rci::RotationalVelocitySensing Class Reference

By implementing this interface, a node is characterized as being able to sense the 6-dimensional velocity of an object in cartesian space or it`s translational or rotational part. More...

#include <SensingCartesian.h>

Inheritance diagram for rci::RotationalVelocitySensing:
Collaboration diagram for rci::RotationalVelocitySensing:

List of all members.

Public Member Functions

virtual RotationalVelocityPtr getRotationalVelocity () const
 Returns rotational velocity in cartesian task space.
virtual void updateRotationalVelocity (RotationalVelocityPtr rvel)
 Updates sensor value for the rotational part of the measured cartesian velocity.

Protected Member Functions

 RotationalVelocitySensing ()
virtual ~RotationalVelocitySensing ()

Protected Attributes

RotationalVelocityPtr velrotational
 Latest sensor read-out.

Detailed Description

By implementing this interface, a node is characterized as being able to sense the 6-dimensional velocity of an object in cartesian space or it`s translational or rotational part.

Todo:
Also update and return CartesianVelocity (joined transl. and rotat.)

Definition at line 175 of file SensingCartesian.h.


Constructor & Destructor Documentation

rci::RotationalVelocitySensing::RotationalVelocitySensing (  )  [protected]

Definition at line 128 of file SensingCartesian.cpp.

rci::RotationalVelocitySensing::~RotationalVelocitySensing (  )  [protected, virtual]

Definition at line 132 of file SensingCartesian.cpp.


Member Function Documentation

RotationalVelocityPtr rci::RotationalVelocitySensing::getRotationalVelocity (  )  const [virtual]

Returns rotational velocity in cartesian task space.

Returns:
3-dimensional task space Orientation

Implements rci::RotationalVelocitySensingIF.

Definition at line 116 of file SensingCartesian.cpp.

References velrotational.

void rci::RotationalVelocitySensing::updateRotationalVelocity ( RotationalVelocityPtr  rvel  )  [virtual]

Updates sensor value for the rotational part of the measured cartesian velocity.

Parameters:
rvel Rotational velocity

Implements rci::RotationalVelocitySensingIF.

Definition at line 123 of file SensingCartesian.cpp.

References velrotational.

Referenced by rci::CartesianVelocitySensing::updateVelocity().

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Member Data Documentation

Latest sensor read-out.

Definition at line 202 of file SensingCartesian.h.

Referenced by getRotationalVelocity(), and updateRotationalVelocity().


The documentation for this class was generated from the following files:
Generated on Thu Aug 2 14:03:07 2012 for RCI by  doxygen 1.6.3