robFunctionSE3 Class Reference

#include <robFunctionSE3.h>

Inheritance diagram for robFunctionSE3:

Public Member Functions
	robFunctionSE3 (void)
	robFunctionSE3 (double t1, const vctFrame4x4< double > &Rtw1, const vctFixedSizeVector< double, 6 > &v1w1, const vctFixedSizeVector< double, 6 > &v1dw1d, double t2, const vctFrame4x4< double > &Rtw2, const vctFixedSizeVector< double, 6 > &v2w2, const vctFixedSizeVector< double, 6 > &v2dw2d)
	constructor
virtual	~robFunctionSE3 ()
void	InitialState (vctFrame4x4< double > &Rtw1, vctFixedSizeVector< double, 6 > &v1w1, vctFixedSizeVector< double, 6 > &v1dw1d)
	Read initial(start) state.
void	FinalState (vctFrame4x4< double > &Rtw2, vctFixedSizeVector< double, 6 > &v2w2, vctFixedSizeVector< double, 6 > &v2dw2d)
	Read final(stop) state.
virtual void	Evaluate (double, vctFrame4x4< double > &, vctFixedSizeVector< double, 6 > &, vctFixedSizeVector< double, 6 > &)=0
virtual void	Blend (robFunction *function, double vmax, double vdmax)=0
robFunctionSE3 &	operator= (const robFunctionSE3 &function)
Public Member Functions inherited from robFunction
	robFunction (void)
	robFunction (double startTime, double stopTime)
virtual	~robFunction ()
void	Set (double startTime, double stopTime)
	Set start and stop time.
virtual double &	StartTime (void)
	Return start time.
virtual double &	StopTime (void)
	Return stop time.
virtual double	Duration (void) const
	Return duration.

Protected Attributes
vctFrame4x4< double >	Rtw1
vctFixedSizeVector< double, 6 >	v1w1
vctFixedSizeVector< double, 6 >	v1dw1d
vctFrame4x4< double >	Rtw2
vctFixedSizeVector< double, 6 >	v2w2
vctFixedSizeVector< double, 6 >	v2dw2d
robFunctionRn *	translation
robFunctionSO3 *	rotation
Protected Attributes inherited from robFunction
double	t1
double	t2

Constructor & Destructor Documentation

robFunctionSE3() [1/2]

robFunctionSE3::robFunctionSE3

(

void

)

robFunctionSE3() [2/2]

robFunctionSE3::robFunctionSE3	(	double	t1,
		const vctFrame4x4< double > &	Rtw1,
		const vctFixedSizeVector< double, 6 > &	v1w1,
		const vctFixedSizeVector< double, 6 > &	v1dw1d,
		double	t2,
		const vctFrame4x4< double > &	Rtw2,
		const vctFixedSizeVector< double, 6 > &	v2w2,
		const vctFixedSizeVector< double, 6 > &	v2dw2d )

constructor

Parameters

t1	start time
Rtw1	start tranfrom
v1w1	start velocity
v1dw1d	start acceleration
t2	stop time
Rtw2	stop tranfrom
v2w2	stop velocity
v2dw2d	stop acceleration

~robFunctionSE3()

virtual robFunctionSE3::~robFunctionSE3 ( )

virtual

Member Function Documentation

Blend()

virtual void robFunctionSE3::Blend ( robFunction * function, double vmax, double vdmax )

pure virtual

Implemented in robLinearSE3.

Evaluate()

virtual void robFunctionSE3::Evaluate ( double , vctFrame4x4< double > & , vctFixedSizeVector< double, 6 > & , vctFixedSizeVector< double, 6 > &  )

pure virtual

Implemented in robLinearSE3.

FinalState()

void robFunctionSE3::FinalState	(	vctFrame4x4< double > &	Rtw2,
		vctFixedSizeVector< double, 6 > &	v2w2,
		vctFixedSizeVector< double, 6 > &	v2dw2d )

Read final(stop) state.

Parameters

Rtw2	stop tranfrom
v2w2	stop velocity
v2dw2d	stop acceleration

InitialState()

void robFunctionSE3::InitialState	(	vctFrame4x4< double > &	Rtw1,
		vctFixedSizeVector< double, 6 > &	v1w1,
		vctFixedSizeVector< double, 6 > &	v1dw1d )

Read initial(start) state.

Parameters

Rtw1	start tranfrom
v1w1	start velocity
v1dw1d	start acceleration

operator=()

robFunctionSE3 & robFunctionSE3::operator=

(

const robFunctionSE3 &

function

)

Member Data Documentation

rotation

robFunctionSO3* robFunctionSE3::rotation

protected

Rtw1

vctFrame4x4<double> robFunctionSE3::Rtw1

protected

Rtw2

vctFrame4x4<double> robFunctionSE3::Rtw2

protected

translation

robFunctionRn* robFunctionSE3::translation

protected

v1dw1d

vctFixedSizeVector<double,6> robFunctionSE3::v1dw1d

protected

v1w1

vctFixedSizeVector<double,6> robFunctionSE3::v1w1

protected

v2dw2d

vctFixedSizeVector<double,6> robFunctionSE3::v2dw2d

protected

v2w2

vctFixedSizeVector<double,6> robFunctionSE3::v2w2

protected

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

• tmp/cisst-saw/cisst/cisstRobot/robFunctionSE3.h