dynamicgraph::sot::OpPointModifier Class Reference

Compute position and jacobian of a local frame attached to a joint. More...

#include <sot/core/op-point-modifier.hh>

Inheritance diagram for dynamicgraph::sot::OpPointModifier:

List of all members.

Public Member Functions
virtual const std::string &	getClassName (void) const
	OpPointModifier (const std::string &name)
virtual	~OpPointModifier (void)
ml::Matrix &	jacobianSOUT_function (ml::Matrix &res, const int &time)
MatrixHomogeneous &	positionSOUT_function (MatrixHomogeneous &res, const int &time)
void	setTransformation (const MatrixHomogeneous &tr)
void	setTransformationBySignalName (std::istringstream &cmdArgs)
const MatrixHomogeneous &	getTransformation (void)
virtual void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
Public Attributes
dg::SignalPtr< ml::Matrix, int >	jacobianSIN
dg::SignalPtr < MatrixHomogeneous, int >	positionSIN
dg::SignalTimeDependent < ml::Matrix, int >	jacobianSOUT
dg::SignalTimeDependent < MatrixHomogeneous, int >	positionSOUT
Static Public Attributes
static const std::string	CLASS_NAME

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Detailed Description

Compute position and jacobian of a local frame attached to a joint.

The position of the local frame in the frame of the joint is represented by transformation.

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Constructor & Destructor Documentation

dynamicgraph::sot::OpPointModifier::OpPointModifier

(

const std::string &

name

)

virtual dynamicgraph::sot::OpPointModifier::~OpPointModifier

(

void

)

[inline, virtual]

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Member Function Documentation

virtual void dynamicgraph::sot::OpPointModifier::commandLine	(	const std::string &	cmdLine,
		std::istringstream &	cmdArgs,
		std::ostream &	os
	)		[virtual]

Reimplemented from dynamicgraph::Entity.

virtual const std::string& dynamicgraph::sot::OpPointModifier::getClassName

(

void

)

const [inline, virtual]

Implements dynamicgraph::Entity.

const MatrixHomogeneous& dynamicgraph::sot::OpPointModifier::getTransformation

(

void

)

ml::Matrix& dynamicgraph::sot::OpPointModifier::jacobianSOUT_function	(	ml::Matrix &	res,
		const int &	time
	)

MatrixHomogeneous& dynamicgraph::sot::OpPointModifier::positionSOUT_function	(	MatrixHomogeneous &	res,
		const int &	time
	)

void dynamicgraph::sot::OpPointModifier::setTransformation

(

const MatrixHomogeneous &

tr

)

void dynamicgraph::sot::OpPointModifier::setTransformationBySignalName

(

std::istringstream &

cmdArgs

)

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Member Data Documentation

const std::string dynamicgraph::sot::OpPointModifier::CLASS_NAME [static]

dg::SignalPtr<ml::Matrix,int> dynamicgraph::sot::OpPointModifier::jacobianSIN

dg::SignalTimeDependent<ml::Matrix,int> dynamicgraph::sot::OpPointModifier::jacobianSOUT

dg::SignalPtr<MatrixHomogeneous,int> dynamicgraph::sot::OpPointModifier::positionSIN

dg::SignalTimeDependent<MatrixHomogeneous,int> dynamicgraph::sot::OpPointModifier::positionSOUT