DriveRigidBodyKinematics Class Reference

#include <rbk_impl.h>

Inheritance diagram for DriveRigidBodyKinematics:

Collaboration diagram for DriveRigidBodyKinematics:

Public Member Functions
	DriveRigidBodyKinematics (const TplDriveCaller< Vec3 > *pXDrv, const TplDriveCaller< Vec3 > *pThetaDrv, const TplDriveCaller< Vec3 > *pVDrv, const TplDriveCaller< Vec3 > *pWDrv, const TplDriveCaller< Vec3 > *pXPPDrv, const TplDriveCaller< Vec3 > *pWPDrv)
virtual	~DriveRigidBodyKinematics (void)
virtual void	Update (void)
Public Member Functions inherited from ConstRigidBodyKinematics
	ConstRigidBodyKinematics (void)
	ConstRigidBodyKinematics (const Vec3 &X, const Mat3x3 &R, const Vec3 &V, const Vec3 &W, const Vec3 &XPP, const Vec3 &WP)
virtual	~ConstRigidBodyKinematics (void)
virtual const Vec3 &	GetX (void) const
virtual const Mat3x3 &	GetR (void) const
virtual const Vec3 &	GetV (void) const
virtual const Vec3 &	GetW (void) const
virtual const Vec3 &	GetXPP (void) const
virtual const Vec3 &	GetWP (void) const
Public Member Functions inherited from RigidBodyKinematics
virtual	~RigidBodyKinematics (void)

Private Attributes
TplDriveOwner< Vec3 >	XDrv
TplDriveOwner< Vec3 >	ThetaDrv
TplDriveOwner< Vec3 >	VDrv
TplDriveOwner< Vec3 >	WDrv
TplDriveOwner< Vec3 >	XPPDrv
TplDriveOwner< Vec3 >	WPDrv

Additional Inherited Members
Protected Attributes inherited from ConstRigidBodyKinematics
Vec3	X
Mat3x3	R
Vec3	V
Vec3	W
Vec3	XPP
Vec3	WP

Detailed Description

Definition at line 66 of file rbk_impl.h.

Constructor & Destructor Documentation

DriveRigidBodyKinematics::DriveRigidBodyKinematics	(	const TplDriveCaller< Vec3 > *	pXDrv,
		const TplDriveCaller< Vec3 > *	pThetaDrv,
		const TplDriveCaller< Vec3 > *	pVDrv,
		const TplDriveCaller< Vec3 > *	pWDrv,
		const TplDriveCaller< Vec3 > *	pXPPDrv,
		const TplDriveCaller< Vec3 > *	pWPDrv
	)

Definition at line 97 of file rbk_impl.cc.

References Update().

: XDrv(pXDrv),
ThetaDrv(pThetaDrv),
VDrv(pVDrv),
WDrv(pWDrv),
XPPDrv(pXPPDrv),
WPDrv(pWPDrv)
{
        Update();
}

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DriveRigidBodyKinematics::~DriveRigidBodyKinematics ( void  )

virtual

Definition at line 114 of file rbk_impl.cc.

References NO_OP.

{
        NO_OP;
}

Member Function Documentation

void DriveRigidBodyKinematics::Update ( void  )

virtual

Reimplemented from RigidBodyKinematics.

Definition at line 120 of file rbk_impl.cc.

References TplDriveOwner< T >::Get(), Mat3x3::MulTV(), TplDriveOwner< T >::pGetDriveCaller(), ConstRigidBodyKinematics::R, RotManip::Rot(), ThetaDrv, ConstRigidBodyKinematics::V, VDrv, ConstRigidBodyKinematics::W, WDrv, ConstRigidBodyKinematics::WP, WPDrv, ConstRigidBodyKinematics::X, XDrv, ConstRigidBodyKinematics::XPP, and XPPDrv.

Referenced by DriveRigidBodyKinematics().

{
        bool bR(false);

        if (ThetaDrv.pGetDriveCaller()) {
                R = RotManip::Rot(ThetaDrv.Get());
                bR = true;
        }

        if (XDrv.pGetDriveCaller()) {
                if (bR) {
                        X = R.MulTV(XDrv.Get());

                } else {
                        X = XDrv.Get();
                }
        }

        if (VDrv.pGetDriveCaller()) {
                if (bR) {
                        V = R.MulTV(VDrv.Get());

                } else {
                        V = VDrv.Get();
                }
        }

        if (WDrv.pGetDriveCaller()) {
                if (bR) {
                        W = R.MulTV(WDrv.Get());

                } else {
                        W = WDrv.Get();
                }
        }

        if (XPPDrv.pGetDriveCaller()) {
                if (bR) {
                        XPP = R.MulTV(XPPDrv.Get());

                } else {
                        XPP = XPPDrv.Get();
                }
        }

        if (WPDrv.pGetDriveCaller()) {
                if (bR) {
                        WP = R.MulTV(WPDrv.Get());

                } else {
                        WP = WPDrv.Get();
                }
        }
}

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Member Data Documentation

TplDriveOwner<Vec3> DriveRigidBodyKinematics::ThetaDrv

private

Definition at line 69 of file rbk_impl.h.

Referenced by Update().

TplDriveOwner<Vec3> DriveRigidBodyKinematics::VDrv

private

Definition at line 70 of file rbk_impl.h.

Referenced by Update().

TplDriveOwner<Vec3> DriveRigidBodyKinematics::WDrv

private

Definition at line 71 of file rbk_impl.h.

Referenced by Update().

TplDriveOwner<Vec3> DriveRigidBodyKinematics::WPDrv

private

Definition at line 73 of file rbk_impl.h.

Referenced by Update().

TplDriveOwner<Vec3> DriveRigidBodyKinematics::XDrv

private

Definition at line 68 of file rbk_impl.h.

Referenced by Update().

TplDriveOwner<Vec3> DriveRigidBodyKinematics::XPPDrv

private

Definition at line 72 of file rbk_impl.h.

Referenced by Update().

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

• rbk_impl.h
• rbk_impl.cc