robQLQRn Class Reference

#include <robQLQRn.h>

Inheritance diagram for robQLQRn:

Public Member Functions
	robQLQRn (const vctDynamicVector< double > &q1, const vctDynamicVector< double > &q2, const vctDynamicVector< double > &qd, const vctDynamicVector< double > &qdd, double t1=0.0, bool forceblend=false)
void	Evaluate (double t, vctDynamicVector< double > &q, vctDynamicVector< double > &qd, vctDynamicVector< double > &qdd)
void	Blend (robFunction *function, const vctDynamicVector< double > &qdmax, const vctDynamicVector< double > &qddmax)
void	Blend (robFunction *function, double vmax, double vdmax)
Public Member Functions inherited from robFunctionRn
	robFunctionRn (void)
	robFunctionRn (double t1, const vctFixedSizeVector< double, 3 > &p1, const vctFixedSizeVector< double, 3 > &p1d, const vctFixedSizeVector< double, 3 > &p1dd, double t2, const vctFixedSizeVector< double, 3 > &p2, const vctFixedSizeVector< double, 3 > &p2d, const vctFixedSizeVector< double, 3 > &p2dd)
	robFunctionRn (double t1, const vctDynamicVector< double > &p1, const vctDynamicVector< double > &p1d, const vctDynamicVector< double > &p1dd, double t2, const vctDynamicVector< double > &p2, const vctDynamicVector< double > &p2d, const vctDynamicVector< double > &p2dd)
virtual	~robFunctionRn ()
void	Set (double t1, const vctDynamicVector< double > &p1, const vctDynamicVector< double > &p1d, const vctDynamicVector< double > &p1dd, double t2, const vctDynamicVector< double > &p2, const vctDynamicVector< double > &p2d, const vctDynamicVector< double > &p2dd)
void	InitialState (vctDynamicVector< double > &p, vctDynamicVector< double > &pd, vctDynamicVector< double > &pdd)
void	FinalState (vctDynamicVector< double > &p, vctDynamicVector< double > &pd, vctDynamicVector< double > &pdd)
void	InitialState (vctFixedSizeVector< double, 3 > &p, double &v, double &vd)
void	FinalState (vctFixedSizeVector< double, 3 > &p, double &v, double &vd)
virtual void	Evaluate (double, vctFixedSizeVector< double, 3 > &, vctFixedSizeVector< double, 3 > &, vctFixedSizeVector< double, 3 > &)
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.

Additional Inherited Members
Protected Attributes inherited from robFunctionRn
vctDynamicVector< double >	y1
vctDynamicVector< double >	y1d
vctDynamicVector< double >	y1dd
vctDynamicVector< double >	y2
vctDynamicVector< double >	y2d
vctDynamicVector< double >	y2dd
Protected Attributes inherited from robFunction
double	t1
double	t2

Constructor & Destructor Documentation

robQLQRn()

robQLQRn::robQLQRn	(	const vctDynamicVector< double > &	q1,
		const vctDynamicVector< double > &	q2,
		const vctDynamicVector< double > &	qd,
		const vctDynamicVector< double > &	qdd,
		double	t1 = 0.0,
		bool	forceblend = false )

Member Function Documentation

Blend() [1/2]

void robQLQRn::Blend ( robFunction * function, const vctDynamicVector< double > & qdmax, const vctDynamicVector< double > & qddmax )

virtual

Implements robFunctionRn.

Blend() [2/2]

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

virtual

Implements robFunctionRn.

Evaluate()

void robQLQRn::Evaluate ( double t, vctDynamicVector< double > & q, vctDynamicVector< double > & qd, vctDynamicVector< double > & qdd )

virtual

Reimplemented from robFunctionRn.

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

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