mc_tvm::PostureFunction Class Reference

#include <mc_tvm/PostureFunction.h>

Inheritance diagram for mc_tvm::PostureFunction:

Collaboration diagram for mc_tvm::PostureFunction:

Public Member Functions
	PostureFunction (const mc_rbdyn::Robot &robot)
void	reset ()
void	posture (const std::string &j, const std::vector< double > &q)
void	posture (const std::vector< std::vector< double >> &p)
const std::vector< std::vector< double > > &	posture () const noexcept
const Eigen::VectorXd &	refVel () const noexcept
void	refVel (const Eigen::VectorXd &vel) noexcept
const Eigen::VectorXd &	refAccel () const noexcept
void	refAccel (const Eigen::VectorXd &acc) noexcept

Protected Member Functions
void	updateValue_ () override
void	updateVelocity_ () override

Protected Attributes
const mc_rbdyn::Robot &	robot_
std::vector< std::vector< double > >	posture_
int	j0_
Eigen::VectorXd	refVel_
Eigen::VectorXd	refAccel_

Detailed Description

This class implements a posture function for a given robot

Constructor & Destructor Documentation

PostureFunction()

mc_tvm::PostureFunction::PostureFunction

(

const mc_rbdyn::Robot &

robot

)

Constructor

Set the objective to the current posture of robot

Member Function Documentation

posture() [1/3]

const std::vector<std::vector<double> >& mc_tvm::PostureFunction::posture ( ) const

inlinenoexcept

Access the full target posture

posture() [2/3]

void mc_tvm::PostureFunction::posture	(	const std::string &	j,
		const std::vector< double > &	q
	)

Set the target for a given joint

Parameters

j	Joint name
q	Target configuration

posture() [3/3]

void mc_tvm::PostureFunction::posture

(

const std::vector< std::vector< double >> &

p

)

Set the fully body posture

refAccel() [1/2]

const Eigen::VectorXd& mc_tvm::PostureFunction::refAccel ( ) const

inlinenoexcept

Returns the reference acceleration

refAccel() [2/2]

void mc_tvm::PostureFunction::refAccel ( const Eigen::VectorXd &  acc )

inlinenoexcept

Set the reference acceleration

refVel() [1/2]

const Eigen::VectorXd& mc_tvm::PostureFunction::refVel ( ) const

inlinenoexcept

Returns the reference velocity

refVel() [2/2]

void mc_tvm::PostureFunction::refVel ( const Eigen::VectorXd &  vel )

inlinenoexcept

Set the reference velocity

reset()

void mc_tvm::PostureFunction::reset

(

)

Set the target posture to the current robot's posture

updateValue_()

void mc_tvm::PostureFunction::updateValue_ ( )

overrideprotected

updateVelocity_()

void mc_tvm::PostureFunction::updateVelocity_ ( )

overrideprotected

Member Data Documentation

j0_

int mc_tvm::PostureFunction::j0_

protected

Starting joint

posture_

std::vector<std::vector<double> > mc_tvm::PostureFunction::posture_

protected

Target

refAccel_

Eigen::VectorXd mc_tvm::PostureFunction::refAccel_

protected

Reference acceleration

refVel_

Eigen::VectorXd mc_tvm::PostureFunction::refVel_

protected

Reference velocity

robot_

const mc_rbdyn::Robot& mc_tvm::PostureFunction::robot_

protected

---

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

• include/mc_tvm/PostureFunction.h