Public Member Functions | Static Public Member Functions | List of all members
rbd::ConfigConverter Class Reference

#include <RBDyn/RBDyn/MultiBodyConfig.h>

Public Member Functions

 ConfigConverter (const MultiBody &from, const MultiBody &to)
 
void convert (const MultiBodyConfig &from, MultiBodyConfig &to) const
 
template<typename T >
void convertJoint (const std::vector< T > &from, std::vector< T > &to) const
 
template<typename T >
std::vector< T > convertJoint (const std::vector< T > &from) const
 
void sConvert (const MultiBodyConfig &from, MultiBodyConfig &to) const
 
template<typename T >
void sConvertJoint (const std::vector< T > &from, std::vector< T > &to) const
 

Static Public Member Functions

static ConfigConverter * sConstructor (const MultiBody &from, const MultiBody &to)
 

Detailed Description

Convert a MultiBodyConfig to another MultiBodyConfig of the same MultiBodyGraph. This class only convert q, alpha, alphaD and force.

Constructor & Destructor Documentation

◆ ConfigConverter()

rbd::ConfigConverter::ConfigConverter ( const MultiBody &  from,
const MultiBody &  to 
)

Member Function Documentation

◆ convert()

void rbd::ConfigConverter::convert ( const MultiBodyConfig &  from,
MultiBodyConfig &  to 
) const

◆ convertJoint() [1/2]

template<typename T >
std::vector< T > rbd::ConfigConverter::convertJoint ( const std::vector< T > &  from) const
inline

◆ convertJoint() [2/2]

template<typename T >
void rbd::ConfigConverter::convertJoint ( const std::vector< T > &  from,
std::vector< T > &  to 
) const
inline

Convert a vector representing joint data. The first joint (base) is ignored.

◆ sConstructor()

static ConfigConverter* rbd::ConfigConverter::sConstructor ( const MultiBody &  from,
const MultiBody &  to 
)
static

safe version of

See also
ConfigConverter.
Exceptions
std::domain_errorIf mb don't match mbc.

◆ sConvert()

void rbd::ConfigConverter::sConvert ( const MultiBodyConfig &  from,
MultiBodyConfig &  to 
) const

safe version of

See also
convert.
Exceptions
std::domain_errorIf mb don't match mbc.

◆ sConvertJoint()

template<typename T >
void rbd::ConfigConverter::sConvertJoint ( const std::vector< T > &  from,
std::vector< T > &  to 
) const
inline

safe version of

See also
convertJoint.
Exceptions
std::domain_errorIf mb don't match mbc.
The documentation for this class was generated from the following file: