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:

Public Member Functions
virtual const std::string &	getClassName (void) const

	OpPointModifier (const std::string &name)

virtual	~OpPointModifier (void)

dg::Matrix &	jacobianSOUT_function (dg::Matrix &res, const int &time)

MatrixHomogeneous &	positionSOUT_function (MatrixHomogeneous &res, const int &time)

void	setTransformation (const Eigen::Matrix4d &tr)

void	setTransformationBySignalName (std::istringstream &cmdArgs)

const Eigen::Matrix4d &	getTransformation (void)

Public Attributes
dg::SignalPtr< dg::Matrix, int >	jacobianSIN

dg::SignalPtr< MatrixHomogeneous, int >	positionSIN

dg::SignalTimeDependent< dg::Matrix, int >	jacobianSOUT

dg::SignalTimeDependent< MatrixHomogeneous, int >	positionSOUT

Static Public Attributes
static const std::string	CLASS_NAME

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.

Constructor & Destructor Documentation

◆ OpPointModifier()

dynamicgraph::sot::OpPointModifier::OpPointModifier ( const std::string & name )

◆ ~OpPointModifier()

virtual dynamicgraph::sot::OpPointModifier::~OpPointModifier ( void )

inlinevirtual

Member Function Documentation

◆ getClassName()

virtual const std::string& dynamicgraph::sot::OpPointModifier::getClassName ( void ) const

inlinevirtual

◆ getTransformation()

const Eigen::Matrix4d& dynamicgraph::sot::OpPointModifier::getTransformation ( void )

◆ jacobianSOUT_function()

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

◆ positionSOUT_function()

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

◆ setTransformation()

void dynamicgraph::sot::OpPointModifier::setTransformation ( const Eigen::Matrix4d & tr )

◆ setTransformationBySignalName()

void dynamicgraph::sot::OpPointModifier::setTransformationBySignalName ( std::istringstream & cmdArgs )

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::OpPointModifier::CLASS_NAME

static

◆ jacobianSIN

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

◆ jacobianSOUT

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

◆ positionSIN

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

◆ positionSOUT

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

Public Member Functions

Public Attributes

Static Public Attributes