robot::control::kinematics::IKOR::JointLimitBetaConstraint Class Reference

Inheritance diagram for robot::control::kinematics::IKOR::JointLimitBetaConstraint:

[legend]Collaboration diagram for robot::control::kinematics::IKOR::JointLimitBetaConstraint:

[legend]List of all members.


Public Member Functions
	JointLimitBetaConstraint (Int j, Real dist, const Matrix &gs)
	JointLimitBetaConstraint (const JointLimitBetaConstraint &jlc)
virtual String	className () const
virtual String	toString () const
virtual Int	getID () const
virtual void	setID (Int id)
virtual Vector	getBeta () 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
Public Attributes
Int	j
	joint/variable index
Real	dist
	desired change in q[j]
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

Constructor & Destructor Documentation

robot::control::kinematics::IKOR::JointLimitBetaConstraint::JointLimitBetaConstraint ( Int j,

Real dist,

const Matrix & gs

) [inline]

Definition at line 63 of file IKOR.
References className(), base::Matrix, and base::Named::setName().

robot::control::kinematics::IKOR::JointLimitBetaConstraint::JointLimitBetaConstraint ( const JointLimitBetaConstraint & jlc ) [inline]

Definition at line 66 of file IKOR.
References dist, and j.

Member Function Documentation

virtual String robot::control::kinematics::IKOR::JointLimitBetaConstraint::className ( ) const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes.
Reimplemented from robot::control::kinematics::BetaFormConstraints::BetaFormConstraint.
Definition at line 69 of file IKOR.
Referenced by JointLimitBetaConstraint().

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, inherited]

Definition at line 78 of file BetaFormConstraints.
References robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::beta, and base::Vector.

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

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, inherited]

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(), robot::control::kinematics::BetaFormConstraints::BetaFormConstraint::BetaFormConstraint(), robot::control::kinematics::IKORController::EEPositionControlInterface::EEPositionControlInterface(), 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::IKOR::JointLimitBetaConstraint::toString ( ) const [inline, virtual]

Reimplemented from robot::control::kinematics::BetaFormConstraints::BetaFormConstraint.
Definition at line 74 of file IKOR.
References dist, base::intToString(), j, and base::realToString().

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.