iCub::iDyn::iFrameOnLink Class Reference

A Base class for defining the FT sensor over a generic link of a kinematic chain inherited by iKinLimb. More...

#include <iDynTransform.h>

Public Member Functions
	iFrameOnLink ()
	iFrameOnLink (int _l)
	~iFrameOnLink ()
void	setLink (int _l)
void	setRs (const yarp::sig::Matrix &_Rs)
void	setPs (const yarp::sig::Vector &_ps)
void	setHs (const yarp::sig::Matrix &_Hs)
yarp::sig::Matrix	getRs ()
yarp::sig::Vector	getPs ()
yarp::sig::Matrix	getHs ()
yarp::sig::Matrix	getRl ()
yarp::sig::Vector	getPl ()
yarp::sig::Matrix	getHl ()
yarp::sig::Matrix	getH ()
void	setSensor (int _l, const yarp::sig::Vector &_FT)
void	setSensor (const yarp::sig::Matrix &_H, const yarp::sig::Vector &_FT)
void	setSensor (const yarp::sig::Vector &_FT)
yarp::sig::Vector	getFT ()
void	attach (iKin::iKinChain *_Limb)
void	attach (iGenericFrame *_Sensor)

Protected Member Functions
void	setSensorKin (int _l)
void	setSensorKin (const yarp::sig::Matrix &_H)
void	setSensorKin ()
void	setFT (const yarp::sig::Vector &_FT)

Detailed Description

A Base class for defining the FT sensor over a generic link of a kinematic chain inherited by iKinLimb.

Definition at line 222 of file iDynTransform.h.

Constructor & Destructor Documentation

iFrameOnLink() [1/2]

iFrameOnLink::iFrameOnLink

(

)

Definition at line 133 of file iDynTransform.cpp.

iFrameOnLink() [2/2]

iFrameOnLink::iFrameOnLink

(

int

_l

)

Definition at line 139 of file iDynTransform.cpp.

~iFrameOnLink()

iFrameOnLink::~iFrameOnLink

(

)

Definition at line 222 of file iDynTransform.cpp.

Member Function Documentation

attach() [1/2]

void iFrameOnLink::attach

(

iGenericFrame *

_Sensor

)

Definition at line 217 of file iDynTransform.cpp.

attach() [2/2]

void iFrameOnLink::attach

(

iKin::iKinChain *

_Limb

)

Definition at line 212 of file iDynTransform.cpp.

getFT()

Vector iFrameOnLink::getFT

(

)

Definition at line 203 of file iDynTransform.cpp.

getH()

Matrix iFrameOnLink::getH

(

)

Definition at line 207 of file iDynTransform.cpp.

getHl()

yarp::sig::Matrix iCub::iDyn::iFrameOnLink::getHl ( )

inline

Definition at line 277 of file iDynTransform.h.

getHs()

yarp::sig::Matrix iCub::iDyn::iFrameOnLink::getHs ( )

inline

Definition at line 269 of file iDynTransform.h.

getPl()

yarp::sig::Vector iCub::iDyn::iFrameOnLink::getPl ( )

inline

Definition at line 275 of file iDynTransform.h.

getPs()

yarp::sig::Vector iCub::iDyn::iFrameOnLink::getPs ( )

inline

Definition at line 268 of file iDynTransform.h.

getRl()

yarp::sig::Matrix iCub::iDyn::iFrameOnLink::getRl ( )

inline

Definition at line 273 of file iDynTransform.h.

getRs()

yarp::sig::Matrix iCub::iDyn::iFrameOnLink::getRs ( )

inline

Definition at line 267 of file iDynTransform.h.

setFT()

void iFrameOnLink::setFT ( const yarp::sig::Vector &  _FT )

protected

Definition at line 159 of file iDynTransform.cpp.

setHs()

void iCub::iDyn::iFrameOnLink::setHs ( const yarp::sig::Matrix &  _Hs )

inline

Definition at line 264 of file iDynTransform.h.

setLink()

void iFrameOnLink::setLink

(

int

_l

)

Definition at line 155 of file iDynTransform.cpp.

setPs()

void iCub::iDyn::iFrameOnLink::setPs ( const yarp::sig::Vector &  _ps )

inline

Definition at line 261 of file iDynTransform.h.

setRs()

void iCub::iDyn::iFrameOnLink::setRs ( const yarp::sig::Matrix &  _Rs )

inline

Definition at line 259 of file iDynTransform.h.

setSensor() [1/3]

void iFrameOnLink::setSensor	(	const yarp::sig::Matrix &	_H,
		const yarp::sig::Vector &	_FT
	)

Definition at line 191 of file iDynTransform.cpp.

setSensor() [2/3]

void iFrameOnLink::setSensor

(

const yarp::sig::Vector &

_FT

)

Definition at line 197 of file iDynTransform.cpp.

setSensor() [3/3]

void iFrameOnLink::setSensor	(	int	_l,
		const yarp::sig::Vector &	_FT
	)

Definition at line 185 of file iDynTransform.cpp.

setSensorKin() [1/3]

void iFrameOnLink::setSensorKin ( )

protected

Definition at line 171 of file iDynTransform.cpp.

setSensorKin() [2/3]

void iCub::iDyn::iFrameOnLink::setSensorKin ( const yarp::sig::Matrix &  _H )

protected

setSensorKin() [3/3]

void iFrameOnLink::setSensorKin ( int  _l )

protected

Definition at line 165 of file iDynTransform.cpp.

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

• icub-main/src/libraries/iDyn/include/iCub/iDyn/iDynTransform.h
• icub-main/src/libraries/iDyn/src/iDynTransform.cpp