OrientationFunction.h

Go to the documentation of this file.

 
#pragma once
 
#include <tvm/function/abstract/Function.h>
#include <tvm/robot/Frame.h>
 
namespace tvm
{
 
namespace robot
{
 
class TVM_DLLAPI OrientationFunction : public function::abstract::Function
{
public:
  SET_UPDATES(OrientationFunction, Value, Velocity, Jacobian, NormalAcceleration)
 
  
  OrientationFunction(FramePtr frame);
 
  void reset();
 
  inline const Eigen::Matrix3d & orientation() const { return ori_; }
 
  inline void orientation(const Eigen::Matrix3d & ori) { ori_ = ori; }
 
protected:
  void updateValue();
  void updateVelocity();
  void updateJacobian();
  void updateNormalAcceleration();
 
  FramePtr frame_;
 
  Eigen::Matrix3d ori_;
};
 
} // namespace robot
 
} // namespace tvm