#include <robLinearSE3.h>

Inheritance diagram for robLinearSE3:

Public Member Functions
	robLinearSE3 (const vctFrame4x4< double > &Rtw1, const vctFrame4x4< double > &Rtw2, double vmax, double wmax, double t1=0.0)

	robLinearSE3 (const vctFrame4x4< double > &Rtw1, const vctFrame4x4< double > &Rtw2, double dt=1.0)

void	Evaluate (double t, vctFrame4x4< double > &Rt, vctFixedSizeVector< double, 6 > &vw, vctFixedSizeVector< double, 6 > &vdwd)

void	Blend (robFunction *function, double vmax, double vdmax)

robLinearSE3 &	operator= (const robLinearSE3 &function)

Public Member Functions inherited from robFunctionSE3
	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 More...

virtual	~robFunctionSE3 ()

void	InitialState (vctFrame4x4< double > &Rtw1, vctFixedSizeVector< double, 6 > &v1w1, vctFixedSizeVector< double, 6 > &v1dw1d)
	Read initial(start) state. More...

void	FinalState (vctFrame4x4< double > &Rtw2, vctFixedSizeVector< double, 6 > &v2w2, vctFixedSizeVector< double, 6 > &v2dw2d)
	Read final(stop) state. More...

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. More...

virtual double &	StartTime (void)
	Return start time. More...

virtual double &	StopTime (void)
	Return stop time. More...

virtual double	Duration (void) const
	Return duration. More...

Protected Attributes
double	vmax

double	wmax

Protected Attributes inherited from robFunctionSE3
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

robLinearSE3::robLinearSE3	(	const vctFrame4x4< double > &	Rtw1,
		const vctFrame4x4< double > &	Rtw2,
		double	vmax,
		double	wmax,
		double	t1 = `0.0`
	)

robLinearSE3::robLinearSE3	(	const vctFrame4x4< double > &	Rtw1,
		const vctFrame4x4< double > &	Rtw2,
		double	dt = `1.0`
	)

Member Function Documentation

void robLinearSE3::Blend	(	robFunction *	function,
		double	vmax,
		double	vdmax
	)

virtual

Implements robFunctionSE3.

void robLinearSE3::Evaluate	(	double	t,
		vctFrame4x4< double > &	Rt,
		vctFixedSizeVector< double, 6 > &	vw,
		vctFixedSizeVector< double, 6 > &	vdwd
	)

virtual

Implements robFunctionSE3.

robLinearSE3& robLinearSE3::operator= ( const robLinearSE3 & function )

Member Data Documentation

double robLinearSE3::vmax

protected

double robLinearSE3::wmax

protected

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

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstRobot/robLinearSE3.h

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation