Robotics Library  0.6.0
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rl::mdl::Frame Class Reference

#include <Frame.h>

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Public Types

typedef Tree::vertex_descriptor Vertex
 

Public Member Functions

 Frame ()
 
virtual ~Frame ()
 
virtual void forwardAcceleration ()
 
virtual void forwardDynamics1 ()
 
virtual void forwardDynamics2 ()
 
virtual void forwardDynamics3 ()
 
virtual void forwardPosition ()
 
virtual void forwardVelocity ()
 
const VertexgetVertexDescriptor () const
 
virtual void inverseDynamics1 ()
 
virtual void inverseDynamics2 ()
 
virtual void inverseForce ()
 
virtual void inverseVelocity1 (const ::rl::math::Real &lambda)
 
virtual void inverseVelocity2 ()
 
virtual void inverseVelocity3 ()
 
void setVertexDescriptor (const Vertex &descriptor)
 
- Public Member Functions inherited from rl::mdl::Element
 Element ()
 
virtual ~Element ()
 
const ::std::string & getName () const
 
void setName (const ::std::string &name)
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef::boost::adjacency_list
< ::boost::listS,::boost::listS,::boost::bidirectionalS,::boost::listS > 
Tree
 
::rl::math::MotionVector a
 
::rl::math::MotionVector c
 
::rl::math::ForceVector f
 
::rl::math::RigidBodyInertia i
 
::rl::math::ArticulatedBodyInertia iA
 
::rl::math::ForceVector pA
 
::rl::math::Transform t
 
::rl::math::MotionVector v
 
::rl::math::PlueckerTransform x
 
- Public Attributes inherited from rl::mdl::Element
Compoundcompound
 

Private Attributes

Vertex descriptor
 

Member Typedef Documentation

typedef Tree::vertex_descriptor rl::mdl::Frame::Vertex

Constructor & Destructor Documentation

rl::mdl::Frame::Frame ( )
rl::mdl::Frame::~Frame ( )
virtual

Member Function Documentation

void rl::mdl::Frame::forwardAcceleration ( )
virtual

Implements rl::mdl::Element.

Reimplemented in rl::mdl::Body.

void rl::mdl::Frame::forwardDynamics1 ( )
virtual

Implements rl::mdl::Element.

Reimplemented in rl::mdl::Body.

void rl::mdl::Frame::forwardDynamics2 ( )
virtual

Implements rl::mdl::Element.

Reimplemented in rl::mdl::Body.

void rl::mdl::Frame::forwardDynamics3 ( )
virtual

Implements rl::mdl::Element.

Reimplemented in rl::mdl::Body.

void rl::mdl::Frame::forwardPosition ( )
virtual

Implements rl::mdl::Element.

Reimplemented in rl::mdl::Body.

void rl::mdl::Frame::forwardVelocity ( )
virtual

Implements rl::mdl::Element.

Reimplemented in rl::mdl::Body.

const Frame::Vertex & rl::mdl::Frame::getVertexDescriptor ( ) const
void rl::mdl::Frame::inverseDynamics1 ( )
virtual

Implements rl::mdl::Element.

Reimplemented in rl::mdl::Body.

void rl::mdl::Frame::inverseDynamics2 ( )
virtual

Implements rl::mdl::Element.

Reimplemented in rl::mdl::Body.

void rl::mdl::Frame::inverseForce ( )
virtual

Implements rl::mdl::Element.

void rl::mdl::Frame::inverseVelocity1 ( const ::rl::math::Real lambda)
virtual

Implements rl::mdl::Element.

Reimplemented in rl::mdl::Body.

void rl::mdl::Frame::inverseVelocity2 ( )
virtual

Implements rl::mdl::Element.

Reimplemented in rl::mdl::Body.

void rl::mdl::Frame::inverseVelocity3 ( )
virtual

Implements rl::mdl::Element.

Reimplemented in rl::mdl::Body.

void rl::mdl::Frame::setVertexDescriptor ( const Vertex descriptor)

Member Data Documentation

::rl::math::MotionVector rl::mdl::Frame::a
::rl::math::MotionVector rl::mdl::Frame::c
Vertex rl::mdl::Frame::descriptor
private
::rl::math::ForceVector rl::mdl::Frame::f
::rl::math::RigidBodyInertia rl::mdl::Frame::i
::rl::math::ArticulatedBodyInertia rl::mdl::Frame::iA
::rl::math::ForceVector rl::mdl::Frame::pA
::rl::math::Transform rl::mdl::Frame::t
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::listS > rl::mdl::Frame::Tree
::rl::math::MotionVector rl::mdl::Frame::v
::rl::math::PlueckerTransform rl::mdl::Frame::x

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