ocra::FullStateFeature Class Reference

Used to build tasks in the manikin configuration space. More...

#include <Feature.h>

Inheritance diagram for ocra::FullStateFeature:

Collaboration diagram for ocra::FullStateFeature:

Classes
struct	Pimpl

Public Member Functions
	FullStateFeature (const std::string &name, FullState::Ptr state)
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 tasks in the manikin configuration space.

Can be used e.g. for Joint PD control.

Definition at line 326 of file Feature.h.

Constructor & Destructor Documentation

ocra::FullStateFeature::FullStateFeature	(	const std::string &	name,
		FullState::Ptr	state
	)

Definition at line 1195 of file Feature.cpp.

Member Function Documentation

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

virtual

Implements ocra::Feature.

Definition at line 1224 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1231 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1211 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1218 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1237 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1244 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1250 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1257 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1263 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1270 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1276 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1283 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1289 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1296 of file Feature.cpp.

int ocra::FullStateFeature::getDimension ( ) const

virtual

Implements ocra::Feature.

Definition at line 1206 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1201 of file Feature.cpp.

TaskState ocra::FullStateFeature::getState ( ) const

virtual

Implements ocra::Feature.

Definition at line 1302 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1312 of file Feature.cpp.

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

• Feature.h
• Feature.cpp