prmTransformationDynamic Class Reference

#include <prmTransformationDynamic.h>

Inheritance diagram for prmTransformationDynamic:

Public Types
typedef mtsFunctionRead	CommandType
Public Types inherited from prmTransformationBase
typedef std::list < prmTransformationBasePtr >	NodeListType

Public Member Functions
	prmTransformationDynamic (void)
	prmTransformationDynamic (const std::string &name)
	prmTransformationDynamic (const std::string &name, const CommandType &transformationCommand, prmTransformationBasePtr reference)
	~prmTransformationDynamic ()
vctFrm3	WRTReference (void) const
void	SetTransformationCommand (const CommandType &transformationCommand)
const CommandType &	GetTransformationCommand (void) const
Public Member Functions inherited from prmTransformationBase
	prmTransformationBase (void)
	prmTransformationBase (const std::string &name)
virtual	~prmTransformationBase ()
	Destructor. The frame is also removed from the frame manager. More...
prmTransformationBasePtr	WorldFrame (void)
bool	SetReferenceFrame (const prmTransformationBasePtr &newReference)
bool	SetReferenceFrame (const std::string &parentName)
prmTransformationBasePtr	GetReferenceFrame (void) const
const std::string &	GetName (void) const
void	SetName (const std::string &name)

Protected Attributes
CommandType	TransformationCommand
Protected Attributes inherited from prmTransformationBase
std::string	Name
prmTransformationBasePtr	Parent
NodeListType	Children

Friends
class	prmTransformationManager

Detailed Description

Derived class of prmTransformationBase for a dynamic transformation. This class stores an command which gets invoked whenever the position of the frame with respect to its reference is queried.

See Also

prmWRTReference prmTransformationFixed, prmTransformationBase, prmTransformationManager

Member Typedef Documentation

typedef mtsFunctionRead prmTransformationDynamic::CommandType

Constructor & Destructor Documentation

prmTransformationDynamic::prmTransformationDynamic ( void  )

inline

Default constructor. Set the frame name as "Undefined". The transformation command between this frame and its reference is set to NULL, which would return an identity transform if queried.

prmTransformationDynamic::prmTransformationDynamic ( const std::string &  name )

inline

Constructor with a name only. The transformation between this frame and its reference is not defined and returns identity.

Parameters

name	const std::string describable name

prmTransformationDynamic::prmTransformationDynamic ( const std::string &  name, const CommandType &  transformationCommand, prmTransformationBasePtr  reference  )

inline

Constructor with a name, a reference frame and the transformation command from the reference frame.

Parameters

name	const std::string describable name
transformationCommdn	const mtsCommandRead* ptr to new transformation command
reference	prmTransformationBasePtr ptr to attachment point in the transformation manager.

prmTransformationDynamic::~prmTransformationDynamic

(

)

Destructor. The frame is also detached from the frame manager. Any children of the detached frame will inherit its parent

Member Function Documentation

const CommandType& prmTransformationDynamic::GetTransformationCommand ( void  ) const

inline

Get a pointer to the current transformation command method

Returns

mtsCommandRead* ptr to current transformation command

void prmTransformationDynamic::SetTransformationCommand ( const CommandType &  transformationCommand )

inline

Set/Get transformation command between this frame and its reference.

Parameters

transformationCommand

const mtsCommandRead* ptr to new transformation computation method

Returns

void.

vctFrm3 prmTransformationDynamic::WRTReference ( void  ) const

inlinevirtual

Get the transformation between the reference frame and this frame. Same as GetTransformation()->Execute().

Returns

vctFrm3 relationship between this frame and its reference frame in the transformation manager.

Implements prmTransformationBase.

Friends And Related Function Documentation

friend class prmTransformationManager

friend

Member Data Documentation

CommandType prmTransformationDynamic::TransformationCommand

protected

command to compute current value with respect to its reference

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

• /home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstParameterTypes/prmTransformationDynamic.h