ocra-recipes: ocra::CoMFrame Class Reference

ocra-recipes

Doxygen documentation for the ocra-recipes repository

Creates a frame whose center is at the CoM of the model and whose axes are parallel to the axes of the world frame. More...

#include <ControlFrame.h>

Inheritance diagram for ocra::CoMFrame:

Collaboration diagram for ocra::CoMFrame:

Classes
struct	Pimpl

Public Member Functions
	CoMFrame (const std::string &name, const Model &model)

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

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

Creates a frame whose center is at the CoM of the model and whose axes are parallel to the axes of the world frame.

Definition at line 132 of file ControlFrame.h.

Constructor & Destructor Documentation

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

Definition at line 215 of file ControlFrame.cpp.

Member Function Documentation

bool ocra::CoMFrame::dependsOnModelConfiguration ( ) const

virtual

Implements ocra::ControlFrame.

Definition at line 250 of file ControlFrame.cpp.

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

virtual

Implements ocra::ControlFrame.

Definition at line 232 of file ControlFrame.cpp.

Jacobian6d ocra::CoMFrame::getJacobian ( ) const

virtual

Implements ocra::ControlFrame.

Definition at line 242 of file ControlFrame.cpp.

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

virtual

Implements ocra::ControlFrame.

Definition at line 255 of file ControlFrame.cpp.

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

virtual

Implements ocra::ControlFrame.

Definition at line 221 of file ControlFrame.cpp.

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

virtual

Implements ocra::ControlFrame.

Definition at line 227 of file ControlFrame.cpp.

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

virtual

Implements ocra::ControlFrame.

Definition at line 237 of file ControlFrame.cpp.

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