robot::control::kinematics::BetaFormConstraints::BetaFormConstraint Class Reference

Abstract interface for a constraint expressed in beta form. More...

Inheritance diagram for robot::control::kinematics::BetaFormConstraints::BetaFormConstraint:

[legend]Collaboration diagram for robot::control::kinematics::BetaFormConstraints::BetaFormConstraint:

[legend]List of all members.

Public Member Functions
	BetaFormConstraint ()
	BetaFormConstraint (const BetaFormConstraint &bc)
	BetaFormConstraint (const Vector &beta)
virtual String	className () const
virtual Int	getID () const
virtual void	setID (Int id)
virtual Vector	getBeta () const
virtual String	toString () const
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
virtual const String &	getName () const
Protected Member Functions
virtual void	setName (const String &name)
Protected Attributes
Int	id
	user specified id (not interpreted by this)
Vector	beta
int	_refCount
bool	onUnreferenceEnabled

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Detailed Description

Abstract interface for a constraint expressed in beta form.

Definition at line 66 of file BetaFormConstraints.

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Constructor & Destructor Documentation

robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::BetaFormConstraint (   )  [inline]

Definition at line 69 of file BetaFormConstraints.

robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::BetaFormConstraint (  const BetaFormConstraint &  bc  )  [inline]

Definition at line 70 of file BetaFormConstraints. References beta.

robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::BetaFormConstraint (  const Vector &  beta  )  [inline]

Definition at line 71 of file BetaFormConstraints. References className(), base::Named::setName(), and base::Vector.

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Member Function Documentation

virtual String robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::className (   )  const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes. Implements base::Object. Reimplemented in robot::control::kinematics::IKOR::JointLimitBetaConstraint, robot::control::kinematics::IKOR::PushAwayBetaConstraint, and robot::control::kinematics::IKOR::RankLossBetaConstraint. Definition at line 73 of file BetaFormConstraints. Referenced by BetaFormConstraint().

void base::Referenced::enableOnUnreferenceCall (  bool  enabled  )  [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference() Definition at line 115 of file Referenced. References base::Referenced::onUnreferenceEnabled.

virtual Vector robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::getBeta (   )  const [inline, virtual]

Definition at line 78 of file BetaFormConstraints. References beta, and base::Vector.

virtual Int robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::getID (   )  const [inline, virtual]

Definition at line 75 of file BetaFormConstraints.

virtual const String& base::Named::getName (   )  const [inline, virtual, inherited]

Definition at line 44 of file Named. References base::String. Referenced by physics::Collidable::findNamed(), physics::operator<<(), robot::ToolDescription::operator=(), robot::RobotDescription::operator=(), robot::PlatformDescription::operator=(), robot::ManipulatorDescription::operator=(), base::Named::operator=(), and robot::ManipulatorDescription::operator==().

virtual bool base::Object::isSameKindAs (  const Object &   )  const [inline, virtual, inherited]

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs (  const ReferencedObject &   )  const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

virtual void base::Referenced::onUnreference (   )  const [inline, virtual, inherited]

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor. Definition at line 121 of file Referenced. Referenced by base::Referenced::unreference().

void base::Referenced::reference (   )  const [inline, inherited]

Increment the reference count by one, indicating that this object has another pointer which is referencing it. Definition at line 65 of file Referenced. References base::Referenced::_refCount.

const int base::Referenced::referenceCount (   )  const [inline, inherited]

Return the number pointers currently referencing this object. Definition at line 112 of file Referenced. References base::Referenced::_refCount. Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

virtual void robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::setID (  Int  id  )  [inline, virtual]

Definition at line 76 of file BetaFormConstraints.

virtual void base::Named::setName (  const String &  name  )  [inline, protected, virtual, inherited]

Reimplemented in physics::Collidable, physics::Solid, and robot::sim::BasicEnvironment::Obstacle. Definition at line 47 of file Named. References base::String. Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::AdaptorControlInterface(), BetaFormConstraint(), robot::control::kinematics::IKORController::EEPositionControlInterface::EEPositionControlInterface(), robot::control::kinematics::IKOR::JointLimitBetaConstraint::JointLimitBetaConstraint(), robot::control::kinematics::IKORController::LinkPositionsControlInterface::LinkPositionsControlInterface(), robot::ToolDescription::operator=(), robot::RobotDescription::operator=(), robot::PlatformDescription::operator=(), robot::ManipulatorDescription::operator=(), base::Named::operator=(), robot::control::ManipulatorPIDPositionController::PositionInterface::PositionInterface(), robot::RobotDescription::set(), robot::PlatformDescription::set(), robot::ManipulatorDescription::set(), and physics::Solid::setName().

virtual String robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::toString (   )  const [inline, virtual]

Reimplemented in robot::control::kinematics::IKOR::JointLimitBetaConstraint, robot::control::kinematics::IKOR::PushAwayBetaConstraint, and robot::control::kinematics::IKOR::RankLossBetaConstraint. Definition at line 80 of file BetaFormConstraints. Referenced by robot::control::kinematics::operator<<().

bool base::Referenced::unreference (   )  const [inline, inherited]

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted. Definition at line 81 of file Referenced. References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.

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Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]

Definition at line 136 of file Referenced. Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

Vector robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::beta [protected]

Definition at line 84 of file BetaFormConstraints. Referenced by BetaFormConstraint(), and getBeta().

Int robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::id [protected]

user specified id (not interpreted by this) Definition at line 83 of file BetaFormConstraints.

bool base::Referenced::onUnreferenceEnabled [protected, inherited]

Definition at line 137 of file Referenced. Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

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

• robot/control/kinematics/BetaFormConstraints

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