ct::rbd::CoordinateBase< NUM_OUTPUTS, NUM_JOINTS > Class Template Reference

#include <CoordinateBase.h>

Public Types
typedef std::shared_ptr< CoordinateBase< NUM_OUTPUTS, NUM_JOINTS > >	ptr
typedef RBDState< NUM_JOINTS >	state_t
typedef Eigen::Matrix< double, NUM_OUTPUTS, 1 >	coordinate_t

Public Member Functions
	CoordinateBase ()
virtual	~CoordinateBase ()
virtual coordinate_t	getCoordinate (const state_t &state)=0

Detailed Description

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS>
class ct::rbd::CoordinateBase< NUM_OUTPUTS, NUM_JOINTS >

This class is an interface class for operational space coordinate.

Member Typedef Documentation

ptr

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS>

typedef std::shared_ptr<CoordinateBase<NUM_OUTPUTS, NUM_JOINTS> > ct::rbd::CoordinateBase< NUM_OUTPUTS, NUM_JOINTS >::ptr

state_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS>

typedef RBDState<NUM_JOINTS> ct::rbd::CoordinateBase< NUM_OUTPUTS, NUM_JOINTS >::state_t

coordinate_t

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS>

typedef Eigen::Matrix<double, NUM_OUTPUTS, 1> ct::rbd::CoordinateBase< NUM_OUTPUTS, NUM_JOINTS >::coordinate_t

Constructor & Destructor Documentation

CoordinateBase()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS>

ct::rbd::CoordinateBase< NUM_OUTPUTS, NUM_JOINTS >::CoordinateBase ( )

inline

~CoordinateBase()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS>

virtual ct::rbd::CoordinateBase< NUM_OUTPUTS, NUM_JOINTS >::~CoordinateBase ( )

inlinevirtual

References ct::rbd::CoordinateBase< NUM_OUTPUTS, NUM_JOINTS >::getCoordinate().

Member Function Documentation

getCoordinate()

template<size_t NUM_OUTPUTS, size_t NUM_JOINTS>

virtual coordinate_t ct::rbd::CoordinateBase< NUM_OUTPUTS, NUM_JOINTS >::getCoordinate ( const state_t &  state )

pure virtual

Referenced by ct::rbd::CoordinateBase< NUM_OUTPUTS, NUM_JOINTS >::~CoordinateBase().

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/operationalSpace/coordinate/CoordinateBase.h