dynamicgraph::sot::OpPointModifier Class Reference

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:
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Public Member Functions

virtual const std::string & getClassName (void) const
 
 OpPointModifier (const std::string &name)
 
virtual ~OpPointModifier (void)
 
ml::MatrixjacobianSOUT_function (ml::Matrix &res, const int &time)
 
MatrixHomogeneouspositionSOUT_function (MatrixHomogeneous &res, const int &time)
 
void setTransformation (const MatrixHomogeneous &tr)
 
void setTransformationBySignalName (std::istringstream &cmdArgs)
 
const MatrixHomogeneousgetTransformation (void)
 
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
 
- 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::CommandgetNewStyleCommand (const std::string &cmdName)
 
SignalMap getSignalMap () const
 

Public Attributes

dg::SignalPtr< ml::Matrix, int > jacobianSIN
 
dg::SignalPtr< MatrixHomogeneous, int > positionSIN
 
dg::SignalTimeDependent< ml::Matrix, int > jacobianSOUT
 
dg::SignalTimeDependent< MatrixHomogeneous, int > positionSOUT
 

Static Public Attributes

static const std::string CLASS_NAME
 

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
 

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

◆ OpPointModifier()

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

◆ ~OpPointModifier()

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

Member Function Documentation

◆ commandLine()

virtual void dynamicgraph::sot::OpPointModifier::commandLine ( const std::string &  cmdLine,
std::istringstream &  cmdArgs,
std::ostream &  os 
)
virtual

Reimplemented from dynamicgraph::Entity.

◆ getClassName()

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

Implements dynamicgraph::Entity.

◆ getTransformation()

const MatrixHomogeneous& dynamicgraph::sot::OpPointModifier::getTransformation ( void  )

◆ jacobianSOUT_function()

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

◆ positionSOUT_function()

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

◆ setTransformation()

void dynamicgraph::sot::OpPointModifier::setTransformation ( const MatrixHomogeneous tr)

◆ setTransformationBySignalName()

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

Member Data Documentation

◆ CLASS_NAME

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

◆ jacobianSIN

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

◆ jacobianSOUT

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

◆ positionSIN

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

◆ positionSOUT

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