Compute position and jacobian of a local frame attached to a joint. More...

#include <op-point-modifier.hh>

Inheritance diagram for dynamicgraph::sot::OpPointModifier:

Public Member Functions
virtual const std::string &	getClassName (void) const

const Eigen::Matrix4d &	getTransformation (void)

dynamicgraph::Matrix &	jacobianSOUT_function (dynamicgraph::Matrix &res, const int &time)

	OpPointModifier (const std::string &name)

MatrixHomogeneous &	positionSOUT_function (MatrixHomogeneous &res, const int &time)

void	setTransformation (const Eigen::Matrix4d &tr)

void	setTransformationBySignalName (std::istringstream &cmdArgs)

virtual	~OpPointModifier (void)

Public Member Functions inherited from dynamicgraph::Entity
virtual void	display (std::ostream &os) const

std::ostream &	displaySignalList (std::ostream &os) const

	Entity (const std::string &name)

const std::string &	getCommandList () const

virtual std::string	getDocString () const

LoggerVerbosity	getLoggerVerbosityLevel ()

LoggerVerbosity	getLoggerVerbosityLevel ()

const std::string &	getName () const

command::Command *	getNewStyleCommand (const std::string &cmdName)

CommandMap_t	getNewStyleCommandMap ()

SignalBase< int > &	getSignal (const std::string &signalName)

const SignalBase< int > &	getSignal (const std::string &signalName) const

SignalMap	getSignalMap () const

double	getStreamPrintPeriod ()

double	getStreamPrintPeriod ()

double	getTimeSample ()

double	getTimeSample ()

bool	hasSignal (const std::string &signame) const

Logger &	logger ()

Logger const &	logger () const

Logger &	logger ()

Logger const &	logger () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

bool	setStreamPrintPeriod (double t)

bool	setStreamPrintPeriod (double t)

bool	setTimeSample (double t)

bool	setTimeSample (double t)

virtual SignalBase< int > *	test ()

virtual void	test2 (SignalBase< int > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual	~Entity ()

Public Attributes
dynamicgraph::SignalPtr< dynamicgraph::Matrix, int >	jacobianSIN

dynamicgraph::SignalTimeDependent< dynamicgraph::Matrix, int >	jacobianSOUT

dynamicgraph::SignalPtr< MatrixHomogeneous, int >	positionSIN

dynamicgraph::SignalTimeDependent< MatrixHomogeneous, int >	positionSOUT

Static Public Attributes
static const std::string	CLASS_NAME

Private Attributes
bool	isEndEffector

MatrixHomogeneous	transformation

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command *>	CommandMap_t

typedef std::map< std::string, SignalBase< int > *>	SignalMap

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityDeregistration ()

void	entityRegistration ()

void	signalDeregistration (const std::string &name)

void	signalRegistration (const SignalArray< int > &signals)

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Detailed Description

Compute position and jacobian of a local frame attached to a joint.

The position of the local frame in the frame of the joint is represented by transformation.

Definition at line 49 of file op-point-modifier.hh.

Constructor & Destructor Documentation

◆ OpPointModifier()

OpPointModifier::OpPointModifier ( const std::string & name )

Definition at line 27 of file op-point-modifier.cpp.

◆ ~OpPointModifier()

virtual dynamicgraph::sot::OpPointModifier::~OpPointModifier ( void )

inlinevirtual

Definition at line 63 of file op-point-modifier.hh.

Member Function Documentation

◆ getClassName()

virtual const std::string& dynamicgraph::sot::OpPointModifier::getClassName ( void ) const

inlinevirtual

Reimplemented from dynamicgraph::Entity.

Definition at line 52 of file op-point-modifier.hh.

◆ getTransformation()

const Eigen::Matrix4d & OpPointModifier::getTransformation ( void )

Definition at line 127 of file op-point-modifier.cpp.

◆ jacobianSOUT_function()

dynamicgraph::Matrix & OpPointModifier::jacobianSOUT_function	(	dynamicgraph::Matrix &	res,
		const int &	time
	)

Definition at line 68 of file op-point-modifier.cpp.

◆ positionSOUT_function()

MatrixHomogeneous & OpPointModifier::positionSOUT_function	(	MatrixHomogeneous &	res,
		const int &	time
	)

Definition at line 113 of file op-point-modifier.cpp.

◆ setTransformation()

void OpPointModifier::setTransformation ( const Eigen::Matrix4d & tr )

Definition at line 124 of file op-point-modifier.cpp.

◆ setTransformationBySignalName()

void OpPointModifier::setTransformationBySignalName ( std::istringstream & cmdArgs )

Definition at line 139 of file op-point-modifier.cpp.

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::OpPointModifier::CLASS_NAME

static

Definition at line 51 of file op-point-modifier.hh.

◆ isEndEffector

bool dynamicgraph::sot::OpPointModifier::isEndEffector

private

Definition at line 80 of file op-point-modifier.hh.

◆ jacobianSIN

dynamicgraph::SignalPtr<dynamicgraph::Matrix, int> dynamicgraph::sot::OpPointModifier::jacobianSIN

Definition at line 55 of file op-point-modifier.hh.

◆ jacobianSOUT

dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, int> dynamicgraph::sot::OpPointModifier::jacobianSOUT

Definition at line 58 of file op-point-modifier.hh.

◆ positionSIN

dynamicgraph::SignalPtr<MatrixHomogeneous, int> dynamicgraph::sot::OpPointModifier::positionSIN

Definition at line 56 of file op-point-modifier.hh.

◆ positionSOUT

dynamicgraph::SignalTimeDependent<MatrixHomogeneous, int> dynamicgraph::sot::OpPointModifier::positionSOUT

Definition at line 59 of file op-point-modifier.hh.

◆ transformation

MatrixHomogeneous dynamicgraph::sot::OpPointModifier::transformation