Robotics Library  0.7.0
Transform.h
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26 
27 #ifndef RL_MDL_TRANSFORM_H
28 #define RL_MDL_TRANSFORM_H
29 
30 #include <boost/graph/adjacency_list.hpp>
31 #include <rl/math/Spatial.h>
32 #include <rl/math/Transform.h>
33 
34 #include "Element.h"
35 
36 namespace rl
37 {
38  namespace mdl
39  {
40  class Frame;
41 
42  class Transform : public Element
43  {
44  public:
45  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
46 
47  typedef ::boost::adjacency_list<
48  ::boost::listS,
49  ::boost::listS,
50  ::boost::bidirectionalS,
51  ::boost::listS
52  > Tree;
53 
54  typedef Tree::edge_descriptor Edge;
55 
56  Transform();
57 
58  virtual ~Transform();
59 
60  virtual void forwardAcceleration();
61 
62  virtual void forwardDynamics1();
63 
64  virtual void forwardDynamics2();
65 
66  virtual void forwardDynamics3();
67 
68  void forwardPosition();
69 
70  virtual void forwardVelocity();
71 
72  const Edge& getEdgeDescriptor() const;
73 
74  virtual void inverseDynamics1();
75 
76  virtual void inverseDynamics2();
77 
78  virtual void inverseForce();
79 
80  void setEdgeDescriptor(const Edge& descriptor);
81 
83 
85 
87 
89 
90  protected:
91 
92  private:
94  };
95  }
96 }
97 
98 #endif // RL_MDL_TRANSFORM_H
rl::mdl::Transform::in
Frame * in
Definition: Transform.h:82
rl::mdl::Transform::getEdgeDescriptor
const Edge & getEdgeDescriptor() const
Definition: Transform.cpp:98
rl::mdl::Transform::forwardAcceleration
virtual void forwardAcceleration()
Definition: Transform.cpp:51
rl::math::Transform
::Eigen::Transform< Real, 3, ::Eigen::Affine > Transform
Rigid transformation in 3D.
Definition: Transform.h:46
rl::mdl::Transform
Definition: Transform.h:43
rl::mdl::Transform::x
::rl::math::PlueckerTransform x
Definition: Transform.h:88
rl::mdl::Transform::forwardDynamics1
virtual void forwardDynamics1()
Definition: Transform.cpp:57
rl::mdl::Transform::forwardDynamics2
virtual void forwardDynamics2()
Definition: Transform.cpp:64
rl::mdl::Transform::setEdgeDescriptor
void setEdgeDescriptor(const Edge &descriptor)
Definition: Transform.cpp:124
rl::mdl::Transform::descriptor
Edge descriptor
Definition: Transform.h:93
rl::mdl::Transform::inverseDynamics1
virtual void inverseDynamics1()
Definition: Transform.cpp:104
Spatial.h
rl::mdl::Transform::~Transform
virtual ~Transform()
Definition: Transform.cpp:46
rl::mdl::Transform::inverseForce
virtual void inverseForce()
Definition: Transform.cpp:117
rl::mdl::Transform::Edge
Tree::edge_descriptor Edge
Definition: Transform.h:54
rl::mdl::Element
Definition: Element.h:40
rl::mdl::Transform::t
::rl::math::Transform t
Definition: Transform.h:86
rl::mdl::Transform::forwardVelocity
virtual void forwardVelocity()
Definition: Transform.cpp:92
rl::mdl::Transform::Transform
Transform()
Definition: Transform.cpp:34
rl::mdl::Transform::forwardDynamics3
virtual void forwardDynamics3()
Definition: Transform.cpp:78
Element.h
rl::mdl::Transform::inverseDynamics2
virtual void inverseDynamics2()
Definition: Transform.cpp:111
rl::math::spatial::PlueckerTransform
Pl├╝cker transform.
Definition: PlueckerTransform.h:55
Transform.h
rl::mdl::Transform::forwardPosition
void forwardPosition()
Definition: Transform.cpp:85
rl::mdl::Transform::Tree
::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::listS > Tree
Definition: Transform.h:52
rl::mdl::Transform::out
Frame * out
Definition: Transform.h:84
rl::mdl::Frame
Definition: Frame.h:42
rl
Robotics Library.
Definition: AnalogInput.cpp:30