robFunctionSO3 Class Reference

#include <robFunctionSO3.h>

Inheritance diagram for robFunctionSO3:

Public Member Functions
	robFunctionSO3 (void)
	robFunctionSO3 (double t1, const vctQuaternionRotation3< double > &qw1, const vctFixedSizeVector< double, 3 > &w1, const vctFixedSizeVector< double, 3 > &w1d, double t2, const vctQuaternionRotation3< double > &qw2, const vctFixedSizeVector< double, 3 > &w2, const vctFixedSizeVector< double, 3 > &w2d)
	robFunctionSO3 (double t1, const vctMatrixRotation3< double > &Rw1, const vctFixedSizeVector< double, 3 > &w1, const vctFixedSizeVector< double, 3 > &w1d, double t2, const vctMatrixRotation3< double > &Rw2, const vctFixedSizeVector< double, 3 > &w2, const vctFixedSizeVector< double, 3 > &w2d)
virtual	~robFunctionSO3 ()
virtual void	Evaluate (double, vctQuaternionRotation3< double > &, vctFixedSizeVector< double, 3 > &, vctFixedSizeVector< double, 3 > &)
virtual void	Evaluate (double, vctMatrixRotation3< double >, vctFixedSizeVector< double, 3 > &, vctFixedSizeVector< double, 3 > &)
virtual void	Blend (robFunction *function, double wmax, double wdmax)=0
void	InitialState (vctQuaternionRotation3< double > &q, vctFixedSizeVector< double, 3 > &w, vctFixedSizeVector< double, 3 > &wd)
void	FinalState (vctQuaternionRotation3< double > &q, vctFixedSizeVector< double, 3 > &w, vctFixedSizeVector< double, 3 > &wd)
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
vctQuaternionRotation3< double >	qw1
vctFixedSizeVector< double, 3 >	w1
vctFixedSizeVector< double, 3 >	w1d
vctQuaternionRotation3< double >	qw2
vctFixedSizeVector< double, 3 >	w2
vctFixedSizeVector< double, 3 >	w2d
Protected Attributes inherited from robFunction
double	t1
double	t2

Constructor & Destructor Documentation

robFunctionSO3::robFunctionSO3

(

void

)

robFunctionSO3::robFunctionSO3	(	double	t1,
		const vctQuaternionRotation3< double > &	qw1,
		const vctFixedSizeVector< double, 3 > &	w1,
		const vctFixedSizeVector< double, 3 > &	w1d,
		double	t2,
		const vctQuaternionRotation3< double > &	qw2,
		const vctFixedSizeVector< double, 3 > &	w2,
		const vctFixedSizeVector< double, 3 > &	w2d
	)

robFunctionSO3::robFunctionSO3	(	double	t1,
		const vctMatrixRotation3< double > &	Rw1,
		const vctFixedSizeVector< double, 3 > &	w1,
		const vctFixedSizeVector< double, 3 > &	w1d,
		double	t2,
		const vctMatrixRotation3< double > &	Rw2,
		const vctFixedSizeVector< double, 3 > &	w2,
		const vctFixedSizeVector< double, 3 > &	w2d
	)

virtual robFunctionSO3::~robFunctionSO3 ( )

inlinevirtual

Member Function Documentation

virtual void robFunctionSO3::Blend ( robFunction *  function, double  wmax, double  wdmax  )

pure virtual

Implemented in robCubicSO3, and robSLERP.

virtual void robFunctionSO3::Evaluate ( double  , vctQuaternionRotation3< double > &  , vctFixedSizeVector< double, 3 > &  , vctFixedSizeVector< double, 3 > &    )

inlinevirtual

Reimplemented in robCubicSO3, and robSLERP.

virtual void robFunctionSO3::Evaluate ( double  , vctMatrixRotation3< double >  , vctFixedSizeVector< double, 3 > &  , vctFixedSizeVector< double, 3 > &    )

inlinevirtual

void robFunctionSO3::FinalState	(	vctQuaternionRotation3< double > &	q,
		vctFixedSizeVector< double, 3 > &	w,
		vctFixedSizeVector< double, 3 > &	wd
	)

void robFunctionSO3::InitialState	(	vctQuaternionRotation3< double > &	q,
		vctFixedSizeVector< double, 3 > &	w,
		vctFixedSizeVector< double, 3 > &	wd
	)

Member Data Documentation

vctQuaternionRotation3<double> robFunctionSO3::qw1

protected

vctQuaternionRotation3<double> robFunctionSO3::qw2

protected

vctFixedSizeVector<double,3> robFunctionSO3::w1

protected

vctFixedSizeVector<double,3> robFunctionSO3::w1d

protected

vctFixedSizeVector<double,3> robFunctionSO3::w2

protected

vctFixedSizeVector<double,3> robFunctionSO3::w2d

protected

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

• /home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstRobot/robFunctionSO3.h