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 sigtime_t &time) |
| OpPointModifier (const std::string &name) | |
| MatrixHomogeneous & | positionSOUT_function (MatrixHomogeneous &res, const sigtime_t &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< 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 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< 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
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()
|
inlinevirtual |
Definition at line 64 of file op-point-modifier.hh.
Member Function Documentation
◆ getClassName()
|
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 sigtime_t & | time | ||
| ) |
Definition at line 68 of file op-point-modifier.cpp.
◆ positionSOUT_function()
| MatrixHomogeneous & OpPointModifier::positionSOUT_function | ( | MatrixHomogeneous & | res, |
| const sigtime_t & | 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
|
static |
Definition at line 51 of file op-point-modifier.hh.
◆ isEndEffector
|
private |
Definition at line 81 of file op-point-modifier.hh.
◆ jacobianSIN
| dynamicgraph::SignalPtr<dynamicgraph::Matrix, sigtime_t> dynamicgraph::sot::OpPointModifier::jacobianSIN |
Definition at line 55 of file op-point-modifier.hh.
◆ jacobianSOUT
| dynamicgraph::SignalTimeDependent<dynamicgraph::Matrix, sigtime_t> dynamicgraph::sot::OpPointModifier::jacobianSOUT |
Definition at line 59 of file op-point-modifier.hh.
◆ positionSIN
| dynamicgraph::SignalPtr<MatrixHomogeneous, sigtime_t> dynamicgraph::sot::OpPointModifier::positionSIN |
Definition at line 56 of file op-point-modifier.hh.
◆ positionSOUT
| dynamicgraph::SignalTimeDependent<MatrixHomogeneous, sigtime_t> dynamicgraph::sot::OpPointModifier::positionSOUT |
Definition at line 60 of file op-point-modifier.hh.
◆ transformation
|
private |
Definition at line 75 of file op-point-modifier.hh.
The documentation for this class was generated from the following files: