ocra::PositionFeature Class Reference

Used to build positioning tasks. More...

#include <Feature.h>

Inheritance diagram for ocra::PositionFeature:

Collaboration diagram for ocra::PositionFeature:

Classes
struct	Pimpl

Public Member Functions
	PositionFeature (const std::string &name, ControlFrame::Ptr frame, ECartesianDof axes)
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 positioning tasks.

The error between two PositionFeature is equal to the difference between the origins of their associated frames (the orientation error is neglected). You can specify axes at construction to consider only some axes: position along x, y, or z; position in the xy, xz, yz planes, or in the cartesian space (x, y, and z). The output space of the jacobian given by this feature correspond to the world frame. Use getSpaceTransform() to get the transformation from the control frame space to the output space.

Definition at line 101 of file Feature.h.

Constructor & Destructor Documentation

ocra::PositionFeature::PositionFeature	(	const std::string &	name,
		ControlFrame::Ptr	frame,
		ECartesianDof	axes
	)

Definition at line 60 of file Feature.cpp.

Member Function Documentation

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

virtual

Implements ocra::Feature.

Definition at line 109 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 124 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 79 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 97 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 133 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 149 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 162 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 182 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 195 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 214 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 226 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 236 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 246 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 258 of file Feature.cpp.

int ocra::PositionFeature::getDimension ( ) const

virtual

Implements ocra::Feature.

Definition at line 74 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 67 of file Feature.cpp.

TaskState ocra::PositionFeature::getState ( ) const

virtual

Implements ocra::Feature.

Definition at line 270 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 281 of file Feature.cpp.

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

• Feature.h
• Feature.cpp