Blender
V3.3
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#include <MovingFrame.hpp>
Public Member Functions | |
MovingFrame (const Frame &frame=F_identity) | |
virtual | ~MovingFrame () |
bool | setFrame (const Frame &frame) |
bool | setCallback (MovingFrameCallback _function, void *_param) |
virtual void | updateCoordinates (const Timestamp ×tamp) |
virtual void | updateKinematics (const Timestamp ×tamp) |
virtual void | pushCache (const Timestamp ×tamp) |
virtual void | initCache (Cache *_cache) |
virtual bool | finalize () |
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UncontrolledObject () | |
virtual | ~UncontrolledObject () |
virtual void | initialize (unsigned int _nu, unsigned int _nf) |
virtual const e_matrix & | getJu (unsigned int frameIndex) const |
virtual const e_vector & | getXudot () const |
virtual const unsigned int | getNrOfCoordinates () |
virtual const unsigned int | getNrOfFrames () |
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Object (ObjectType _type) | |
virtual | ~Object () |
virtual int | addEndEffector (const std::string &name) |
virtual const KDL::Frame & | getPose (const unsigned int end_effector=0) |
virtual const ObjectType | getType () |
bool | updated () |
void | updated (bool val) |
Protected Member Functions | |
virtual void | updateJacobian () |
Additional Inherited Members | |
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enum | ObjectType { Controlled , UnControlled } |
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static WorldObject | world |
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unsigned int | m_nu |
unsigned int | m_nf |
e_vector | m_xudot |
std::vector< e_matrix > | m_JuArray |
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Cache * | m_cache |
KDL::Frame | m_internalPose |
bool | m_updated |
Definition at line 23 of file MovingFrame.hpp.
iTaSC::MovingFrame::MovingFrame | ( | const Frame & | frame = F_identity | ) |
Definition at line 14 of file MovingFrame.cpp.
References e_identity_matrix, e_matrix, iTaSC::UncontrolledObject::initialize(), iTaSC::Object::m_internalPose, and iTaSC::UncontrolledObject::m_JuArray.
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virtual |
Definition at line 23 of file MovingFrame.cpp.
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virtual |
Reimplemented from iTaSC::Object.
Definition at line 27 of file MovingFrame.cpp.
References updateJacobian().
Implements iTaSC::Object.
Definition at line 33 of file MovingFrame.cpp.
References iTaSC::Cache::addChannel(), iTaSC::frameCacheSize, and iTaSC::Object::m_cache.
Implements iTaSC::Object.
Definition at line 117 of file MovingFrame.cpp.
References iTaSC::Timestamp::cache, iTaSC::Timestamp::cacheTimestamp, and iTaSC::Timestamp::substep.
Referenced by updateKinematics().
bool iTaSC::MovingFrame::setCallback | ( | MovingFrameCallback | _function, |
void * | _param | ||
) |
Definition at line 83 of file MovingFrame.cpp.
Referenced by convert_tree().
Definition at line 77 of file MovingFrame.cpp.
References iTaSC::Object::m_internalPose.
Implements iTaSC::UncontrolledObject.
Definition at line 90 of file MovingFrame.cpp.
References iTaSC::Timestamp::cacheTimestamp, KDL::diff(), e_zero_vector, iTaSC::Timestamp::interpolate, iTaSC::Object::m_internalPose, iTaSC::UncontrolledObject::m_xudot, iTaSC::Timestamp::realTimestep, iTaSC::Timestamp::reiterate, iTaSC::Timestamp::substep, updateJacobian(), and KDL::Twist::Zero().
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protectedvirtual |
Implements iTaSC::Object.
Definition at line 139 of file MovingFrame.cpp.
References e_matrix, iTaSC::Object::m_internalPose, iTaSC::UncontrolledObject::m_JuArray, iTaSC::Object::m_updated, KDL::Frame::p, KDL::Vector::x(), KDL::Vector::y(), and KDL::Vector::z().
Referenced by finalize(), updateCoordinates(), and updateKinematics().
Implements iTaSC::Object.
Definition at line 123 of file MovingFrame.cpp.
References KDL::Frame::Integrate(), iTaSC::Timestamp::interpolate, KDL::Rotation::Inverse(), KDL::Frame::M, iTaSC::Object::m_internalPose, pushCache(), iTaSC::Timestamp::realTimestep, iTaSC::Timestamp::substep, and updateJacobian().