ocra::PartialStateFeature Class Reference

Used to build tasks in a partial configuration space. More...

#include <Feature.h>

Inheritance diagram for ocra::PartialStateFeature:

Collaboration diagram for ocra::PartialStateFeature:

Classes
struct	Pimpl

Public Member Functions
	PartialStateFeature (const std::string &name, PartialState::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 a partial configuration space.

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

Definition at line 369 of file Feature.h.

Constructor & Destructor Documentation

ocra::PartialStateFeature::PartialStateFeature	(	const std::string &	name,
		PartialState::Ptr	state
	)

Definition at line 1351 of file Feature.cpp.

Member Function Documentation

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

virtual

Implements ocra::Feature.

Definition at line 1380 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1387 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1367 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1374 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1393 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1400 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1406 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1413 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1419 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1426 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1432 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1439 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1445 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1452 of file Feature.cpp.

int ocra::PartialStateFeature::getDimension ( ) const

virtual

Implements ocra::Feature.

Definition at line 1362 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1357 of file Feature.cpp.

TaskState ocra::PartialStateFeature::getState ( ) const

virtual

Implements ocra::Feature.

Definition at line 1457 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 1467 of file Feature.cpp.

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

• Feature.h
• Feature.cpp