#include <robFunctionRn.h>

Inheritance diagram for robFunctionRn:

Public Member Functions
	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 > &)

virtual void	Evaluate (double, vctDynamicVector< double > &, vctDynamicVector< double > &, vctDynamicVector< double > &)

virtual void	Blend (robFunction *function, const vctDynamicVector< double > &qd, const vctDynamicVector< double > &qdd)=0

virtual void	Blend (robFunction *function, double vmax, double vdmax)=0

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
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

robFunctionRn::robFunctionRn ( void )

robFunctionRn::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::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::~robFunctionRn ( )

inlinevirtual

Member Function Documentation

virtual void robFunctionRn::Blend	(	robFunction *	function,
		const vctDynamicVector< double > &	qd,
		const vctDynamicVector< double > &	qdd
	)

pure virtual

Implemented in robQuintic, robLinearRn, and robQLQRn.

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

pure virtual

Implemented in robQuintic, robLinearRn, and robQLQRn.

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

inlinevirtual

Reimplemented in robQuintic, and robLinearRn.

virtual void robFunctionRn::Evaluate	(	double	,
		vctDynamicVector< double > &	,
		vctDynamicVector< double > &	,
		vctDynamicVector< double > &
	)

inlinevirtual

Reimplemented in robQuintic, robLinearRn, and robQLQRn.

void robFunctionRn::FinalState	(	vctDynamicVector< double > &	p,
		vctDynamicVector< double > &	pd,
		vctDynamicVector< double > &	pdd
	)

void robFunctionRn::FinalState	(	vctFixedSizeVector< double, 3 > &	p,
		double &	v,
		double &	vd
	)

void robFunctionRn::InitialState	(	vctDynamicVector< double > &	p,
		vctDynamicVector< double > &	pd,
		vctDynamicVector< double > &	pdd
	)

void robFunctionRn::InitialState	(	vctFixedSizeVector< double, 3 > &	p,
		double &	v,
		double &	vd
	)

void robFunctionRn::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
	)

Member Data Documentation

vctDynamicVector<double> robFunctionRn::y1

protected

vctDynamicVector<double> robFunctionRn::y1d

protected

vctDynamicVector<double> robFunctionRn::y1dd

protected

vctDynamicVector<double> robFunctionRn::y2

protected

vctDynamicVector<double> robFunctionRn::y2d

protected

vctDynamicVector<double> robFunctionRn::y2dd

protected

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

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstRobot/robFunctionRn.h

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation