mc_tvm::Convex Struct Reference

#include <mc_tvm/Convex.h>

Inheritance diagram for mc_tvm::Convex:

Collaboration diagram for mc_tvm::Convex:

Public Member Functions
	Convex (NewConvexToken, mc_rbdyn::S_ObjectPtr object, const mc_rbdyn::RobotFrame &frame, const sva::PTransformd &X_f_c)
	Convex (const Convex &)=delete
Convex &	operator= (const Convex &)=delete
mc_rbdyn::S_ObjectPtr	convex () noexcept
const mc_rbdyn::RobotFrame &	frame ()
Public Member Functions inherited from tvm::graph::internal::AbstractNode
bool	isUpdateEnabled (EnumT e) const
virtual bool	isUpdateStaticallyEnabled (int) const
virtual bool	isUpdateCustomEnabled (int) const
virtual	~AbstractNode ()=default
void	update (int i)
Public Member Functions inherited from tvm::graph::internal::Inputs
virtual	~Inputs ()=default
void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)
void	addInput (T &source, EnumI i, Args... args)
void	removeInput (T *source)
void	removeInput (T *source, Args... args)
Iterator	getInput (T *source)
Iterator	getInput (const std::shared_ptr< T > &source)
Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default
bool	isOutputEnabled (EnumT e) const
bool	isOutputEnabled (int i) const
virtual bool	isOutputStaticallyEnabled (int) const
virtual bool	isOutputCustomEnabled (int) const

Friends
struct	mc_rbdyn::Robot

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum	Update_
typedef AbstractNode	UpdateParent
typedef AbstractNode	UpdateBase
Public Types inherited from tvm::graph::internal::Inputs
typedef std::unordered_map< abstract::Outputs *, std::set< int > >	inputs_t
typedef std::unordered_set< std::shared_ptr< abstract::Outputs > >	store_t
Public Types inherited from tvm::graph::abstract::Outputs
enum	Output_
typedef Outputs	OutputParent
typedef Outputs	OutputBase
Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)
static constexpr bool	UpdateStaticallyEnabled (EnumT)
Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)
static constexpr bool	OutputStaticallyEnabled (EnumT)
Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize
static constexpr auto	UpdateBaseName
Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize
static constexpr auto	OutputBaseName
Protected Types inherited from tvm::graph::internal::AbstractNode
typedef std::map< Outputs *, std::set< int > >	input_dependency_t
Protected Member Functions inherited from tvm::graph::abstract::Node< Convex >
void	registerUpdates (EnumT u, void(U::*fn)(), Args... args)
void	registerUpdates (EnumT u, void(U::*fn)())
void	addOutputDependency (EnumO o, EnumU u)
void	addOutputDependency (std::initializer_list< EnumO > os, EnumU u)
void	addInternalDependency (EnumU1 uDependent, EnumU2 u)
void	addInputDependency (EnumU u, std::shared_ptr< S > source, EnumO i, Args... args)
void	addInputDependency (EnumU u, S &source, EnumO i, Args... args)
void	addDirectDependency (EnumO o, std::shared_ptr< S > source, EnumI i)
void	addDirectDependency (EnumO o, S &source, EnumI i)
Protected Attributes inherited from tvm::graph::internal::AbstractNode
std::map< int, std::function< void(AbstractNode &)> >	updates_
std::map< int, std::vector< int > >	outputDependencies_
std::map< int, std::vector< int > >	internalDependencies_
std::map< int, input_dependency_t >	inputDependencies_
std::map< int, std::pair< Outputs *, int > >	directDependencies_
Protected Attributes inherited from tvm::graph::abstract::Outputs
bool	is_node_

Detailed Description

A convex is an SCH object associated to a Frame

It defines a single output:

• Position: update the convex position according to the frame

Constructor & Destructor Documentation

Convex() [1/2]

mc_tvm::Convex::Convex	(	NewConvexToken	,
		mc_rbdyn::S_ObjectPtr	object,
		const mc_rbdyn::RobotFrame &	frame,
		const sva::PTransformd &	X_f_c
	)

Construct a convex from associated S_Object and frame

Parameters

object	Pointer to the loaded S_Object
frame	Frame of this convex
X_f_c	Transformation from the frame to the convex

Convex() [2/2]

mc_tvm::Convex::Convex ( const Convex &  )

delete

Member Function Documentation

convex()

mc_rbdyn::S_ObjectPtr mc_tvm::Convex::convex ( )

inlinenoexcept

Access the underlying SCH object

frame()

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

inline

Access the associated frame

operator=()

Convex& mc_tvm::Convex::operator= ( const Convex &  )

delete

Friends And Related Function Documentation

mc_rbdyn::Robot

friend struct mc_rbdyn::Robot

friend

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

• include/mc_tvm/Convex.h