#include <clamp-workspace.hh>

Inheritance diagram for dynamicgraph::sot::ClampWorkspace:

Public Member Functions
	ClampWorkspace (const std::string &name)

virtual dynamicgraph::Matrix &	computeOutput (dynamicgraph::Matrix &res, sigtime_t time)

virtual dynamicgraph::Matrix &	computeOutputBar (dynamicgraph::Matrix &res, sigtime_t time)

virtual MatrixHomogeneous &	computeRef (MatrixHomogeneous &res, sigtime_t time)

virtual void	display (std::ostream &) const

virtual const std::string &	getClassName (void) const

void	update (sigtime_t time)

virtual	~ClampWorkspace (void)

Public Member Functions inherited from dynamicgraph::Entity
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< sigtime_t > &	getSignal (const std::string &signalName)

const SignalBase< sigtime_t > &	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 &	logger ()

const Logger &	logger () const

const Logger &	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< sigtime_t > *	test ()

virtual void	test2 (SignalBase< sigtime_t > *)

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

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

virtual	~Entity ()

Static Public Attributes
static const std::string	CLASS_NAME

Private Types
enum	{ FRAME_POINT, FRAME_REF }

Private Attributes
dynamicgraph::Matrix	alpha

dynamicgraph::Matrix	alphabar

double	beta

std::pair< double, double >	bounds [3]

double	dm_max

double	dm_max_yaw

double	dm_min

double	dm_min_yaw

enum dynamicgraph::sot::ClampWorkspace:: { ... }	frame

MatrixHomogeneous	handref

size_type	mode

dynamicgraph::Vector	pd

MatrixHomogeneous	prefMp

MatrixRotation	Rd

double	scale

double	theta_max

double	theta_min

sigtime_t	timeUpdate

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< sigtime_t > * >	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< sigtime_t > &signals)

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Detailed Description

Definition at line 47 of file clamp-workspace.hh.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
FRAME_POINT
FRAME_REF

Definition at line 95 of file clamp-workspace.hh.

Constructor & Destructor Documentation

◆ ClampWorkspace()

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

Definition at line 22 of file clamp-workspace.cpp.

◆ ~ClampWorkspace()

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

inlinevirtual

Definition at line 63 of file clamp-workspace.hh.

Member Function Documentation

◆ computeOutput()

Matrix & ClampWorkspace::computeOutput	(	dynamicgraph::Matrix &	res,
		sigtime_t	time
	)

virtual

Definition at line 177 of file clamp-workspace.cpp.

◆ computeOutputBar()

Matrix & ClampWorkspace::computeOutputBar	(	dynamicgraph::Matrix &	res,
		sigtime_t	time
	)

virtual

Definition at line 183 of file clamp-workspace.cpp.

◆ computeRef()

MatrixHomogeneous & ClampWorkspace::computeRef	(	MatrixHomogeneous &	res,
		sigtime_t	time
	)

virtual

Definition at line 189 of file clamp-workspace.cpp.

◆ display()

void ClampWorkspace::display ( std::ostream & os ) const

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 196 of file clamp-workspace.cpp.

◆ getClassName()

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

inlinevirtual

Reimplemented from dynamicgraph::Entity.

Definition at line 50 of file clamp-workspace.hh.

◆ update()

void ClampWorkspace::update ( sigtime_t time )

Definition at line 76 of file clamp-workspace.cpp.

Member Data Documentation

◆ alpha

dynamicgraph::Matrix dynamicgraph::sot::ClampWorkspace::alpha

private

Definition at line 78 of file clamp-workspace.hh.

◆ alphabar

dynamicgraph::Matrix dynamicgraph::sot::ClampWorkspace::alphabar

private

Definition at line 79 of file clamp-workspace.hh.

◆ alphabarSOUT

dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, sigtime_t> dynamicgraph::sot::ClampWorkspace::alphabarSOUT

Definition at line 58 of file clamp-workspace.hh.

◆ alphaSOUT

dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, sigtime_t> dynamicgraph::sot::ClampWorkspace::alphaSOUT

Definition at line 56 of file clamp-workspace.hh.

◆ beta

double dynamicgraph::sot::ClampWorkspace::beta

private

Definition at line 85 of file clamp-workspace.hh.

◆ bounds

std::pair<double, double> dynamicgraph::sot::ClampWorkspace::bounds[3]

private

Definition at line 97 of file clamp-workspace.hh.

◆ CLASS_NAME

const std::string dynamicgraph::sot::ClampWorkspace::CLASS_NAME

static

Definition at line 49 of file clamp-workspace.hh.

◆ dm_max

double dynamicgraph::sot::ClampWorkspace::dm_max

private

Definition at line 88 of file clamp-workspace.hh.

◆ dm_max_yaw

double dynamicgraph::sot::ClampWorkspace::dm_max_yaw

private

Definition at line 90 of file clamp-workspace.hh.

◆ dm_min

double dynamicgraph::sot::ClampWorkspace::dm_min

private

Definition at line 87 of file clamp-workspace.hh.

◆ dm_min_yaw

double dynamicgraph::sot::ClampWorkspace::dm_min_yaw

private

Definition at line 89 of file clamp-workspace.hh.

◆ frame

enum { ... } dynamicgraph::sot::ClampWorkspace::frame

◆ handref

MatrixHomogeneous dynamicgraph::sot::ClampWorkspace::handref

private

Definition at line 83 of file clamp-workspace.hh.

◆ handrefSOUT

dynamicgraph::SignalTimeDependent<MatrixHomogeneous, sigtime_t> dynamicgraph::sot::ClampWorkspace::handrefSOUT

Definition at line 59 of file clamp-workspace.hh.

◆ mode

size_type dynamicgraph::sot::ClampWorkspace::mode

private

Definition at line 93 of file clamp-workspace.hh.

◆ pd

dynamicgraph::Vector dynamicgraph::sot::ClampWorkspace::pd

private

Definition at line 81 of file clamp-workspace.hh.

◆ positionrefSIN

dynamicgraph::SignalPtr<MatrixHomogeneous, sigtime_t> dynamicgraph::sot::ClampWorkspace::positionrefSIN

Definition at line 54 of file clamp-workspace.hh.

◆ positionSIN

dynamicgraph::SignalPtr<MatrixHomogeneous, sigtime_t> dynamicgraph::sot::ClampWorkspace::positionSIN

Definition at line 55 of file clamp-workspace.hh.

◆ prefMp

MatrixHomogeneous dynamicgraph::sot::ClampWorkspace::prefMp

private

Definition at line 80 of file clamp-workspace.hh.

◆ Rd

MatrixRotation dynamicgraph::sot::ClampWorkspace::Rd

private

Definition at line 82 of file clamp-workspace.hh.

◆ scale

double dynamicgraph::sot::ClampWorkspace::scale

private

Definition at line 86 of file clamp-workspace.hh.

◆ theta_max

double dynamicgraph::sot::ClampWorkspace::theta_max

private

Definition at line 92 of file clamp-workspace.hh.

◆ theta_min

double dynamicgraph::sot::ClampWorkspace::theta_min

private

Definition at line 91 of file clamp-workspace.hh.

◆ timeUpdate

sigtime_t dynamicgraph::sot::ClampWorkspace::timeUpdate

private

Definition at line 76 of file clamp-workspace.hh.

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

Public Attributes
dynamicgraph::SignalTimeDependent< dynamicgraph::Matrix, sigtime_t >	alphabarSOUT

dynamicgraph::SignalTimeDependent< dynamicgraph::Matrix, sigtime_t >	alphaSOUT

dynamicgraph::SignalTimeDependent< MatrixHomogeneous, sigtime_t >	handrefSOUT

dynamicgraph::SignalPtr< MatrixHomogeneous, sigtime_t >	positionrefSIN

dynamicgraph::SignalPtr< MatrixHomogeneous, sigtime_t >	positionSIN

Public Member Functions

Public Attributes

Static Public Attributes

Private Types

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ ClampWorkspace()

◆ ~ClampWorkspace()

Member Function Documentation

◆ computeOutput()

◆ computeOutputBar()

◆ computeRef()

◆ display()

◆ getClassName()

◆ update()

Member Data Documentation

◆ alpha

◆ alphabar

◆ alphabarSOUT

◆ alphaSOUT

◆ beta

◆ bounds

◆ CLASS_NAME

◆ dm_max

◆ dm_max_yaw

◆ dm_min

◆ dm_min_yaw

◆ frame

◆ handref

◆ handrefSOUT

◆ mode

◆ pd

◆ positionrefSIN

◆ positionSIN

◆ prefMp

◆ Rd

◆ scale

◆ theta_max

◆ theta_min

◆ timeUpdate