DFLIn Class Reference
[Trajectory control]

Input for a DFL controller. More...

#include <TrajControl.h>

Inheritance diagram for DFLIn:

List of all members.

Public Member Functions
	DFLIn ()
	Default constructor.
	DFLIn (Pose &rP, Pose &rDP, Position &desP, Position &desDP, Position &desDDP, Decimal tos=0.0)
	Parametrical constructor.
	DFLIn (DFLIn &other)
	Copy constructor.
DFLIn	operator= (DFLIn &other)
	Assignment operator=.
void	setRobotDPose (Pose &p)
	Sets the first derivative of the pose of the robot (dx dy dtheta).
void	setDesiredDDPosition (Position &p)
	Sets the desired second derivative of the position.
void	setTimeOfSampling (Decimal tos)
	Sets the time of sampling.
Pose	robotDPose ()
	Gets the first derivative of the pose of the robot (dx dy dtheta).
Position	desiredDDPosition ()
	Gets the desired second derivative of the position.
Decimal	timeOfSampling ()
	Gets the time of sampling.

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Detailed Description

Input for a DFL controller.

Author:

Paolo Stegagno

Date:

2009/12/02

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Constructor & Destructor Documentation

DFLIn::DFLIn

(

)

Default constructor.

DFLIn::DFLIn	(	Pose &	rP,
		Pose &	rDP,
		Position &	desP,
		Position &	desDP,
		Position &	desDDP,
		Decimal	tos = 0.0
	)

Parametrical constructor.

Parameters:

[in]	&rP	Robot pose.
[in]	&rDP	First derivative of the robot pose.
[in]	&desP	Desired position.
[in]	&desDP	First derivative of the desired position.
[in]	&desDDP	Second derivative of the desired position.
[in]	tos	Time of sampling.

DFLIn::DFLIn

(

DFLIn &

other

)

Copy constructor.

Parameters:

[in]

&other

Other DFLIn to be copied.

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Member Function Documentation

DFLIn DFLIn::operator=

(

DFLIn &

other

)

Assignment operator=.

Parameters:

[in]

&other

Other DFLIn to be copied.

void DFLIn::setRobotDPose

(

Pose &

p

)

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

Parameters:

[in]

&p

Pose to be set.

void DFLIn::setDesiredDDPosition

(

Position &

p

)

Sets the desired second derivative of the position.

Parameters:

[in]

&p

Position to be set.

void DFLIn::setTimeOfSampling

(

Decimal

tos

)

Sets the time of sampling.

Parameters:

[in]

tos

Value to be set.

Pose DFLIn::robotDPose

(

)

Gets the first derivative of the pose of the robot (dx dy dtheta).

Returns:

The first derivative of the pose of the robot.

Position DFLIn::desiredDDPosition

(

)

Gets the desired second derivative of the position.

Returns:

The desired second derivative of the position.

Decimal DFLIn::timeOfSampling

(

)

Gets the time of sampling.

Returns:

The time of sampling.

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

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