This is the base class for all virtual fixture objects. More...

#include <mtsVFJointPos.h>

Inheritance diagram for mtsVFJointPosition:

Public Member Functions
	mtsVFJointPosition ()

	mtsVFJointPosition (const std::string &name, mtsVFDataBase *data)

void	FillInTableauRefs (const mtsVFBase::CONTROLLERMODE mode, const double TickTime)
	Updates co with virtual fixture data. More...

void	ConvertRefs (const mtsVFBase::CONTROLLERMODE mode, const double TickTime)
	Converts the data in the references if a change in mode is needed. More...

Public Member Functions inherited from mtsVFBase
	mtsVFBase ()

	mtsVFBase (const std::string &name, mtsVFDataBase *data)

	~mtsVFBase ()

void	ReserveSpace (nmrConstraintOptimizer &co)
	Reserves space in the control optimizer. More...

void	LookupStateData (const std::map< std::string, prmKinematicsState * > &k, const std::map< std::string, prmSensorState * > &s)
	Updates internal state data. More...

void	SetTableauRefs (nmrConstraintOptimizer &co)
	Updates internal references with co tableau. More...

vctDoubleMat	Skew (const vctDoubleVec &in)

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)

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

double	Scalar (const size_t index) const throw (std::out_of_range)

std::string	ScalarDescription (const size_t index, const std::string &userDescription="") const throw (std::out_of_range)

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 throw (std::out_of_range)

virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Additional Inherited Members
Public Types inherited from mtsVFBase
enum	CONTROLLERMODE { JPOS = 1, JVEL = 2 }

Public Attributes inherited from mtsVFBase
std::string	Name
	Name of the virtual fixture. More...

mtsVFDataBase *	Data
	Internally stored data. More...

std::vector< prmKinematicsState * >	Kinematics
	Frame object. More...

std::vector< prmSensorState * >	Sensors
	Sensor object. More...

vctDoubleVec	DOFSelections

vctDynamicMatrixRef< double >	ObjectiveMatrixRef
	Objective data reference. More...

vctDynamicMatrixRef< double >	ObjectiveMatrixSlackRef
	Objective slack reference. More...

vctDynamicVectorRef< double >	ObjectiveVectorRef
	Objective vector reference. More...

vctDynamicMatrixRef< double >	IneqConstraintMatrixRef
	Inequality constraint data reference. More...

vctDynamicMatrixRef< double >	IneqConstraintMatrixSlackRef
	Inequality constraint slack reference. More...

vctDynamicVectorRef< double >	IneqConstraintVectorRef
	Inequality constraint vector reference. More...

vctDynamicMatrixRef< double >	EqConstraintMatrixRef
	Equality constraint data reference. More...

vctDynamicMatrixRef< double >	EqConstraintMatrixSlackRef
	Equality constraint slack reference. More...

vctDynamicVectorRef< double >	EqConstraintVectorRef
	Equality constraint vector reference. More...

Static Public Attributes inherited from mtsVFBase
static std::string	DefaultKinematicsName

Detailed Description

This is the base class for all virtual fixture objects.

mtsVFJointPos: A class that contains logic for the implementation of virtual fixtures

Constructor & Destructor Documentation

mtsVFJointPosition::mtsVFJointPosition ( )

inline

Constructor

mtsVFJointPosition::mtsVFJointPosition	(	const std::string &	name,
		mtsVFDataBase *	data
	)

inline

Constructor

Parameters

name	String name of object
data	VF Data passed from remote user

Member Function Documentation

void mtsVFJointPosition::ConvertRefs	(	const mtsVFBase::CONTROLLERMODE	mode,
		const double	TickTime
	)

virtual

Converts the data in the references if a change in mode is needed.

Implements mtsVFBase.

void mtsVFJointPosition::FillInTableauRefs	(	const mtsVFBase::CONTROLLERMODE	mode,
		const double	TickTime
	)

virtual

Updates co with virtual fixture data.

FillInTableauRefs

Implements mtsVFBase.

Reimplemented in mtsVFFollow, and mtsVFFollowJacobian.

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawConstraintController/include/sawConstraintController/mtsVFJointPos.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation