robFunctionRn Class Reference

#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.
virtual double &	StartTime (void)
	Return start time.
virtual double &	StopTime (void)
	Return stop time.
virtual double	Duration (void) const
	Return duration.

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() [1/3]

robFunctionRn::robFunctionRn

(

void

)

robFunctionRn() [2/3]

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() [3/3]

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 )

~robFunctionRn()

virtual robFunctionRn::~robFunctionRn ( )

inlinevirtual

Member Function Documentation

Blend() [1/2]

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

pure virtual

Implemented in robLinearRn, robQLQRn, and robQuintic.

Blend() [2/2]

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

pure virtual

Implemented in robLinearRn, robQLQRn, and robQuintic.

Evaluate() [1/2]

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

inlinevirtual

Reimplemented in robLinearRn, robQLQRn, and robQuintic.

Evaluate() [2/2]

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

inlinevirtual

Reimplemented in robLinearRn, and robQuintic.

FinalState() [1/2]

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

FinalState() [2/2]

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

InitialState() [1/2]

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

InitialState() [2/2]

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

Set()

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

y1

vctDynamicVector<double> robFunctionRn::y1

protected

y1d

vctDynamicVector<double> robFunctionRn::y1d

protected

y1dd

vctDynamicVector<double> robFunctionRn::y1dd

protected

y2

vctDynamicVector<double> robFunctionRn::y2

protected

y2d

vctDynamicVector<double> robFunctionRn::y2d

protected

y2dd

vctDynamicVector<double> robFunctionRn::y2dd

protected

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

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