NonlinearIn Class Reference
[Trajectory control]

Input for a nonlinear controller. More...

#include <TrajControl.h>

Inheritance diagram for NonlinearIn:

List of all members.

Public Member Functions
	NonlinearIn ()
	Default constructor.
	NonlinearIn (Pose &rP, Position &desP, Position &desDP)
	Parametrical constructor.
	NonlinearIn (NonlinearIn &other)
	Copy constructor.
NonlinearIn	operator= (NonlinearIn &other)
	Assignment operator=.
void	setRobotPose (Pose &p)
	Sets the pose of the robot (dx dy dtheta).
Pose	robotPose ()
	Gets the pose of the robot.
Protected Attributes
Pose	_robotPose
	Actual Pose of the robot.

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Detailed Description

Input for a nonlinear controller.

Author:

Paolo Stegagno

Date:

2009/12/02

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Constructor & Destructor Documentation

NonlinearIn::NonlinearIn

(

)

Default constructor.

NonlinearIn::NonlinearIn	(	Pose &	rP,
		Position &	desP,
		Position &	desDP
	)

Parametrical constructor.

Parameters:

[in]	&rP	Robot pose.
[in]	&desP	Desired position.
[in]	&desDP	First derivative of the desired position.

NonlinearIn::NonlinearIn

(

NonlinearIn &

other

)

Copy constructor.

Parameters:

[in]

&other

Other NonlinearIn to be copied.

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Member Function Documentation

NonlinearIn NonlinearIn::operator=

(

NonlinearIn &

other

)

Assignment operator=.

Parameters:

[in]

&other

Other NonlinearIn to be copied.

void NonlinearIn::setRobotPose

(

Pose &

p

)

Sets the pose of the robot (dx dy dtheta).

Parameters:

[in]

&p

Pose to be set.

Pose NonlinearIn::robotPose

(

)

Gets the pose of the robot.

Returns:

The pose of the robot.

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Member Data Documentation

Pose NonlinearIn::_robotPose [protected]

Actual Pose of the robot.

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

• algorithms/TrajControl/TrajControl.h
• algorithms/TrajControl/TrajControl.cpp