ocra::OrientationFeature Class Reference

Used to build orientation tasks. More...

#include <Feature.h>

Inheritance diagram for ocra::OrientationFeature:

Collaboration diagram for ocra::OrientationFeature:

Classes
struct	Pimpl

Public Member Functions
	OrientationFeature (const std::string &name, ControlFrame::Ptr frame)
int	getDimension () const
const Eigen::MatrixXd &	getSpaceTransform () const
const Eigen::VectorXd &	computeEffort (const Feature &featureDes) const
const Eigen::VectorXd &	computeAcceleration (const Feature &featureDes) const
const Eigen::VectorXd &	computeError (const Feature &featureDes) const
const Eigen::VectorXd &	computeErrorDot (const Feature &featureDes) const
const Eigen::MatrixXd &	computeJacobian (const Feature &featureDes) const
const Eigen::MatrixXd &	computeProjectedMass (const Feature &featureDes) const
const Eigen::MatrixXd &	computeProjectedMassInverse (const Feature &featureDes) const
const Eigen::VectorXd &	computeEffort () const
const Eigen::VectorXd &	computeAcceleration () const
const Eigen::VectorXd &	computeError () const
const Eigen::VectorXd &	computeErrorDot () const
const Eigen::MatrixXd &	computeJacobian () const
const Eigen::MatrixXd &	computeProjectedMass () const
const Eigen::MatrixXd &	computeProjectedMassInverse () const
TaskState	getState () const
void	setState (const TaskState &newState)
Public Member Functions inherited from ocra::Feature
virtual	~Feature ()=0
Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)
const std::string &	getName () const
virtual	~NamedInstance ()

Additional Inherited Members
Protected Member Functions inherited from ocra::Feature
	Feature (const std::string &name)

Detailed Description

Used to build orientation tasks.

OrientationFeature instances consider only the orientation of the associated control frame. The error between two orientation features is the log of Rdes.inverse() * R, where R is the orientation of the orientation frame and Rdes is the desired orientation.

Definition at line 191 of file Feature.h.

Constructor & Destructor Documentation

ocra::OrientationFeature::OrientationFeature	(	const std::string &	name,
		ControlFrame::Ptr	frame
	)

Definition at line 492 of file Feature.cpp.

Member Function Documentation

const VectorXd & ocra::OrientationFeature::computeAcceleration ( const Feature &  featureDes ) const

virtual

Implements ocra::Feature.

Definition at line 527 of file Feature.cpp.

const VectorXd & ocra::OrientationFeature::computeAcceleration ( ) const

virtual

Implements ocra::Feature.

Definition at line 541 of file Feature.cpp.

const VectorXd & ocra::OrientationFeature::computeEffort ( const Feature &  featureDes ) const

virtual

Implements ocra::Feature.

Definition at line 508 of file Feature.cpp.

const VectorXd & ocra::OrientationFeature::computeEffort ( ) const

virtual

Implements ocra::Feature.

Definition at line 521 of file Feature.cpp.

const VectorXd & ocra::OrientationFeature::computeError ( const Feature &  featureDes ) const

virtual

Implements ocra::Feature.

Definition at line 547 of file Feature.cpp.

const VectorXd & ocra::OrientationFeature::computeError ( ) const

virtual

Implements ocra::Feature.

Definition at line 560 of file Feature.cpp.

const VectorXd & ocra::OrientationFeature::computeErrorDot ( const Feature &  featureDes ) const

virtual

Implements ocra::Feature.

Definition at line 567 of file Feature.cpp.

const VectorXd & ocra::OrientationFeature::computeErrorDot ( ) const

virtual

Implements ocra::Feature.

Definition at line 581 of file Feature.cpp.

const MatrixXd & ocra::OrientationFeature::computeJacobian ( const Feature &  featureDes ) const

virtual

Implements ocra::Feature.

Definition at line 587 of file Feature.cpp.

const MatrixXd & ocra::OrientationFeature::computeJacobian ( ) const

virtual

Implements ocra::Feature.

Definition at line 601 of file Feature.cpp.

const MatrixXd & ocra::OrientationFeature::computeProjectedMass ( const Feature &  featureDes ) const

virtual

Implements ocra::Feature.

Definition at line 607 of file Feature.cpp.

const MatrixXd & ocra::OrientationFeature::computeProjectedMass ( ) const

virtual

Implements ocra::Feature.

Definition at line 617 of file Feature.cpp.

const MatrixXd & ocra::OrientationFeature::computeProjectedMassInverse ( const Feature &  featureDes ) const

virtual

Implements ocra::Feature.

Definition at line 627 of file Feature.cpp.

const MatrixXd & ocra::OrientationFeature::computeProjectedMassInverse ( ) const

virtual

Implements ocra::Feature.

Definition at line 639 of file Feature.cpp.

int ocra::OrientationFeature::getDimension ( ) const

virtual

Implements ocra::Feature.

Definition at line 503 of file Feature.cpp.

const MatrixXd & ocra::OrientationFeature::getSpaceTransform ( ) const

virtual

Implements ocra::Feature.

Definition at line 498 of file Feature.cpp.

TaskState ocra::OrientationFeature::getState ( ) const

virtual

Implements ocra::Feature.

Definition at line 650 of file Feature.cpp.

void ocra::OrientationFeature::setState ( const TaskState &  newState )

virtual

Implements ocra::Feature.

Definition at line 661 of file Feature.cpp.

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

• Feature.h
• Feature.cpp