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 Member Functions inherited from dynamicgraph::Entity
	Entity (const std::string &name)

virtual	~Entity ()

const std::string &	getName () const

virtual std::string	getDocString () const

bool	hasSignal (const std::string &signame) const

SignalBase< int > &	getSignal (const std::string &signalName)

const SignalBase< int > &	getSignal (const std::string &signalName) const

std::ostream &	displaySignalList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual void	display (std::ostream &os) const

virtual SignalBase< int > *	test ()

virtual void	test2 (SignalBase< int > *)

const std::string &	getCommandList () const

CommandMap_t	getNewStyleCommandMap ()

command::Command *	getNewStyleCommand (const std::string &cmdName)

SignalMap	getSignalMap () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

LoggerVerbosity	getLoggerVerbosityLevel ()

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

dg::SignalPtr< MatrixHomogeneous, int >	positionSIN

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

dg::SignalTimeDependent< MatrixHomogeneous, int >	positionSOUT

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * >	SignalMap

typedef std::map< const std::string, command::Command * >	CommandMap_t

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityRegistration ()

void	entityDeregistration ()

void	signalRegistration (const SignalArray< int > &signals)

void	signalDeregistration (const std::string &name)

Protected Attributes inherited from dynamicgraph::Entity
std::string	name

SignalMap	signalMap

CommandMap_t	commandMap

Logger	logger_

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

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

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

inlinevirtual

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

inlinevirtual

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

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

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

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

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

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

static

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

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

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

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