ocra::PointContactFeature Class Reference

Used to build point contact tasks. More...

#include <Feature.h>

Inheritance diagram for ocra::PointContactFeature:

Collaboration diagram for ocra::PointContactFeature:

Classes
struct	Pimpl

Public Member Functions
	PointContactFeature (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 point contact tasks.

Desired features have no meaning here, so the versions of the methods with desired features passed as arguments will throw. These features are used to build point contact tasks, and will typically be associated with friction cones. The space transform is identity: the error is computed in the controlled frame.

Definition at line 147 of file Feature.h.

Constructor & Destructor Documentation

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

Definition at line 329 of file Feature.cpp.

Member Function Documentation

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

virtual

Implements ocra::Feature.

Definition at line 356 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 361 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 345 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 350 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 367 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 372 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 381 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 386 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 392 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 397 of file Feature.cpp.

const Eigen::MatrixXd & ocra::PointContactFeature::computeProjectedMass ( const Feature &  featureDes ) const

virtual

Implements ocra::Feature.

Definition at line 403 of file Feature.cpp.

const Eigen::MatrixXd & ocra::PointContactFeature::computeProjectedMass ( ) const

virtual

Implements ocra::Feature.

Definition at line 408 of file Feature.cpp.

const Eigen::MatrixXd & ocra::PointContactFeature::computeProjectedMassInverse ( const Feature &  featureDes ) const

virtual

Implements ocra::Feature.

Definition at line 418 of file Feature.cpp.

const Eigen::MatrixXd & ocra::PointContactFeature::computeProjectedMassInverse ( ) const

virtual

Implements ocra::Feature.

Definition at line 423 of file Feature.cpp.

int ocra::PointContactFeature::getDimension ( ) const

virtual

Implements ocra::Feature.

Definition at line 340 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 335 of file Feature.cpp.

TaskState ocra::PointContactFeature::getState ( ) const

virtual

Implements ocra::Feature.

Definition at line 434 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 445 of file Feature.cpp.

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

• Feature.h
• Feature.cpp