mc_tvm::OrientationFunction Class Reference

#include <mc_tvm/OrientationFunction.h>

Inheritance diagram for mc_tvm::OrientationFunction:

Collaboration diagram for mc_tvm::OrientationFunction:

Public Member Functions
	OrientationFunction (const mc_rbdyn::RobotFrame &frame)
void	reset ()
const Eigen::Matrix3d &	orientation () const noexcept
void	orientation (const Eigen::Matrix3d &ori) noexcept
const Eigen::Vector3d &	refVel () const noexcept
void	refVel (const Eigen::Vector3d &refVel) noexcept
const Eigen::Vector3d &	refAccel () const noexcept
void	refAccel (const Eigen::Vector3d &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	robot_frame_
mc_tvm::RobotFrame &	frame_
Eigen::Matrix3d	ori_
Eigen::Vector3d	refVel_
Eigen::Vector3d	refAccel_

Detailed Description

This class implements an orientation function for a given frame

Constructor & Destructor Documentation

OrientationFunction()

mc_tvm::OrientationFunction::OrientationFunction

(

const mc_rbdyn::RobotFrame &

frame

)

Constructor

Set the objective to the current frame orientation

Member Function Documentation

frame()

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

inlinenoexcept

Access the frame

orientation() [1/2]

const Eigen::Matrix3d& mc_tvm::OrientationFunction::orientation ( ) const

inlinenoexcept

Get the current objective

orientation() [2/2]

void mc_tvm::OrientationFunction::orientation ( const Eigen::Matrix3d &  ori )

inlinenoexcept

Set the objective

refAccel() [1/2]

const Eigen::Vector3d& mc_tvm::OrientationFunction::refAccel ( ) const

inlinenoexcept

Get the current objective

refAccel() [2/2]

void mc_tvm::OrientationFunction::refAccel ( const Eigen::Vector3d &  refAccel )

inlinenoexcept

Set the objective

refVel() [1/2]

const Eigen::Vector3d& mc_tvm::OrientationFunction::refVel ( ) const

inlinenoexcept

Get the current objective

refVel() [2/2]

void mc_tvm::OrientationFunction::refVel ( const Eigen::Vector3d &  refVel )

inlinenoexcept

Set the objective

reset()

void mc_tvm::OrientationFunction::reset

(

)

Set the target orientation to the current frame orientation and reset reference velocity/acceleration to zero

updateJacobian()

void mc_tvm::OrientationFunction::updateJacobian ( )

protected

updateNormalAcceleration()

void mc_tvm::OrientationFunction::updateNormalAcceleration ( )

protected

updateValue()

void mc_tvm::OrientationFunction::updateValue ( )

protected

updateVelocity()

void mc_tvm::OrientationFunction::updateVelocity ( )

protected

Member Data Documentation

frame_

mc_tvm::RobotFrame& mc_tvm::OrientationFunction::frame_

protected

ori_

Eigen::Matrix3d mc_tvm::OrientationFunction::ori_

protected

Target

refAccel_

Eigen::Vector3d mc_tvm::OrientationFunction::refAccel_

protected

refVel_

Eigen::Vector3d mc_tvm::OrientationFunction::refVel_

protected

robot_frame_

mc_rbdyn::ConstRobotFramePtr mc_tvm::OrientationFunction::robot_frame_

protected

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

• include/mc_tvm/OrientationFunction.h