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:
[legend]

List of all members.

Public Member Functions

virtual const std::string & getClassName (void) const
 OpPointModifier (const std::string &name)
virtual ~OpPointModifier (void)
dg::MatrixjacobianSOUT_function (dg::Matrix &res, const int &time)
MatrixHomogeneouspositionSOUT_function (MatrixHomogeneous &res, const int &time)
void setTransformation (const Eigen::Matrix4d &tr)
void setTransformationBySignalName (std::istringstream &cmdArgs)
const Eigen::Matrix4d & getTransformation (void)

Public Attributes

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

Static Public Attributes

static const std::string CLASS_NAME

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

dynamicgraph::sot::OpPointModifier::OpPointModifier ( const std::string &  name)
virtual dynamicgraph::sot::OpPointModifier::~OpPointModifier ( void  ) [inline, virtual]

Member Function Documentation

virtual const std::string& dynamicgraph::sot::OpPointModifier::getClassName ( void  ) const [inline, virtual]

Implements dynamicgraph::Entity.

const Eigen::Matrix4d& dynamicgraph::sot::OpPointModifier::getTransformation ( void  )
dg::Matrix& dynamicgraph::sot::OpPointModifier::jacobianSOUT_function ( dg::Matrix res,
const int &  time 
)
MatrixHomogeneous& dynamicgraph::sot::OpPointModifier::positionSOUT_function ( MatrixHomogeneous res,
const int &  time 
)
void dynamicgraph::sot::OpPointModifier::setTransformation ( const Eigen::Matrix4d &  tr)
void dynamicgraph::sot::OpPointModifier::setTransformationBySignalName ( std::istringstream &  cmdArgs)

Member Data Documentation