mtsConstraintFixOrientation Class Reference

#include <mtsConstraintFixOrientation.h>

Inheritance diagram for mtsConstraintFixOrientation:

Public Member Functions
	mtsConstraintFixOrientation (const Json::Value &constraint_config, const kinematics_map kins_map)
	~mtsConstraintFixOrientation ()
void	FillInTableauRefs (const CONTROLLERMODE mode, const double TickTime)
	Updates co with virtual fixture data.
void	PrepareDataForBridging (mtsInterfaceProvided *provided)
void	set_active (const bool &active)
void	set_importance_gain (const double &gain)
void	set_desired_orientation (const vctRot3 &R)
Public Member Functions inherited from mtsConstraintBase
	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.
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
prmKinematicsState *	kinematics_for_last_joint_that_moves_frame_of_interest
vctFrm3	offset_from_kinematics_to_frame_of_interest
vctRot3	desired_orientation
double	importance_gain
int	num_joints_system
Public Attributes inherited from mtsConstraintBase
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
Public Types inherited from mtsConstraintBase
typedef std::map< std::string, prmKinematicsState * >	kinematics_map
Public Types inherited from mtsVFBase
enum	CONTROLLERMODE { JPOS = 1 , JVEL = 2 , CARTPOS = 3 , CARTVEL = 4 }
Static Public Attributes inherited from mtsVFBase
static std::string	DefaultKinematicsName

Constructor & Destructor Documentation

mtsConstraintFixOrientation()

mtsConstraintFixOrientation::mtsConstraintFixOrientation	(	const Json::Value &	constraint_config,
		const kinematics_map	kins_map )

~mtsConstraintFixOrientation()

mtsConstraintFixOrientation::~mtsConstraintFixOrientation ( )

inline

Member Function Documentation

FillInTableauRefs()

void mtsConstraintFixOrientation::FillInTableauRefs ( const CONTROLLERMODE Mode, const double TickTime )

virtual

Updates co with virtual fixture data.

FillInTableauRefs

Implements mtsVFBase.

PrepareDataForBridging()

void mtsConstraintFixOrientation::PrepareDataForBridging

(

mtsInterfaceProvided *

provided

)

set_active()

void mtsConstraintFixOrientation::set_active ( const bool & active )

inline

set_desired_orientation()

void mtsConstraintFixOrientation::set_desired_orientation ( const vctRot3 & R )

inline

set_importance_gain()

void mtsConstraintFixOrientation::set_importance_gain ( const double & gain )

inline

Member Data Documentation

desired_orientation

vctRot3 mtsConstraintFixOrientation::desired_orientation

importance_gain

double mtsConstraintFixOrientation::importance_gain

kinematics_for_last_joint_that_moves_frame_of_interest

prmKinematicsState* mtsConstraintFixOrientation::kinematics_for_last_joint_that_moves_frame_of_interest

num_joints_system

int mtsConstraintFixOrientation::num_joints_system

offset_from_kinematics_to_frame_of_interest

vctFrm3 mtsConstraintFixOrientation::offset_from_kinematics_to_frame_of_interest

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

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