btk::WrenchDirectionAngleFilter Class Reference

Calculate the direction angle of the force vector for each wrench. More...

#include <btkWrenchDirectionAngleFilter.h>

Inheritance diagram for btk::WrenchDirectionAngleFilter:

Public Types
typedef btkSharedPtr< const WrenchDirectionAngleFilter >	ConstPointer
typedef btkSharedPtr < WrenchDirectionAngleFilter >	Pointer
Public Types inherited from btk::ProcessObject
typedef btkSharedPtr< const ProcessObject >	ConstPointer
typedef btkSharedPtr < ProcessObject >	Pointer
Public Types inherited from btk::Object
typedef btkSharedPtr< const Object >	ConstPointer
typedef btkSharedPtr< Object >	Pointer

Public Member Functions
WrenchCollection::Pointer	GetInput ()
PointCollection::Pointer	GetOutput ()
void	SetInput (Wrench::Pointer input)
void	SetInput (WrenchCollection::Pointer input)
Public Member Functions inherited from btk::ProcessObject
int	GetInputNumber () const
int	GetOutputNumber () const
int	GetValidInputNumber () const
void	ResetState ()
void	Update ()
Public Member Functions inherited from btk::Object
unsigned long int	GetTimestamp () const

Static Public Member Functions
static Pointer	New ()

Protected Member Functions
virtual void	GenerateData ()
WrenchCollection::Pointer	GetInput (int idx)
PointCollection::Pointer	GetOutput (int idx)
virtual DataObject::Pointer	MakeOutput (int idx)
	WrenchDirectionAngleFilter ()
Protected Member Functions inherited from btk::ProcessObject
int	GetInputIndex (DataObject::Pointer input)
DataObject::Pointer	GetNthInput (int idx)
DataObject::ConstPointer	GetNthInput (int idx) const
DataObject::Pointer	GetNthOutput (int idx)
DataObject::ConstPointer	GetNthOutput (int idx) const
int	GetOutputIndex (DataObject::Pointer output)
bool	IsModified () const
void	Modified ()
	ProcessObject ()
void	SetInputNumber (int num)
virtual void	SetNthInput (int idx, DataObject::Pointer input)
virtual void	SetNthOutput (int idx, DataObject::Pointer output)
void	SetOutputNumber (int num)
virtual	~ProcessObject ()
Protected Member Functions inherited from btk::Object
	Object ()
	Object (const Object &toCopy)
virtual	~Object ()

Additional Inherited Members
Protected Attributes inherited from btk::Object
unsigned long int	m_Timestamp

Detailed Description

Calculate the direction angle of the force vector for each wrench.

The direction angle is projected on each plane of the global frame in this order:

• Angle yOz: set in the X component of the output ;
• Angle xOz: set in the Y component of the output ;
• Angle xOy: set in the Z component of the output.

The output angles are expressed in degrees and the range is between 0 and 360 degrees. Then a shift from 360 to 0 is possible if the force turns around itself.

Member Typedef Documentation

btk::WrenchDirectionAngleFilter::ConstPointer

Smart pointer associated with a const WrenchDirectionAngleFilter object.

btk::WrenchDirectionAngleFilter::Pointer

Smart pointer associated with a WrenchDirectionAngleFilter object.

Constructor & Destructor Documentation

btk::WrenchDirectionAngleFilter::WrenchDirectionAngleFilter ( )

protected

Constructor. Sets the number of inputs and outputs to 1.

Member Function Documentation

void btk::WrenchDirectionAngleFilter::GenerateData ( )

protectedvirtual

Generates the outputs' data.

Implements btk::ProcessObject.

WrenchCollection::Pointer btk::WrenchDirectionAngleFilter::GetInput ( )

inline

Gets the input registered with this process.

ForcePlatformCollection::Pointer btk::WrenchDirectionAngleFilter::GetInput ( int  idx )

inlineprotected

Returns the input at the index idx.

PointCollection::Pointer btk::WrenchDirectionAngleFilter::GetOutput ( )

inline

Gets the output created with this process.

WrenchCollection::Pointer btk::WrenchDirectionAngleFilter::GetOutput ( int  idx )

inlineprotected

Returns the output at the index idx.

DataObject::Pointer btk::WrenchDirectionAngleFilter::MakeOutput ( int  idx )

protectedvirtual

Creates a PointCollection:Pointer object and return it as a DataObject::Pointer.

Implements btk::ProcessObject.

static Pointer btk::WrenchDirectionAngleFilter::New ( )

inlinestatic

Creates a smart pointer associated with a WrenchDirectionAngleFilter object.

void btk::WrenchDirectionAngleFilter::SetInput ( Wrench::Pointer  input )

inline

Sets the input required with this process. This input is transformed in a collection of wrenches with a single force platform.

void btk::WrenchDirectionAngleFilter::SetInput ( WrenchCollection::Pointer  input )

inline

Sets the input required with this process.