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>

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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.

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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.

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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.

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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

RotationalVelocityPtr rci::RotationalVelocitySensing::velrotational [protected]

Latest sensor read-out.

Definition at line 202 of file SensingCartesian.h.

Referenced by getRotationalVelocity(), and updateRotationalVelocity().

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

• rci/SensingCartesian.h
• rci/SensingCartesian.cpp