robLinearSE3 Class Reference

#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
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.
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
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() [1/2]

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

robLinearSE3() [2/2]

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

Member Function Documentation

Blend()

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

virtual

Implements robFunctionSE3.

Evaluate()

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

virtual

Implements robFunctionSE3.

operator=()

robLinearSE3 & robLinearSE3::operator=

(

const robLinearSE3 &

function

)

Member Data Documentation

vmax

double robLinearSE3::vmax

protected

wmax

double robLinearSE3::wmax

protected

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

• tmp/cisst-saw/cisst/cisstRobot/robLinearSE3.h