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Public Member Functions | Protected Member Functions | List of all members
iCub::iDyn::iFrameOnLink Class Reference

#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.


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