ocra-recipes: ocra::DisplacementFeature Class Reference

ocra-recipes

Doxygen documentation for the ocra-recipes repository

Used to build position/orientation tasks. More...

#include <Feature.h>

Inheritance diagram for ocra::DisplacementFeature:

Collaboration diagram for ocra::DisplacementFeature:

Classes
struct	Pimpl

Public Member Functions
	DisplacementFeature (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 position/orientation tasks.

These features combine position and orientation features, to control both the position and orientation of a control frame. See the documentation of PositionFeature and OrientationFeature.

Definition at line 235 of file Feature.h.

Constructor & Destructor Documentation

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

Definition at line 722 of file Feature.cpp.

Member Function Documentation

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

virtual

Implements ocra::Feature.

Definition at line 775 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 801 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 743 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 761 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 816 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 836 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 851 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 873 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 890 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 911 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 927 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 937 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 947 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 959 of file Feature.cpp.

int ocra::DisplacementFeature::getDimension ( ) const

virtual

Implements ocra::Feature.

Definition at line 738 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 728 of file Feature.cpp.

TaskState ocra::DisplacementFeature::getState ( ) const

virtual

Implements ocra::Feature.

Definition at line 970 of file Feature.cpp.

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

virtual

Implements ocra::Feature.

Definition at line 981 of file Feature.cpp.

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