mtsConstraintBase Class Reference

#include <mtsConstraintBase.h>

Inheritance diagram for mtsConstraintBase:

Public Types
typedef std::map< std::string, prmKinematicsState * >	kinematics_map
Public Types inherited from mtsVFBase
enum	CONTROLLERMODE { JPOS = 1 , JVEL = 2 , CARTPOS = 3 , CARTVEL = 4 }

Public Member Functions
	mtsConstraintBase ()
virtual	~mtsConstraintBase ()
virtual void	PrepareDataForBridging (mtsInterfaceProvided *CMN_UNUSED(provided))
Public Member Functions inherited from mtsVFBase
	mtsVFBase ()
	mtsVFBase (const std::string &name, mtsVFDataBase *data)
	~mtsVFBase ()
virtual void	ComputeConstraintSize ()
void	ReserveSpace (nmrConstraintOptimizer &co)
	Reserves space in the control optimizer.
void	LookupStateData (const std::map< std::string, prmKinematicsState * > &k, const std::map< std::string, prmSensorState * > &s)
	Updates internal state data.
void	SetTableauRefs (nmrConstraintOptimizer &co)
	Updates internal references with co tableau.
virtual void	FillInTableauRefs (const mtsVFBase::CONTROLLERMODE Mode, const double TickTime)=0
	Updates co with virtual fixture data.
vctDoubleMat	Skew (const vctDoubleVec &in)
virtual void	ConvertRefs (const mtsVFBase::CONTROLLERMODE mode, const double TickTime)=0
	Converts the data in the references if a change in mode is needed.
virtual void	AssignRefs (const mtsVFBase::CONTROLLERMODE, const double, const vctDoubleVec &, vctDoubleMat &, vctDoubleVec &, vctDoubleMat &, vctDoubleVec &, vctDoubleMat &, vctDoubleVec &)
Public Member Functions inherited from mtsGenericObject
	mtsGenericObject (void)
	mtsGenericObject (double timestamp, bool automaticTimestamp, bool valid)
	mtsGenericObject (const mtsGenericObject &other)
virtual	~mtsGenericObject (void)
mtsGenericObject &	operator= (const mtsGenericObject &other)
bool	SetTimestampIfAutomatic (double timestamp)
virtual void	ToStream (std::ostream &outputStream) const
virtual void	ToStreamRaw (std::ostream &outputStream, const char delimiter=' ', bool headerOnly=false, const std::string &headerPrefix="") const
virtual bool	FromStreamRaw (std::istream &inputStream, const char delimiter=' ')
virtual void	SerializeRaw (std::ostream &outputStream) const
virtual void	DeSerializeRaw (std::istream &inputStream)
size_t	ScalarNumber (void) const
bool	ScalarNumberIsFixed (void) const
Public Member Functions inherited from cmnGenericObject
virtual	~cmnGenericObject (void)
virtual const cmnClassServicesBase *	Services (void) const =0
bool	ReconstructFrom (const cmnGenericObject &other)
std::string	ToString (void) const
virtual cmnLogger::StreamBufType *	GetLogMultiplexer (void) const
virtual double	Scalar (const size_t CMN_UNUSED(index)) const CISST_THROW(std
virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Public Attributes
std::string	Name
	Name of the virtual fixture.
Public Attributes inherited from mtsVFBase
std::string	Name
	Name of the virtual fixture.
mtsVFDataBase *	Data
	Internally stored data.
std::vector< prmKinematicsState * >	Kinematics
	Frame object.
std::vector< prmSensorState * >	Sensors
	Sensor object.
vctDoubleVec	DOFSelections
vctDynamicMatrixRef< double >	ObjectiveMatrixRef
	Objective data reference.
vctDynamicMatrixRef< double >	ObjectiveMatrixSlackRef
	Objective slack reference.
vctDynamicVectorRef< double >	ObjectiveVectorRef
	Objective vector reference.
vctDynamicMatrixRef< double >	IneqConstraintMatrixRef
	Inequality constraint data reference.
vctDynamicMatrixRef< double >	IneqConstraintMatrixSlackRef
	Inequality constraint slack reference.
vctDynamicVectorRef< double >	IneqConstraintVectorRef
	Inequality constraint vector reference.
vctDynamicVectorRef< double >	IneqConstraintVectorSlackRef
	Inequality constraint slack reference.
vctDynamicMatrixRef< double >	EqConstraintMatrixRef
	Equality constraint data reference.
vctDynamicMatrixRef< double >	EqConstraintMatrixSlackRef
	Equality constraint slack reference.
vctDynamicVectorRef< double >	EqConstraintVectorRef
	Equality constraint vector reference.

Additional Inherited Members
Static Public Attributes inherited from mtsVFBase
static std::string	DefaultKinematicsName

Member Typedef Documentation

kinematics_map

typedef std::map<std::string, prmKinematicsState *> mtsConstraintBase::kinematics_map

Constructor & Destructor Documentation

mtsConstraintBase()

mtsConstraintBase::mtsConstraintBase ( )

inline

~mtsConstraintBase()

virtual mtsConstraintBase::~mtsConstraintBase ( )

inlinevirtual

Member Function Documentation

PrepareDataForBridging()

virtual void mtsConstraintBase::PrepareDataForBridging ( mtsInterfaceProvided * CMN_UNUSEDprovided )

inlinevirtual

Member Data Documentation

Name

std::string mtsVFBase::Name

Name of the virtual fixture.

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

• tmp/cisst-saw/sawConstraintController/components/include/sawConstraintController/mtsConstraintBase.h