ocra::ContactConstraintFeature Class Reference

Used to build contact constraint tasks (null acceleration). More...

#include <Feature.h>

Inheritance diagram for ocra::ContactConstraintFeature:

Collaboration diagram for ocra::ContactConstraintFeature:

Classes
struct	Pimpl

Public Member Functions
	ContactConstraintFeature (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 contact constraint tasks (null acceleration).

These features is similar to a displacement feature, except all quantities are expressed in the controlled frame (space transform is identity). Desired features are irrelevant and computeXXX(const Feature&) will throw.

Definition at line 279 of file Feature.h.

Constructor & Destructor Documentation

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

Definition at line 1028 of file Feature.cpp.

Member Function Documentation

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

virtual

Implements ocra::Feature.

Definition at line 1057 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1062 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1044 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1049 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1069 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1074 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1084 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1089 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1097 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1102 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1108 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1113 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1123 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1128 of file Feature.cpp.

int ocra::ContactConstraintFeature::getDimension ( ) const

virtual

Implements ocra::Feature.

Definition at line 1039 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1034 of file Feature.cpp.

TaskState ocra::ContactConstraintFeature::getState ( ) const

virtual

Implements ocra::Feature.

Definition at line 1139 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1150 of file Feature.cpp.

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

• Feature.h
• Feature.cpp