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rdCMC_Point Class Reference

A class for specifying and computing parameters for tracking a point. More...

#include <rdCMC_Point.h>

Inheritance diagram for rdCMC_Point:

rdCMC_Task List of all members.

Public Member Functions

 rdCMC_Point (int aBody, double aPoint[])
virtual ~rdCMC_Point ()
 Destructor.
void setNull ()
 Set NULL values for all member variables.
virtual void computePositionError (double time, double posErr[])
 Compute the current position error.
virtual void computeVelocityError (double time, double velErr[])
 Compute the current velocity error.
virtual void computeDesiredAccelerations (double time, double acc[])
 Compute the desired accelerations.
virtual void computeJacobian ()
 Compute the Jacobian.
virtual void computeEffectiveMassMatrix ()
 Compute the effective mass matrix.

Protected Attributes

int _body
 Body frame in which the tracked point resides.
double _point [3]
 Location of the tracked point on the body expressed in the body-local coordinate frame.

Detailed Description

A class for specifying and computing parameters for tracking a point.

Author:
Frank C. Anderson
Version:
1.0


The documentation for this class was generated from the following files:
Generated on Wed Nov 1 16:04:32 2006 for Computed Muscle Control (CMC) API by doxygen 1.3.8