ocra-recipes
Doxygen documentation for the ocra-recipes repository
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Used to build orientation tasks. More...
#include <Feature.h>
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) | |
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.
ocra::OrientationFeature::OrientationFeature | ( | const std::string & | name, |
ControlFrame::Ptr | frame | ||
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Definition at line 492 of file Feature.cpp.
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virtual |
Implements ocra::Feature.
Definition at line 527 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 541 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 508 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 521 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 547 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 560 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 567 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 581 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 587 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 601 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 607 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 617 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 627 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 639 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 503 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 498 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 650 of file Feature.cpp.
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Implements ocra::Feature.
Definition at line 661 of file Feature.cpp.