mc_tvm::TransformFunction Class Reference

#include <mc_tvm/TransformFunction.h>

Inheritance diagram for mc_tvm::TransformFunction:

Collaboration diagram for mc_tvm::TransformFunction:

Public Member Functions
	TransformFunction (const mc_rbdyn::RobotFrame &frame)
void	reset ()
const sva::PTransformd &	pose () const noexcept
void	pose (const sva::PTransformd &pose) noexcept
const Eigen::Vector6d &	refVel () const noexcept
void	refVel (const Eigen::Vector6d &refVel) noexcept
const Eigen::Vector6d &	refAccel () const noexcept
void	refAccel (const Eigen::Vector6d &refAccel) noexcept
const mc_rbdyn::RobotFrame &	frame () const noexcept

Protected Member Functions
void	updateValue ()
void	updateVelocity ()
void	updateJacobian ()
void	updateNormalAcceleration ()

Protected Attributes
mc_rbdyn::ConstRobotFramePtr	frame_
mc_tvm::RobotFrame &	tvm_frame_
rbd::Jacobian	frameJac_
Eigen::MatrixXd	shortJacMat_
Eigen::MatrixXd	jacMat_
sva::MotionVecd	err_p_
sva::MotionVecd	w_p_p_
sva::MotionVecd	V_err_p_
sva::PTransformd	pose_
Eigen::Vector6d	refVel_
Eigen::Vector6d	refAccel_

Detailed Description

This class implements a position function for a given frame

Constructor & Destructor Documentation

TransformFunction()

mc_tvm::TransformFunction::TransformFunction

(

const mc_rbdyn::RobotFrame &

frame

)

Constructor

Set the objective to the current frame pose

Member Function Documentation

frame()

const mc_rbdyn::RobotFrame& mc_tvm::TransformFunction::frame ( ) const

inlinenoexcept

Get the frame

pose() [1/2]

const sva::PTransformd& mc_tvm::TransformFunction::pose ( ) const

inlinenoexcept

Get the current objective

pose() [2/2]

void mc_tvm::TransformFunction::pose ( const sva::PTransformd &  pose )

inlinenoexcept

Set the objective

refAccel() [1/2]

const Eigen::Vector6d& mc_tvm::TransformFunction::refAccel ( ) const

inlinenoexcept

Get the current objective

refAccel() [2/2]

void mc_tvm::TransformFunction::refAccel ( const Eigen::Vector6d &  refAccel )

inlinenoexcept

Set the objective

refVel() [1/2]

const Eigen::Vector6d& mc_tvm::TransformFunction::refVel ( ) const

inlinenoexcept

Get the current objective

refVel() [2/2]

void mc_tvm::TransformFunction::refVel ( const Eigen::Vector6d &  refVel )

inlinenoexcept

Set the objective

reset()

void mc_tvm::TransformFunction::reset

(

)

Set the target pose to the current frame pose

updateJacobian()

void mc_tvm::TransformFunction::updateJacobian ( )

protected

updateNormalAcceleration()

void mc_tvm::TransformFunction::updateNormalAcceleration ( )

protected

updateValue()

void mc_tvm::TransformFunction::updateValue ( )

protected

updateVelocity()

void mc_tvm::TransformFunction::updateVelocity ( )

protected

Member Data Documentation

err_p_

sva::MotionVecd mc_tvm::TransformFunction::err_p_

protected

frame_

mc_rbdyn::ConstRobotFramePtr mc_tvm::TransformFunction::frame_

protected

frameJac_

rbd::Jacobian mc_tvm::TransformFunction::frameJac_

protected

Computation intermediate

jacMat_

Eigen::MatrixXd mc_tvm::TransformFunction::jacMat_

protected

pose_

sva::PTransformd mc_tvm::TransformFunction::pose_

protected

Target

refAccel_

Eigen::Vector6d mc_tvm::TransformFunction::refAccel_

protected

refVel_

Eigen::Vector6d mc_tvm::TransformFunction::refVel_

protected

shortJacMat_

Eigen::MatrixXd mc_tvm::TransformFunction::shortJacMat_

protected

tvm_frame_

mc_tvm::RobotFrame& mc_tvm::TransformFunction::tvm_frame_

protected

V_err_p_

sva::MotionVecd mc_tvm::TransformFunction::V_err_p_

protected

w_p_p_

sva::MotionVecd mc_tvm::TransformFunction::w_p_p_

protected

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

• include/mc_tvm/TransformFunction.h