ocra-recipes
Doxygen documentation for the ocra-recipes repository
Classes | Public Member Functions | List of all members
ocra::OrientationFeature Class Reference

Used to build orientation tasks. More...

#include <Feature.h>

Inheritance diagram for ocra::OrientationFeature:
[legend]
Collaboration diagram for ocra::OrientationFeature:
[legend]

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.


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