Inheritance diagram for Rcs::AMJointControl:

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Collaboration diagram for Rcs::AMJointControl:

Public Member Functions
	AMJointControl (RcsGraph *graph)

virtual	~AMJointControl ()

virtual unsigned int	getDim () const

Public Member Functions inherited from Rcs::ActionModel
	ActionModel (RcsGraph *graph)

virtual	~ActionModel ()

ActionModel *	clone () const

virtual ActionModel *	clone (RcsGraph *newGraph) const =0

virtual void	computeCommand (MatNd q_des, MatNd q_dot_des, MatNd T_des, const MatNd action, double dt)=0

virtual void	reset ()

virtual void	getStableAction (MatNd *action) const =0

RcsGraph *	getGraph ()

void	setGraph (RcsGraph *newGraph)

virtual ActionModel *	getWrappedActionModel () const

const ActionModel *	unwrapAll () const

ActionModel *	unwrapAll ()

template<typename AM >
const AM *	unwrap () const

template<typename AM >
AM *	unwrap ()

Public Member Functions inherited from Rcs::BoxSpaceProvider
	BoxSpaceProvider ()

virtual	~BoxSpaceProvider ()

	BoxSpaceProvider (const BoxSpaceProvider &)=delete

BoxSpaceProvider &	operator= (const BoxSpaceProvider &)=delete

	BoxSpaceProvider (BoxSpaceProvider &&)=delete

BoxSpaceProvider &	operator= (BoxSpaceProvider &&)=delete

const BoxSpace *	getSpace () const

virtual void	getMinMax (double min, double max) const =0

virtual std::vector< std::string >	getNames () const

Additional Inherited Members
Protected Attributes inherited from Rcs::ActionModel
RcsGraph *	graph

Detailed Description

Base class for all action models controlling the unconstrained joints of the graph directly (no IK).

Definition at line 42 of file AMJointControl.h.

Constructor & Destructor Documentation

Rcs::AMJointControl::AMJointControl ( RcsGraph * graph )

explicit

Constructor

Parameters

graph graph being commanded

Definition at line 38 of file AMJointControl.cpp.

Rcs::AMJointControl::~AMJointControl ( )

virtual

Definition at line 43 of file AMJointControl.cpp.

unsigned int Rcs::AMJointControl::getDim ( ) const

virtual

Returns graph->nJ since we control all unconstrained joints.

Definition at line 48 of file AMJointControl.cpp.

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