ERC CISST - cisst software

prmVelocityCartesianSet Class Reference

#include <prmVelocityCartesianSet.h>

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List of all members.

Detailed Description

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

Definition at line 41 of file prmVelocityCartesianSet.h.

Public Member Functions

Protected Attributes

Constructor & Destructor Documentation

prmVelocityCartesianSet::prmVelocityCartesianSet (  )  [inline]

default constructor

Definition at line 71 of file prmVelocityCartesianSet.h.

prmVelocityCartesianSet::prmVelocityCartesianSet ( const prmTransformationBasePtr &  movingFrame,
const prmTransformationBasePtr &  referenceFrame,
const vctDouble3 &  velocity,
const vctDouble3 &  velocityAngular,
const vctDouble3 &  acceleration,
const vctDouble3 &  accelerationAngular,
const vctBool6 &  mask 
) [inline]

constructor with all parameters

Definition at line 77 of file prmVelocityCartesianSet.h.

virtual prmVelocityCartesianSet::~prmVelocityCartesianSet (  )  [virtual]

destructor

Member Function Documentation

void prmVelocityCartesianSet::SetGoal ( const vctDouble6 &  velocities  )  [inline]

Set translation and angular velocities only

Parameters:
velocities (3 translational and 3 angular velocities)
Returns:
void

Definition at line 100 of file prmVelocityCartesianSet.h.

void prmVelocityCartesianSet::SetRotationGoal ( const vctDouble3 &  velocityAngular  )  [inline]

Set angular velocity only

Parameters:
velocityAngular angular velocity
Returns:
void

Definition at line 123 of file prmVelocityCartesianSet.h.

vctDouble3 prmVelocityCartesianSet::GetGoal ( void   )  const [inline]

Get current goal

Returns:
vctDouble3 current goal velocity

Definition at line 131 of file prmVelocityCartesianSet.h.

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

Set the reference frame for current move

Parameters:
referenceFrame frame node in the tree
Returns:
void

Definition at line 140 of file prmVelocityCartesianSet.h.

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

Get the reference frame for current move

Returns:
prmTransformationBasePtr reference frame node in the tree

Definition at line 148 of file prmVelocityCartesianSet.h.

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

Set the moving frame for current move

Parameters:
movingFrame frame node in the tree
Returns:
void

Definition at line 157 of file prmVelocityCartesianSet.h.

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

Get the moving frame for current move

Returns:
prmTransformationBasePtr moving frame node in the tree

Definition at line 165 of file prmVelocityCartesianSet.h.

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

Set the velocity parameter

Parameters:
velocity planned velocity
Returns:
void

Definition at line 174 of file prmVelocityCartesianSet.h.

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

Get the velocity parameter

Returns:
vctDouble3 current planned velocity

Definition at line 182 of file prmVelocityCartesianSet.h.

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

Set the angular velocity parameter

Parameters:
velocityAngular planned angular velocity
Returns:
void

Definition at line 191 of file prmVelocityCartesianSet.h.

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

Get the angular velocity parameter

Returns:
vctDouble3 current planned angular velocity

Definition at line 199 of file prmVelocityCartesianSet.h.

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

Set the acceleration parameters only

Parameters:
acceleration target acceleration vector
Returns:
void

Definition at line 208 of file prmVelocityCartesianSet.h.

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

Get the current acceleration parameters

Returns:
vctDouble3 acceleration vector

Definition at line 216 of file prmVelocityCartesianSet.h.

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

Set the deceleration parameters only

Parameters:
acceleration target angular acceleration vector
Returns:
void

Definition at line 225 of file prmVelocityCartesianSet.h.

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

Get the current angular acceleration parameters

Returns:
vctDouble3 angular acceleration vector

Definition at line 233 of file prmVelocityCartesianSet.h.

void prmVelocityCartesianSet::SetMask ( const vctBool6 &  mask  )  [inline]

Set the mask only

Parameters:
mask mask for moves
Returns:
void

Definition at line 242 of file prmVelocityCartesianSet.h.

vctBool6 prmVelocityCartesianSet::GetMask ( void   )  const [inline]

Get the current mask parameter

Returns:
prmBoolVec current mask

Definition at line 250 of file prmVelocityCartesianSet.h.

Member Data Documentation

prmTransformationBasePtr prmVelocityCartesianSet::MovingFrame [protected]

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

Definition at line 47 of file prmVelocityCartesianSet.h.

prmTransformationBasePtr prmVelocityCartesianSet::ReferenceFrame [protected]

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

Definition at line 51 of file prmVelocityCartesianSet.h.

vctDouble3 prmVelocityCartesianSet::Velocity [protected]

Linear goal (time derivative of magnitude of the vector to goal.

Definition at line 55 of file prmVelocityCartesianSet.h.

vctDouble3 prmVelocityCartesianSet::VelocityAngular [protected]

Vector of rate of orientation change

Definition at line 58 of file prmVelocityCartesianSet.h.

vctDouble3 prmVelocityCartesianSet::Acceleration [protected]

desired time derivative of linear velocity - six vectors

Definition at line 61 of file prmVelocityCartesianSet.h.

vctDouble3 prmVelocityCartesianSet::AccelerationAngular [protected]

desired time derivative of angualr velocity - six vectors

Definition at line 64 of file prmVelocityCartesianSet.h.

vctBool6 prmVelocityCartesianSet::Mask [protected]

probably also a 6-vector -- do we really need this or just set vel to 0?

Definition at line 67 of file prmVelocityCartesianSet.h.

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