual void iTaSC::Object::updateKinematics ( const Timestamp timestamp)
pure virtual

Member Data Documentation

◆ m_cache

Cache* iTaSC::Object::m_cache
protected

Definition at line 27 of file Object.hpp.

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

◆ m_internalPose

KDL::Frame iTaSC::Object::m_internalPose
protected

◆ m_updated

bool iTaSC::Object::m_updated
protected

◆ world

WorldObject Object::world
static

Definition at line 22 of file Object.hpp.

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


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