ERC CISST - cisst software

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prmTransformationDynamic Class Reference

#include <prmTransformationDynamic.h>

Inheritance diagram for prmTransformationDynamic:

[legend]Collaboration diagram for prmTransformationDynamic:

[legend]List of all members.

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Detailed Description

Derived class of prmTransformationBase for a dynamic transformation. This class stores an command which gets invoked whenever the position of the frame with respect to its reference is queried.

See also:

prmWRTReference prmTransformationFixed, prmTransformationBase, prmTransformationManager

Definition at line 46 of file prmTransformationDynamic.h.

Public Types

• typedef mtsFunctionRead CommandType

Public Member Functions

• prmTransformationDynamic (void)
• prmTransformationDynamic (const std::string &name)
• prmTransformationDynamic (const std::string &name, const CommandType &transformationCommand, prmTransformationBasePtr reference)
• ~prmTransformationDynamic ()
• vctFrm3 WRTReference (void) const

• void SetTransformationCommand (const CommandType &transformationCommand)
• const CommandType & GetTransformationCommand (void) const

Protected Attributes

• CommandType TransformationCommand

Friends

• class prmTransformationManager

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Constructor & Destructor Documentation

prmTransformationDynamic::prmTransformationDynamic

(

void

)

[inline]

Default constructor. Set the frame name as "Undefined". The transformation command between this frame and its reference is set to NULL, which would return an identity transform if queried.

Definition at line 63 of file prmTransformationDynamic.h.

prmTransformationDynamic::prmTransformationDynamic

(

const std::string &

name

)

[inline]

Constructor with a name only. The transformation between this frame and its reference is not defined and returns identity.

Parameters:

name

const std::string describable name

Definition at line 73 of file prmTransformationDynamic.h.

prmTransformationDynamic::prmTransformationDynamic	(	const std::string &	name,
		const CommandType &	transformationCommand,
		prmTransformationBasePtr	reference
	)			[inline]

Constructor with a name, a reference frame and the transformation command from the reference frame.

Parameters:

	name	const std::string describable name
	transformationCommdn	const mtsCommandRead* ptr to new transformation command
	reference	prmTransformationBasePtr ptr to attachment point in the transformation manager.

Definition at line 85 of file prmTransformationDynamic.h.

References prmTransformationBase::SetReferenceFrame().

prmTransformationDynamic::~prmTransformationDynamic

(

)

Destructor. The frame is also detached from the frame manager. Any children of the detached frame will inherit its parent

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Member Function Documentation

void prmTransformationDynamic::SetTransformationCommand

(

const CommandType &

transformationCommand

)

[inline]

Set/Get transformation command between this frame and its reference.

Parameters:

transformationCommand

const mtsCommandRead* ptr to new transformation computation method

Returns:

void.

Definition at line 105 of file prmTransformationDynamic.h.

const CommandType& prmTransformationDynamic::GetTransformationCommand

(

void

)

const [inline]

Get a pointer to the current transformation command method

Returns:

mtsCommandRead* ptr to current transformation command

Definition at line 113 of file prmTransformationDynamic.h.

vctFrm3 prmTransformationDynamic::WRTReference

(

void

)

const [inline, virtual]

Get the transformation between the reference frame and this frame. Same as GetTransformation()->Execute().

Returns:

vctFrm3 relationship between this frame and its reference frame in the transformation manager.

Implements prmTransformationBase.

Definition at line 123 of file prmTransformationDynamic.h.

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Member Data Documentation

CommandType prmTransformationDynamic::TransformationCommand [protected]

command to compute current value with respect to its reference

Definition at line 57 of file prmTransformationDynamic.h.

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

• prmTransformationDynamic.h

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