mc_rbdyn::Device Struct Reference

#include <mc_rbdyn/Device.h>

Inheritance diagram for mc_rbdyn::Device:

Public Member Functions
	Device (const std::string &name)
	Device (const std::string &name, const std::string &parent, const sva::PTransformd &X_p_s)
	Device (const Device &)=delete
Device &	operator= (const Device &)=delete
	Device (Device &&)=default
Device &	operator= (Device &&)=default
virtual	~Device () noexcept=default
const std::string &	name () const
const std::string &	type () const
const std::string &	parent () const
void	parent (const std::string &p)
const sva::PTransformd &	X_p_d () const
const sva::PTransformd &	X_p_s () const
void	X_p_d (const sva::PTransformd &pt)
void	X_p_s (const sva::PTransformd &pt)
sva::PTransformd	X_0_d (const mc_rbdyn::Robot &robot) const
sva::PTransformd	X_0_s (const mc_rbdyn::Robot &robot) const
virtual DevicePtr	clone () const =0

Protected Attributes
std::string	type_
std::string	name_
std::string	parent_
sva::PTransformd	X_p_s_

Detailed Description

This struct represents a generic device attached to a robot

This is a barebone interface meant to be derived by a concrete device implementation

Constructor & Destructor Documentation

Device() [1/4]

mc_rbdyn::Device::Device

(

const std::string &

name

)

Build a device not specifically attached to the robot

When the Device becomes part of a Robot instance it is attached to the origin of the robot

Device() [2/4]

mc_rbdyn::Device::Device	(	const std::string &	name,
		const std::string &	parent,
		const sva::PTransformd &	X_p_s
	)

Build a device attached to a specific body of the robot

Device() [3/4]

mc_rbdyn::Device::Device ( const Device &  )

delete

Device() [4/4]

mc_rbdyn::Device::Device ( Device &&  )

default

~Device()

virtual mc_rbdyn::Device::~Device ( )

virtualdefaultnoexcept

Member Function Documentation

clone()

virtual DevicePtr mc_rbdyn::Device::clone ( ) const

pure virtual

Perform a device copy

Implemented in mc_rbdyn::ForceSensor, and mc_rbdyn::BodySensor.

name()

const std::string& mc_rbdyn::Device::name ( ) const

inline

Returns the name of the sensor

operator=() [1/2]

Device& mc_rbdyn::Device::operator= ( const Device &  )

delete

operator=() [2/2]

Device& mc_rbdyn::Device::operator= ( Device &&  )

default

parent() [1/2]

const std::string& mc_rbdyn::Device::parent ( ) const

inline

Returns the parent body of the sensor

parent() [2/2]

void mc_rbdyn::Device::parent ( const std::string &  p )

inline

Change the parent body of the sensor

type()

const std::string& mc_rbdyn::Device::type ( ) const

inline

Returns the type of the sensor

X_0_d()

sva::PTransformd mc_rbdyn::Device::X_0_d ( const mc_rbdyn::Robot &  robot ) const

inline

Returns the deviec position in the inertial frame (convenience function)

X_0_s()

sva::PTransformd mc_rbdyn::Device::X_0_s

(

const mc_rbdyn::Robot &

robot

)

const

Returns the sensor position in the inertial frame (convenience function)

X_p_d() [1/2]

const sva::PTransformd& mc_rbdyn::Device::X_p_d ( ) const

inline

Returns the transformation from the parent body to the device

X_p_d() [2/2]

void mc_rbdyn::Device::X_p_d ( const sva::PTransformd &  pt )

inline

Change the parent to device transformation

X_p_s() [1/2]

const sva::PTransformd& mc_rbdyn::Device::X_p_s ( ) const

inline

Returns the transformation from the parent body to the sensor

X_p_s() [2/2]

void mc_rbdyn::Device::X_p_s ( const sva::PTransformd &  pt )

inline

Change the parent to sensor transformation

Member Data Documentation

name_

std::string mc_rbdyn::Device::name_

protected

Name of the sensor

parent_

std::string mc_rbdyn::Device::parent_

protected

Parent body of the sensor

type_

std::string mc_rbdyn::Device::type_

protected

Type of sensor as string

X_p_s_

sva::PTransformd mc_rbdyn::Device::X_p_s_

protected

Transformation from the parent body frame to the sensor frame

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

• include/mc_rbdyn/Device.h