motionproperties.hpp
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4 * (C) 2004 Peter Soetens *
5 * peter.soetens@mech.kuleuven.be *
6 * Department of Mechanical Engineering, *
7 * Katholieke Universiteit Leuven, Belgium. *
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37 /* @Description:
38  * @brief KDL typekit for Orocos RTT
39  * @Author: Peter Soetens
40  */
41 
42 #ifndef MOTIONPROPERTIES_HPP
43 #define MOTIONPROPERTIES_HPP
44 
45 #include <kdl/frames.hpp>
46 #include <rtt/PropertyBag.hpp>
47 
48 namespace RTT
49 {
50  using namespace KDL;
51 // /**
52 // * Additional functionality for handling a Property<JntArray>
53 // */
54 // void decomposeProperty(const JntArray &v, PropertyBag& targetbag );
55 //
56 // /**
57 // * Aim of this kind of functions : given a Property<PropertyBag> with one of the
58 // * properties being a bag containing a JntArray, fill the given non primitive Property<T>.
59 // */
60 // bool composeProperty(const PropertyBag& bag, JntArray &v);
61 //
62 
66  void decomposeProperty(const Vector &v, PropertyBag& targetbag );
67 
72  bool composeProperty(const PropertyBag& bag, Vector &v);
73 
74 
78  void decomposeProperty(const Rotation &b, PropertyBag& targetbag);
79 
84  bool composeProperty(const PropertyBag& bag, Rotation &r);
85 
95  void decomposeProperty(const KDL::Twist &t, PropertyBag& targetbag);
96 
101  bool composeProperty(const PropertyBag& bag, KDL::Twist &t);
102 
112  void decomposeProperty( const KDL::Wrench &b, PropertyBag& targetbag);
113 
118  bool composeProperty(const PropertyBag& bag, KDL::Wrench &w);
119 
129  void decomposeProperty(const KDL::Frame &f, PropertyBag& target);
130 
135  bool composeProperty(const PropertyBag& bag, KDL::Frame &f);
136 }
137 
138 #endif
RTT::composeProperty
bool composeProperty(const PropertyBag &bag, Joint &joint)
Definition: kinfamproperties.cpp:57
RTT::decomposeProperty
void decomposeProperty(const Joint &joint, PropertyBag &targetbag)
Definition: kinfamproperties.cpp:51

kdl_typekit
Author(s): Steven Bellens, Ruben Smits
autogenerated on Wed Jul 3 2019 19:39:45