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OSCAR::CartesianControl Class Reference

#include <CartesianControl.h>

Inheritance diagram for OSCAR::CartesianControl:

[legend]List of all members.


Public Methods
	CartesianControl (unsigned int dof, unsigned int noOutputs, FKAcceleration fowkin, IDStandAlone dyn=NULL)
virtual	~CartesianControl ()
virtual bool	SetJointStates (Vector q, Vector qd)
virtual bool	SetCartesianStates (Vector position, Vector velocity, Vector des_pos, Vector des_vel, Vector *des_acc)
Public Attributes
ControlInformation	info
Protected Attributes
unsigned int	noOfOutputs
FKAcceleration *	fowKin
bool	cartesianStatesSet
bool	jointStatesSet
Vector *	pos
Vector *	vel
Vector *	pos_d
Vector *	vel_d
Vector *	acc_d
Vector *	q
Vector *	qd

Constructor & Destructor Documentation

OSCAR::CartesianControl::CartesianControl ( unsigned int dof,

unsigned int noOutputs,

FKAcceleration * fowkin,

IDStandAlone * dyn = NULL

)

virtual OSCAR::CartesianControl::~CartesianControl ( ) [virtual]

Member Function Documentation

virtual bool OSCAR::CartesianControl::SetCartesianStates ( Vector * position,

Vector * velocity,

Vector * des_pos,

Vector * des_vel,

Vector * des_acc

) [virtual]