Inheritance diagram for ForceTrajectory:

Public Member Functions
	ForceTrajectory ()
virtual void	getPose (double time, KDL::JntArrayAcc &pose)
	getPose get pose at a particular time
void	printFrame (std::string name, KDL::Frame frame)
void	setCartesianHybCntrl (boost::shared_ptr< Cartesian_HybCntrl > forceController_in)
virtual	~ForceTrajectory ()
Protected Attributes
boost::shared_ptr < Cartesian_HybCntrl >	forceController
double	lastTime
std::string	logCategory

Detailed Description

Definition at line 7 of file ForceTrajectory.h.

Constructor & Destructor Documentation

ForceTrajectory::ForceTrajectory ( )

Definition at line 3 of file ForceTrajectory.cpp.

virtual ForceTrajectory::~ForceTrajectory ( ) [inline, virtual]

Definition at line 11 of file ForceTrajectory.h.

void ForceTrajectory::getPose	(	double	time,
		KDL::JntArrayAcc &	pose
	)		`[virtual]`

getPose get pose at a particular time

Parameters:

time	time along trajectory (0 - getDuration())
stepPose	pose corresponding to the time

each step in a joint trajectory contains the position, velocity, and acceleration

Reimplemented from TreeIkTrajectory.

Definition at line 9 of file ForceTrajectory.cpp.

void ForceTrajectory::printFrame	(	std::string	name,
		KDL::Frame	frame
	)

Definition at line 91 of file ForceTrajectory.cpp.

void ForceTrajectory::setCartesianHybCntrl ( boost::shared_ptr< Cartesian_HybCntrl > forceController_in ) [inline]

Definition at line 13 of file ForceTrajectory.h.

Definition at line 28 of file ForceTrajectory.h.

Reimplemented from TreeIkTrajectory.

Definition at line 29 of file ForceTrajectory.h.

Definition at line 30 of file ForceTrajectory.h.

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