Represents a 'target', i.e. something that does not depend on a model but must match with another frame. More...

#include <ControlFrame.h>

Inheritance diagram for ocra::TargetFrame:

Collaboration diagram for ocra::TargetFrame:

Classes
struct	Pimpl

Public Member Functions
	TargetFrame (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

void	setPosition (const Eigen::Displacementd &H)

void	setVelocity (const Eigen::Twistd &T)

void	setAcceleration (const Eigen::Twistd &gamma)

void	setWrench (const Eigen::Wrenchd &W)

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

Represents a 'target', i.e. something that does not depend on a model but must match with another frame.

A target frame has its position and velocity manually defined via TargetFrame::setPosition and TargetFrame::setVelocity. It can be used to specify control objectives. Note that you always have to specify a displacement and a twist, whatever the control objective. If you are only interested in specifying a position, you can just fill the rotational part with the identity quaternion. Likewise, if only the rotational part is of interest, you can specify any position, since it will be ignored by the controller. The same goes for the twist.

Definition at line 75 of file ControlFrame.h.