Blender  V3.3
Classes | Public Member Functions | Protected Attributes | List of all members
iTaSC::ControlledObject Class Referenceabstract

#include <ControlledObject.hpp>

Inheritance diagram for iTaSC::ControlledObject:
iTaSC::Object iTaSC::Armature

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 &timestamp, JointLockCallback &callback)=0
 
virtual void updateControlOutput (const Timestamp &timestamp)=0
 
virtual void setJointVelocity (const e_vector qdot_in)
 
virtual double getMaxTimestep (double &timestep)
 
virtual bool setControlParameter (unsigned int constraintId, unsigned int valueId, ConstraintAction action, e_scalar value, double timestep=0.0)=0
 
virtual const e_vectorgetControlOutput () const
 
virtual const e_matrixgetJq (unsigned int ee) const
 
virtual const e_matrixgetCq () const
 
virtual e_matrixgetWq ()
 
virtual void setWq (const e_matrix &Wq_in)
 
virtual const e_vectorgetWy () const
 
virtual const unsigned int getNrOfCoordinates ()
 
virtual const unsigned int getNrOfConstraints ()
 
- Public Member Functions inherited from iTaSC::Object
 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 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)
 

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_matrixm_JqArray
 
- Protected Attributes inherited from iTaSC::Object
Cachem_cache
 
KDL::Frame m_internalPose
 
bool m_updated
 

Additional Inherited Members

- Public Types inherited from iTaSC::Object
enum  ObjectType { Controlled , UnControlled }
 
- Static Public Attributes inherited from iTaSC::Object
static WorldObject world
 
- Protected Member Functions inherited from iTaSC::Object
virtual void updateJacobian ()=0
 

Detailed Description

Definition at line 22 of file ControlledObject.hpp.

Constructor & Destructor Documentation

◆ ControlledObject()

iTaSC::ControlledObject::ControlledObject ( )

Definition at line 12 of file ControlledObject.cpp.

References e_scalar, and m_maxDeltaQ.

◆ ~ControlledObject()

iTaSC::ControlledObject::~ControlledObject ( )
virtual

Definition at line 42 of file ControlledObject.cpp.

Member Function Documentation

◆ getControlOutput()

virtual const e_vector& iTaSC::ControlledObject::getControlOutput ( ) const
inlinevirtual

Definition at line 53 of file ControlledObject.hpp.

References m_ydot.

◆ getCq()

virtual const e_matrix& iTaSC::ControlledObject::getCq ( ) const
inlinevirtual

Definition at line 57 of file ControlledObject.hpp.

References m_Cq.

◆ getJq()

const e_matrix & iTaSC::ControlledObject::getJq ( unsigned int  ee) const
virtual

Definition at line 46 of file ControlledObject.cpp.

References m_JqArray, m_nee, and m_nq.

◆ getMaxTimestep()

double iTaSC::ControlledObject::getMaxTimestep ( double timestep)
virtual

Definition at line 52 of file ControlledObject.cpp.

References e_scalar, m_maxDeltaQ, and m_qdot.

◆ getNrOfConstraints()

virtual const unsigned int iTaSC::ControlledObject::getNrOfConstraints ( )
inlinevirtual

Definition at line 65 of file ControlledObject.hpp.

References m_nc.

Referenced by execute_scene().

◆ getNrOfCoordinates()

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

Reimplemented from iTaSC::Object.

Definition at line 64 of file ControlledObject.hpp.

References m_nq.

◆ getWq()

virtual e_matrix& iTaSC::ControlledObject::getWq ( )
inlinevirtual

Definition at line 59 of file ControlledObject.hpp.

References m_Wq.

◆ getWy()

virtual const e_vector& iTaSC::ControlledObject::getWy ( ) const
inlinevirtual

Definition at line 62 of file ControlledObject.hpp.

References m_Wy.

◆ initialize()

void iTaSC::ControlledObject::initialize ( unsigned int  _nq,
unsigned int  _nc,
unsigned int  _nee 
)
virtual

◆ setControlParameter()

virtual bool iTaSC::ControlledObject::setControlParameter ( unsigned int  constraintId,
unsigned int  valueId,
ConstraintAction  action,
e_scalar  value,
double  timestep = 0.0 
)
pure virtual

◆ setJointVelocity()

virtual void iTaSC::ControlledObject::setJointVelocity ( const e_vector  qdot_in)
inlinevirtual

Definition at line 49 of file ControlledObject.hpp.

References m_qdot.

◆ setWq()

virtual void iTaSC::ControlledObject::setWq ( const e_matrix Wq_in)
inlinevirtual

Definition at line 60 of file ControlledObject.hpp.

References m_Wq.

◆ updateControlOutput()

virtual void iTaSC::ControlledObject::updateControlOutput ( const Timestamp timestamp)
pure virtual

Implemented in iTaSC::Armature.

◆ updateJoint()

virtual bool iTaSC::ControlledObject::updateJoint ( const Timestamp timestamp,
JointLockCallback callback 
)
pure virtual

Implemented in iTaSC::Armature.

Member Data Documentation

◆ m_Cq

e_matrix iTaSC::ControlledObject::m_Cq
protected

Definition at line 26 of file ControlledObject.hpp.

Referenced by iTaSC::Armature::finalize(), getCq(), and initialize().

◆ m_JqArray

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().

◆ m_maxDeltaQ

e_scalar iTaSC::ControlledObject::m_maxDeltaQ
protected

Definition at line 24 of file ControlledObject.hpp.

Referenced by ControlledObject(), and getMaxTimestep().

◆ m_nc

unsigned int iTaSC::ControlledObject::m_nc
protected

Definition at line 25 of file ControlledObject.hpp.

Referenced by getNrOfConstraints(), and initialize().

◆ m_nee

unsigned int iTaSC::ControlledObject::m_nee
protected

◆ m_nq

unsigned int iTaSC::ControlledObject::m_nq
protected

◆ m_qdot

e_vector iTaSC::ControlledObject::m_qdot
protected

◆ m_Wq

e_matrix iTaSC::ControlledObject::m_Wq
protected

Definition at line 26 of file ControlledObject.hpp.

Referenced by getWq(), initialize(), and setWq().

◆ m_Wy

e_vector iTaSC::ControlledObject::m_Wy
protected

◆ m_ydot

e_vector iTaSC::ControlledObject::m_ydot
protected

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