Spr::HISpidarCalcBase Class Reference

#include <HISpidarCalcBase.h>

Inherited by Spr::HISpidarCalc3Dof.

Collaboration diagram for Spr::HISpidarCalcBase:

[legend]List of all members.

Public Member Functions

• HISpidarCalcBase ()
• virtual ~HISpidarCalcBase ()

Protected Member Functions

• virtual void Update ()=0
• PTM::VVector< float > & Tension ()
• void Init (int dof, const VVector< float > &minF, const VVector< float > &maxF)
• virtual void MakeWireVec ()=0
• virtual void UpdatePos ()=0
• virtual void MeasureWire ()=0

Protected Attributes

• VQuadProgram< float > quadpr

Žp�¨‚Æ—ÍŠo‚ðŒvŽZ‚·‚邽‚߂̃pƒ‰ƒ��[ƒ^.

Žp�¨ƒxƒNƒgƒ‹ = a(ƒ�ƒCƒ„’·) = p(w(ƒ�ƒCƒ„’·)) a: ƒ�ƒCƒ„’· ‚©‚ç Žp�¨ƒxƒNƒgƒ‹ ‚Ö‚Ì•ÏŠ·ŠÖ�”�D w: ƒ�ƒCƒ„’· ‚©‚ç ƒ�ƒCƒ„�Ú�‡ˆÊ’uƒxƒNƒgƒ‹ ‚Ö‚Ì•ÏŠ·ŠÖ�”�D p: ƒ�ƒCƒ„�Ú�‡ˆÊ’uƒxƒNƒgƒ‹ ‚©‚ç Žp�¨ƒxƒNƒgƒ‹ ‚Ö‚Ì•ÏŠ·ŠÖ�”

Žp�¨ƒxƒNƒgƒ‹ = a(ƒ�ƒCƒ„’·) = p(w(ƒ�ƒCƒ„’·)) ‚ð•Î”÷•ª‚·‚é‚Æ ƒ¢Žp�¨ƒxƒNƒgƒ‹ = A�Eƒ¢ƒ�ƒCƒ„’· = P�EW�Eƒ¢ƒ�ƒCƒ„’·

• PTM::VVector< float > measuredLength
• PTM::VVector< float > calculatedLength
• PTM::VMatrixRow< float > matA
• PTM::VMatrixRow< float > matATA
• PTM::VVector< float > lengthDiff
• PTM::VVector< float > lengthDiffAve
• PTM::VVector< float > postureDiff

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Detailed Description

SPIDAR(Ž…‚ðŽg‚Á‚½—ÍŠo’ñŽ¦‘•’u)‚Ì‚½‚ß‚ÌŽp�¨ŒvŽZ‚Æ—ÍŠoŒvŽZ‚ð�s‚¤ Šî–{ƒNƒ‰ƒX�D ƒCƒ“ƒ^ƒtƒF�[ƒX(‰¼‘zŠÖ�”)‚Æ�C 2ŽŸŒv‰æ–@‚âŒJ‚è•Ô‚µ–@‚É‚æ‚éŽp�¨ŒvŽZ‚Ì‚½‚ß‚Ì�ì‹Æ—̈æ‚ð—pˆÓ‚·‚é�D void Spr::HISpidarCalcBase::MakeWireVec(), void Spr::HISpidarCalcBase::UpdatePos(), void Spr::HISpidarCalcBase::MeasureWire(), ‚Ì3‚‚̊Ö�”‚ðƒI�[ƒo�[ƒ‰ƒCƒh‚·‚邱‚Æ‚ÅŒÂ�X‚ÌSPIDAR‚Ì‚½‚ß‚ÌŒvŽZ‚ð�s‚¤‚悤‚É ‚Å‚«‚é�D

Definition at line 21 of file HISpidarCalcBase.h.

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Constructor & Destructor Documentation

Spr::HISpidarCalcBase::HISpidarCalcBase (   )  [inline]

ƒRƒ“ƒXƒgƒ‰ƒNƒ^ Definition at line 43 of file HISpidarCalcBase.h.

virtual Spr::HISpidarCalcBase::~HISpidarCalcBase (   )  [inline, virtual]

ƒfƒXƒgƒ‰ƒNƒ^ Definition at line 44 of file HISpidarCalcBase.h.

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Member Function Documentation

virtual void Spr::HISpidarCalcBase::Update (   )  [protected, pure virtual]

Žp�¨�î•ñ‚Ì�X�V Implemented in Spr::HISpidarCalc3Dof, Spr::HISpidarCalc6Dof, Spr::HISpidarFishing, Spr::HISpidarFishingRod, and Spr::HISpidarG6.

PTM::VVector<float>& Spr::HISpidarCalcBase::Tension (   )  [inline, protected]

< ’£—Í Definition at line 47 of file HISpidarCalcBase.h.

void Spr::HISpidarCalcBase::Init (  int  dof, const VVector< float > &  minF, const VVector< float > &  maxF )  [protected]

�‰Šú‰» Parameters: minF  �Å�¬’£—Í maxF  �Å‘å’£—Í dof  ƒGƒ“ƒhƒGƒtƒFƒNƒ^‚ÌŽ©—R“x Reimplemented in Spr::HISpidarCalc3Dof, and Spr::HISpidarCalc6Dof.

virtual void Spr::HISpidarCalcBase::MakeWireVec (   )  [protected, pure virtual]

ƒ�ƒCƒ„•ûŒüƒxƒNƒgƒ‹‚ÌŒvŽZ Implemented in Spr::HISpidarCanoe, Spr::HISpidarFishing, Spr::HISpidarFishingRod, and Spr::HISpidarG6.

virtual void Spr::HISpidarCalcBase::UpdatePos (   )  [protected, pure virtual]

ƒ�ƒCƒ„�Ý’uˆÊ’u�À•W‚Ì�X�V Implemented in Spr::HISpidarFishing, Spr::HISpidarFishingRod, and Spr::HISpidarG6.

virtual void Spr::HISpidarCalcBase::MeasureWire (   )  [protected, pure virtual]

ƒ�ƒCƒ„’·‚ÌŒv‘ª Implemented in Spr::HISpidarFishing, Spr::HISpidarFishingRod, and Spr::HISpidarG6.

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Member Data Documentation

PTM::VVector<float> Spr::HISpidarCalcBase::measuredLength [protected]

Œv‘ª‚µ‚½ƒ�ƒCƒ„’· Definition at line 33 of file HISpidarCalcBase.h.

PTM::VVector<float> Spr::HISpidarCalcBase::calculatedLength [protected]

‘O‚ÌŽp�¨‚©‚çŒvŽZ‚³‚ê‚éƒ�ƒCƒ„’· Definition at line 34 of file HISpidarCalcBase.h.

PTM::VMatrixRow<float> Spr::HISpidarCalcBase::matA [protected]

�s—ñ A Definition at line 35 of file HISpidarCalcBase.h.

PTM::VMatrixRow<float> Spr::HISpidarCalcBase::matATA [protected]

A * A‚Ì“]’u. Definition at line 36 of file HISpidarCalcBase.h.

PTM::VVector<float> Spr::HISpidarCalcBase::lengthDiff [protected]

ƒ¢ƒ�ƒCƒ„’· = Œv‘ªƒ�ƒCƒ„’· - ŽZ�oƒ�ƒCƒ„’·. lengthDiff[i] is the measured SetLength of this time minus the computed legth of last time Definition at line 37 of file HISpidarCalcBase.h.

PTM::VVector<float> Spr::HISpidarCalcBase::lengthDiffAve [protected]

ƒ¢ƒ�ƒCƒ„’·‚Ì•½‹Ï’l Definition at line 38 of file HISpidarCalcBase.h.

PTM::VVector<float> Spr::HISpidarCalcBase::postureDiff [protected]

‹�‚ß‚½Žp�¨‚̕ω»—Ê = A * lengthDiff Definition at line 39 of file HISpidarCalcBase.h.

VQuadProgram<float> Spr::HISpidarCalcBase::quadpr [protected]

‚QŽŸŒv‰æ–â‘è‚ÌŒvŽZƒNƒ‰ƒX Definition at line 41 of file HISpidarCalcBase.h.

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

• HISpidarCalcBase.h

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