Actin®  Version 5.2.0
Software for Robotics Simulation and Control
EcScalarManipulatorFunction Class Referenceabstract

Provides a base class for scalar functions of a manipulator's position state. More...

#include <ecScalarManipFunction.h>

Inheritance diagram for EcScalarManipulatorFunction:
EcCollisionDistanceFunction EcCollisionProximityFunction EcErrorReductionFunction EcErrorSensitivityFunction EcJointDeviationUtilFunction EcObstacleProximityFunction EcPathAdherenceUtilityFunction EcSingularityProximityFunction EcStrengthOptimizationFunction

Public Member Functions

 EcScalarManipulatorFunction ()
 default constructor
 
virtual ~EcScalarManipulatorFunction ()
 destructor
 
 EcScalarManipulatorFunction (const EcScalarManipulatorFunction &orig)
 copy constructor
 
EcScalarManipulatorFunctionoperator= (const EcScalarManipulatorFunction &orig)
 assignment operator
 
virtual EcScalarManipulatorFunctionclone () const =0
 
virtual EcReal evaluate (EcManipulatorActiveState &manipActState, EcBoolean nominal=EcTrue) const =0
 

Detailed Description

Provides a base class for scalar functions of a manipulator's position state.

Provides a base class for scalar functions of a manipulator's state.

Definition at line 32 of file ecScalarManipFunction.h.

Member Function Documentation

virtual EcReal EcScalarManipulatorFunction::evaluate ( EcManipulatorActiveState manipActState,
EcBoolean  nominal = EcTrue 
) const
pure virtual

evaluate the function using an active state Normally, EcScalarManipulatorFunction is used in conjuction with EcFiniteDifferenceTool, which calls evaluate method at least twice - once for the nominal case and at least once more for perturbed cases nominal indicates whether the current evaluate is called for nominal (true) or perturbed (false) case.

Implemented in EcCollisionProximityFunction, EcCollisionDistanceFunction, EcSingularityProximityFunction, EcObstacleProximityFunction, EcErrorSensitivityFunction, EcPathAdherenceUtilityFunction, EcErrorReductionFunction, EcStrengthOptimizationFunction, and EcJointDeviationUtilFunction.


The documentation for this class was generated from the following file:
Created by Energid Technologies www.energid.com
Copyright © 2016 Energid. All trademarks mentioned in this document are property of their respective owners.