ocra::SegmentFrame Class Reference

A frame attached to a segment of a model. More...

#include <ControlFrame.h>

Inheritance diagram for ocra::SegmentFrame:

Collaboration diagram for ocra::SegmentFrame:

Classes
struct	Pimpl

Public Member Functions
	SegmentFrame (const std::string &name, const Model &model, const std::string &segname)
	SegmentFrame (const std::string &name, const Model &model, const std::string &segname, const Eigen::Displacementd &H_local)
	SegmentFrame (const std::string &name, const Model &model, int segmentId)
	SegmentFrame (const std::string &name, const Model &model, int segmentId, const Eigen::Displacementd &H_local)
Eigen::Displacementd	getPosition () const
Eigen::Twistd	getVelocity () const
Eigen::Twistd	getAcceleration () const
Eigen::Wrenchd	getWrench () const
Eigen::Matrix< double, 6, Eigen::Dynamic >	getJacobian () const
bool	dependsOnModelConfiguration () const
const Model &	getModel () const
int	getSegmentIndex () const
Public Member Functions inherited from ocra::ControlFrame
virtual	~ControlFrame ()=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::ControlFrame
	ControlFrame (const std::string &name)

Detailed Description

A frame attached to a segment of a model.

Definition at line 104 of file ControlFrame.h.

Constructor & Destructor Documentation

ocra::SegmentFrame::SegmentFrame	(	const std::string &	name,
		const Model &	model,
		const std::string &	segname
	)

Definition at line 141 of file ControlFrame.cpp.

ocra::SegmentFrame::SegmentFrame	(	const std::string &	name,
		const Model &	model,
		const std::string &	segname,
		const Eigen::Displacementd &	H_local
	)

Definition at line 147 of file ControlFrame.cpp.

ocra::SegmentFrame::SegmentFrame	(	const std::string &	name,
		const Model &	model,
		int	segmentId
	)

Definition at line 153 of file ControlFrame.cpp.

ocra::SegmentFrame::SegmentFrame	(	const std::string &	name,
		const Model &	model,
		int	segmentId,
		const Eigen::Displacementd &	H_local
	)

Definition at line 159 of file ControlFrame.cpp.

Member Function Documentation

bool ocra::SegmentFrame::dependsOnModelConfiguration ( ) const

virtual

Implements ocra::ControlFrame.

Definition at line 190 of file ControlFrame.cpp.

Eigen::Twistd ocra::SegmentFrame::getAcceleration ( ) const

virtual

Implements ocra::ControlFrame.

Definition at line 175 of file ControlFrame.cpp.

Jacobian6d ocra::SegmentFrame::getJacobian ( ) const

virtual

Implements ocra::ControlFrame.

Definition at line 185 of file ControlFrame.cpp.

const Model & ocra::SegmentFrame::getModel ( ) const

virtual

Implements ocra::ControlFrame.

Definition at line 195 of file ControlFrame.cpp.

Eigen::Displacementd ocra::SegmentFrame::getPosition ( ) const

virtual

Implements ocra::ControlFrame.

Definition at line 165 of file ControlFrame.cpp.

int ocra::SegmentFrame::getSegmentIndex

(

)

const

Definition at line 200 of file ControlFrame.cpp.

Eigen::Twistd ocra::SegmentFrame::getVelocity ( ) const

virtual

Implements ocra::ControlFrame.

Definition at line 170 of file ControlFrame.cpp.

Eigen::Wrenchd ocra::SegmentFrame::getWrench ( ) const

virtual

Implements ocra::ControlFrame.

Definition at line 180 of file ControlFrame.cpp.

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

• ControlFrame.h
• ControlFrame.cpp