mc_tvm::VectorOrientationFunction Class Reference

#include <mc_tvm/VectorOrientationFunction.h>

Inheritance diagram for mc_tvm::VectorOrientationFunction:

Collaboration diagram for mc_tvm::VectorOrientationFunction:

Public Member Functions
	VectorOrientationFunction (const mc_rbdyn::RobotFrame &frame, const Eigen::Vector3d &frameVector)
void	reset ()
const Eigen::Vector3d &	target () const noexcept
void	target (const Eigen::Vector3d &target) noexcept
const Eigen::Vector3d &	frameVector () const noexcept
void	frameVector (const Eigen::Vector3d &frameVector) noexcept
const Eigen::Vector3d &	actual () const 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	frame_
mc_tvm::RobotFrame &	body_frame_
Eigen::Vector3d	frameVectorIn_
rbd::Jacobian	jac_
Eigen::Vector3d	actualVector_
Eigen::Vector3d	bodyVector_
Eigen::Matrix3d	bodyVectorHat_
Eigen::MatrixXd	fullJacobian_
Eigen::Matrix3d	E_0_b_
Eigen::Vector3d	w_b_b_
Eigen::Vector3d	target_
Eigen::Vector3d	refVel_
Eigen::Vector3d	refAccel_

Detailed Description

For a given vector attached to a frame expressed in frame coordinates, computes the difference with a target vector in world coordinates

Constructor & Destructor Documentation

VectorOrientationFunction()

mc_tvm::VectorOrientationFunction::VectorOrientationFunction	(	const mc_rbdyn::RobotFrame &	frame,
		const Eigen::Vector3d &	frameVector
	)

Constructor

Set the objective to the current value of the body vector in world coordinates

Member Function Documentation

actual()

const Eigen::Vector3d& mc_tvm::VectorOrientationFunction::actual ( ) const

inlinenoexcept

Returns the current value of frame vector in world coordinates

frame()

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

inlinenoexcept

Access the frame

frameVector() [1/2]

const Eigen::Vector3d& mc_tvm::VectorOrientationFunction::frameVector ( ) const

inlinenoexcept

Get the current frame vector (in frame coordinates)

frameVector() [2/2]

void mc_tvm::VectorOrientationFunction::frameVector ( const Eigen::Vector3d &  frameVector )

noexcept

Set the frame vector

refAccel() [1/2]

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

inlinenoexcept

Get the current objective

refAccel() [2/2]

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

inlinenoexcept

Set the objective

refVel() [1/2]

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

inlinenoexcept

Get the current objective

refVel() [2/2]

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

inlinenoexcept

Set the objective

reset()

void mc_tvm::VectorOrientationFunction::reset

(

)

Reset the target vector to the current frame vector

target() [1/2]

const Eigen::Vector3d& mc_tvm::VectorOrientationFunction::target ( ) const

inlinenoexcept

Get the current objective

target() [2/2]

void mc_tvm::VectorOrientationFunction::target ( const Eigen::Vector3d &  target )

inlinenoexcept

Set the objective

updateJacobian()

void mc_tvm::VectorOrientationFunction::updateJacobian ( )

protected

updateNormalAcceleration()

void mc_tvm::VectorOrientationFunction::updateNormalAcceleration ( )

protected

updateValue()

void mc_tvm::VectorOrientationFunction::updateValue ( )

protected

updateVelocity()

void mc_tvm::VectorOrientationFunction::updateVelocity ( )

protected

Member Data Documentation

actualVector_

Eigen::Vector3d mc_tvm::VectorOrientationFunction::actualVector_

protected

body_frame_

mc_tvm::RobotFrame& mc_tvm::VectorOrientationFunction::body_frame_

protected

bodyVector_

Eigen::Vector3d mc_tvm::VectorOrientationFunction::bodyVector_

protected

bodyVectorHat_

Eigen::Matrix3d mc_tvm::VectorOrientationFunction::bodyVectorHat_

protected

E_0_b_

Eigen::Matrix3d mc_tvm::VectorOrientationFunction::E_0_b_

protected

frame_

mc_rbdyn::ConstRobotFramePtr mc_tvm::VectorOrientationFunction::frame_

protected

frameVectorIn_

Eigen::Vector3d mc_tvm::VectorOrientationFunction::frameVectorIn_

protected

Task configuration

fullJacobian_

Eigen::MatrixXd mc_tvm::VectorOrientationFunction::fullJacobian_

protected

jac_

rbd::Jacobian mc_tvm::VectorOrientationFunction::jac_

protected

Computation intermediate

refAccel_

Eigen::Vector3d mc_tvm::VectorOrientationFunction::refAccel_

protected

refVel_

Eigen::Vector3d mc_tvm::VectorOrientationFunction::refVel_

protected

target_

Eigen::Vector3d mc_tvm::VectorOrientationFunction::target_

protected

Target

w_b_b_

Eigen::Vector3d mc_tvm::VectorOrientationFunction::w_b_b_

protected

---

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

• include/mc_tvm/VectorOrientationFunction.h