ERC CISST - cisst software

prmPositionCartesianSet Class Reference

#include <prmPositionCartesianSet.h>

Inheritance diagram for prmPositionCartesianSet:

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Collaboration diagram for prmPositionCartesianSet:

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List of all members.

Detailed Description

Cartesian position motion command arguments - default motion is a line between the current position and the goal

Definition at line 42 of file prmPositionCartesianSet.h.

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

prmPositionCartesianSet::prmPositionCartesianSet (  )  [inline]

default constructor

Definition at line 77 of file prmPositionCartesianSet.h.

prmPositionCartesianSet::prmPositionCartesianSet ( const prmTransformationBasePtr &  movingFrame,
const prmTransformationBasePtr &  referenceFrame,
const vctDoubleFrm3 &  goal,
const vctDouble3 &  velocity,
const vctDouble3 &  velocityAngular,
const vctDouble3 &  acceleration,
const vctDouble3 &  accelerationAngular,
const vctBool2 &  mask 
) [inline]

constructor with all parameters

Definition at line 83 of file prmPositionCartesianSet.h.

virtual prmPositionCartesianSet::~prmPositionCartesianSet (  )  [virtual]

destructor

Member Function Documentation

void prmPositionCartesianSet::SetGoal ( const vctDoubleFrm3 &  goal,
const vctBool2 &  mask 
) [inline]

Set Target position and mask

Parameters:
goal cartesian position
mask mask for position/orientation or both
Returns:
void

Definition at line 110 of file prmPositionCartesianSet.h.

void prmPositionCartesianSet::SetGoal ( const vctDoubleFrm3 &  goal  )  [inline]

Set Target frame

Parameters:
goal cartesian position
Returns:
void

Definition at line 120 of file prmPositionCartesianSet.h.

void prmPositionCartesianSet::SetGoal ( const vctDouble3 &  position  )  [inline]

Set Target position only

Parameters:
position target position
Returns:
void

Definition at line 129 of file prmPositionCartesianSet.h.

References vctFrameBase< _rotationType >::Translation().

void prmPositionCartesianSet::SetGoal ( const vctDoubleRot3 &  orientation  )  [inline]

Set Target orientation only

Parameters:
orientation target orientation
Returns:
void

Definition at line 138 of file prmPositionCartesianSet.h.

void prmPositionCartesianSet::SetGoal ( const prmTransformationBasePtr &  target  )  [inline]

Set target to a node in the transformation tree

Parameters:
target node in the tree
Returns:
void

Definition at line 147 of file prmPositionCartesianSet.h.

References prmWRTReference().

vctDoubleFrm3 prmPositionCartesianSet::GetGoal ( void   )  const [inline]

Get current goal parameter

Returns:
prmCartesianPosition current goal parameter

Definition at line 155 of file prmPositionCartesianSet.h.

void prmPositionCartesianSet::SetReferenceFrame ( const prmTransformationBasePtr &  referenceFrame  )  [inline]

Set the reference frame for current move

Parameters:
referenceFrame frame node in the tree
Returns:
void

Definition at line 164 of file prmPositionCartesianSet.h.

prmTransformationBasePtr prmPositionCartesianSet::GetReferenceFrame ( void   )  const [inline]

Get the reference frame for current move

Returns:
prmTransformationBasePtr reference frame node in the tree

Definition at line 172 of file prmPositionCartesianSet.h.

void prmPositionCartesianSet::SetMovingFrame ( const prmTransformationBasePtr &  movingFrame  )  [inline]

Set the moving frame for current move

Parameters:
movingFrame node in the tree
Returns:
void

Definition at line 181 of file prmPositionCartesianSet.h.

prmTransformationBasePtr prmPositionCartesianSet::GetMovingFrame ( void   )  const [inline]

Get the moving frame for current move

Returns:
prmTransformationBasePtr reference frame node in the tree

Definition at line 189 of file prmPositionCartesianSet.h.

void prmPositionCartesianSet::SetVelocity ( const vctDouble3 &  velocity  )  [inline]

Set the velocity parameter

Parameters:
velocity planned velocity
Returns:
void

Definition at line 198 of file prmPositionCartesianSet.h.

vctDouble3 prmPositionCartesianSet::GetVelocity ( void   )  const [inline]

Get the velocity parameter

Returns:
prmCartesianVelocity current planned velocity

Definition at line 206 of file prmPositionCartesianSet.h.

void prmPositionCartesianSet::SetAngularVelocity ( const vctDouble3 &  velocityAngular  )  [inline]

Set the angular velocity parameter

Parameters:
velocityAngular planned angular velocity
Returns:
void

Definition at line 215 of file prmPositionCartesianSet.h.

vctDouble3 prmPositionCartesianSet::GetAngularVelocity ( void   )  const [inline]

Get the angular velocity parameter

Returns:
prmCartesianVelocity current planned angular velocity

Definition at line 223 of file prmPositionCartesianSet.h.

void prmPositionCartesianSet::SetAcceleration ( const vctDouble3 &  acceleration  )  [inline]

Set the acceleration parameters only

Parameters:
acceleration acceleration vector
Returns:
void

Definition at line 232 of file prmPositionCartesianSet.h.

vctDouble3 prmPositionCartesianSet::GetAcceleration ( void   )  const [inline]

Get the current acceleration parameters

Returns:
prmCartesianAcceleration acceleration vector

Definition at line 240 of file prmPositionCartesianSet.h.

void prmPositionCartesianSet::SetAngularAcceleration ( const vctDouble3 &  accelerationAngular  )  [inline]

Set the deceleration parameters only

Parameters:
accelerationAngular angular acceleration
Returns:
void

Definition at line 249 of file prmPositionCartesianSet.h.

vctDouble3 prmPositionCartesianSet::GetAngularAcceleration ( void   )  const [inline]

Get the current angular acceleration parameters

Returns:
prmCartesianAcceleration angular acceleration vector

Definition at line 257 of file prmPositionCartesianSet.h.

void prmPositionCartesianSet::SetMask ( const vctBool2 &  mask  )  [inline]

Set the mask only

Parameters:
mask mask for moves
Returns:
void

Definition at line 266 of file prmPositionCartesianSet.h.

vctBool2 prmPositionCartesianSet::GetMask ( void   )  const [inline]

Get the current mask parameter

Returns:
prmBoolVec current mask

Definition at line 274 of file prmPositionCartesianSet.h.

Member Data Documentation

prmTransformationBasePtr prmPositionCartesianSet::MovingFrame [protected]

The controllable frame node in the transformation tree this command will act on

Definition at line 49 of file prmPositionCartesianSet.h.

prmTransformationBasePtr prmPositionCartesianSet::ReferenceFrame [protected]

The controllable/reference frame node with respect to which the goal is specified

Definition at line 53 of file prmPositionCartesianSet.h.

vctDoubleFrm3 prmPositionCartesianSet::Goal [protected]

Motion command goal, relative to ReferenceFrame

Definition at line 56 of file prmPositionCartesianSet.h.

vctDouble3 prmPositionCartesianSet::Velocity [protected]

linear velocity to goal (time derivative of magnitude of the vector to goal

Definition at line 60 of file prmPositionCartesianSet.h.

vctDouble3 prmPositionCartesianSet::VelocityAngular [protected]

vector of rate of orientation change (single value about a screw axis)

Definition at line 64 of file prmPositionCartesianSet.h.

vctDouble3 prmPositionCartesianSet::Acceleration [protected]

desired time derivative of linear velocity

Definition at line 67 of file prmPositionCartesianSet.h.

vctDouble3 prmPositionCartesianSet::AccelerationAngular [protected]

desired time derivative of angualr velocity

Definition at line 70 of file prmPositionCartesianSet.h.

vctBool2 prmPositionCartesianSet::Mask [protected]

two tuple, masks position/orientation parts of the Cartesian motion

Definition at line 73 of file prmPositionCartesianSet.h.

The documentation for this class was generated from the following file:
erc-cisst-devel<at>lists.johnshopkins.edu