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Classe représentant une Configuration d'un Robot. More...
#include <configuration.hpp>
Public Member Functions | |
| Configuration (Robot *R) | |
| Constructeur de la classe. More... | |
| Configuration (Robot *R, double *C, bool noCopy=false) | |
| Constructeur de la classe. More... | |
| Configuration (const Configuration &conf) | |
| Copy constructor of the class. More... | |
| ~Configuration () | |
| Destructeur de la classe. | |
| Configuration & | operator= (const Configuration &other) |
| Asignation. | |
| double & | at (const int &i) |
| Acces the configuration. | |
| double & | operator[] (const int &i) const |
| Acces the configuration. | |
| double & | operator() (const int &i) const |
| Acces the configuration. | |
| void | Clear () |
| détruie la configPt stockée | |
| Robot * | getRobot () |
| obtient le Robot pour lequel la Configuration est créée More... | |
| Eigen::Quaterniond | getQuaternion () |
| Gets the quaternion. More... | |
| void | setQuaternionsToEuler () |
| Sets EulersAngles. | |
| double * | getConfigStruct () |
| obtient le pointeur sur la ConfigPt More... | |
| double * | getConfigStructCopy () |
| obtient le pointeur sur la ConfigPt More... | |
| void | setConfiguration (double *C) |
| modifie la structure configPt stockée More... | |
| void | setConfiguration (Configuration &C) |
| modifie la structure configPt stockée More... | |
| void | convertToRadian () |
| indique si le vecteur de Quaternions est initialisé More... | |
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std::tr1::shared_ptr < Configuration > | getConfigInDegree () |
| Get Config in degrees. | |
| double | dist (Configuration &Conf, bool print=false) |
| calcule la distance à une Configuration More... | |
| double | dist (Configuration &q, int distChoice) |
| calcule la distance à une Configuration More... | |
| double | distance (Configuration *q) |
| Compute the distance between this configuration and the given one. | |
| double | squareDistance (Configuration *q) |
| Compute the square of the distance between this configuration and the given one. | |
| bool | isInCollision () |
| indique si la Configuration est en collision More... | |
| bool | isOutOfBounds (bool print=false) |
| True is the configuration respects DoFs bounds. | |
| void | adaptCircularJointsLimits () |
| True is the configuration respects DoFs bounds. | |
| void | setAsNotTested () |
| Set the configuration as not tested. | |
| double | distEnv () |
| Compute the min distance to a CSpace obstacle. More... | |
| double | getActiveDoF (unsigned int ith) |
| Get the Ith Active Dof. More... | |
| void | setActiveDoF (unsigned int ith, double value) |
| Set the ith active DoF. | |
| bool | equal (Configuration &Conf, bool print=false) |
| compare à une autre Configuration More... | |
| bool | operator== (Configuration &Conf) |
| Compare tow configurations. | |
| bool | operator!= (Configuration &Conf) |
| Compare tow configurations. | |
| std::tr1::shared_ptr < Configuration > | copy () |
| copie une Configuration More... | |
| void | copyPassive (Configuration &C) |
| copie les joints passifs de la Configuration courante dans la Configuration entrée More... | |
| double | cost () |
| obtient le cout de la Configuration suivant l'espace des fonctions de cout More... | |
| void | setCostAsNotTested () |
| Set the configuration as not tested. | |
| bool | setConstraintsWithSideEffect () |
| Sets the configuration to respect robot constraints Leaves the robot in the last configuration. | |
| bool | setConstraints () |
| Sets the configuration to respect robot constraints. | |
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std::tr1::shared_ptr < Configuration > | add (Configuration &C) |
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std::tr1::shared_ptr < Configuration > | operator+ (Configuration &Conf) |
| Adds tow configurations. | |
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std::tr1::shared_ptr < Configuration > | sub (Configuration &C) |
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std::tr1::shared_ptr < Configuration > | operator- (Configuration &Conf) |
| Adds tow configurations. | |
| Configuration & | mult (double coeff) |
| Configuration & | operator* (double coeff) |
| Eigen::VectorXd | getEigenVector () |
| Get the Eigen Vector of the configuration. | |
| Eigen::VectorXd | getEigenVector (const int &startIndex, const int &endIndex) |
| void | setFromEigenVector (const Eigen::VectorXd &conf) |
| set the Eigen Vector of the configuration | |
| void | setFromEigenVector (const Eigen::VectorXd &conf, const int &startIndex, const int &endIndex) |
| void | print (bool withPassive=false) |
| void | printCompare (Configuration *conf, bool withPassive=false) |
| print a comparison between the 2 confs | |
| void | initializeFlyCraneConfiguration () |
| Initialize the FlyCrane attributes. | |
| Eigen::Vector3d | getPosition () const |
| Get the position (in translation) of the reference point of the platform. | |
| double * | getOrientation () |
| Get the position (in rotation) of the reference point of the platform. | |
| double * | getDihedralAngles () |
| Get the orientations of the pairs of ropes with respect to the platform. | |
| Eigen::Vector3d * | getQuadCMs () |
| Get the coordinates of the center of mass of each quadrotor (expressed in the global reference frame). | |
| Eigen::Vector3d * | getQuadAnchors () |
| Get the coordinates of the anchor point of each quadrotor (expressed in the global reference frame). | |
| bool | getAssignedQuadAnchors () const |
| Have the coordinates of the anchor points on the quadrotors been assigned? | |
| double * | getMaximalTensions () |
| Get the upper bounds on the estimations of the tensions exerted on the cables. | |
| double * | getMinimalTensions () |
| Get the lower bounds on the estimations of the tensions exerted on the cables. | |
| double * | getQuadForces () |
| Get the norms of the forces exerted by the quadrotors. | |
| void | setCentersOfMass (Eigen::Vector3d *centersOfMass) |
| Set the coordinates of the center of mass of each quadrotor (in the global reference frame). | |
| void | setQuadAnchors (Eigen::Vector3d *anchors) |
| Set the coordinates of the anchor points of the quadrotors (expressed in the global reference frame). More... | |
| void | setTensionsAndForces (double maxTensions[], double minTensions[], double forces[]) |
| Set the tension bounds and force norms. | |
| bool | isConnectible () |
Classe représentant une Configuration d'un Robot.
| Configuration::Configuration | ( | Robot * | R | ) |
Constructeur de la classe.
| R | le Robot pour lequel la Configuration est créée |
| Configuration::Configuration | ( | Robot * | R, |
| double * | C, | ||
| bool | noCopy = false |
||
| ) |
Constructeur de la classe.
| R | le Robot pour lequel la Configuration est créée |
| C | la structure de Configuration qui sera stockée |
| noCopy | if set to true, _Configuration is set to C, otherwise a copy of C is made. |
| Configuration::Configuration | ( | const Configuration & | conf | ) |
Copy constructor of the class.
| confguration |
| void Configuration::convertToRadian | ( | ) |
indique si le vecteur de Quaternions est initialisé
| shared_ptr< Configuration > Configuration::copy | ( | ) |
copie une Configuration
| void Configuration::copyPassive | ( | Configuration & | C | ) |
copie les joints passifs de la Configuration courante dans la Configuration entrée
| C | in/out la Configuration à modifier |
| double Configuration::cost | ( | ) |
obtient le cout de la Configuration suivant l'espace des fonctions de cout
| double Configuration::dist | ( | Configuration & | Conf, |
| bool | print = false |
||
| ) |
calcule la distance à une Configuration
InitsQuaternion from eulers Angle.
| Conf | la Configuration entrée |
InitsQuaternion from ExternQuaternion and indexDof this conversion uses conventions as described on page: http://www.euclideanspace.com/maths/geometry/rotations/euler/index.htm Coordinate System: right hand Positive angle: right hand Order of euler angles: heading first, then attitude, then bank matrix row column ordering: [m00 m01 m02] [m10 m11 m12] [m20 m21 m22] Computes the distance between configurations
| double Configuration::dist | ( | Configuration & | q, |
| int | distChoice | ||
| ) |
calcule la distance à une Configuration
| q | la Configuration entrée |
| distChoice | le type de calcul de distance |
| double Configuration::distEnv | ( | ) |
Compute the min distance to a CSpace obstacle.
| bool Configuration::equal | ( | Configuration & | Conf, |
| bool | print = false |
||
| ) |
compare à une autre Configuration
| Conf | la Configuration entrée |
| double Configuration::getActiveDoF | ( | unsigned int | ith | ) |
Get the Ith Active Dof.
| configPt Configuration::getConfigStruct | ( | ) |
obtient le pointeur sur la ConfigPt
| configPt Configuration::getConfigStructCopy | ( | ) |
obtient le pointeur sur la ConfigPt
| Eigen::Quaterniond Configuration::getQuaternion | ( | ) |
Gets the quaternion.
| Robot * Configuration::getRobot | ( | ) |
obtient le Robot pour lequel la Configuration est créée
| bool Configuration::isInCollision | ( | ) |
indique si la Configuration est en collision
| void Configuration::setConfiguration | ( | double * | C | ) |
modifie la structure configPt stockée
| C | la nouvelle structure configPt |
| void Configuration::setConfiguration | ( | Configuration & | C | ) |
modifie la structure configPt stockée
| C | la Configuration contentant la nouvelle structure |
| void Configuration::setQuadAnchors | ( | Eigen::Vector3d * | anchors | ) |
Set the coordinates of the anchor points of the quadrotors (expressed in the global reference frame).
Set the coordinates of the anchor points on quadrotors Aij (expressed in the global reference frame).
1.8.6