mc_tvm::CoMFunction Struct Reference

#include <mc_tvm/CoMFunction.h>

Inheritance diagram for mc_tvm::CoMFunction:

Collaboration diagram for mc_tvm::CoMFunction:

Public Member Functions
	CoMFunction (const mc_rbdyn::Robot &robot)
void	reset ()
const Eigen::Vector3d &	com () const noexcept
void	com (const Eigen::Vector3d &com) noexcept
const Eigen::Vector3d &	actual () const noexcept
const Eigen::Vector3d &	refVel () const noexcept
void	refVel (const Eigen::Vector3d &refVel) noexcept
const Eigen::Vector3d &	refAccel () const noexcept
void	refAccel (const Eigen::Vector3d &refAccel) noexcept

Detailed Description

This class implements a CoM function for a given robot

You can provide:

• a reference CoM target
• a reference CoM velocity target
• a reference CoM acceleration target

Constructor & Destructor Documentation

CoMFunction()

mc_tvm::CoMFunction::CoMFunction

(

const mc_rbdyn::Robot &

robot

)

Constructor

Creates a CoM function, the objective is the current robot's CoM

Member Function Documentation

actual()

const Eigen::Vector3d& mc_tvm::CoMFunction::actual ( ) const

inlinenoexcept

Get the robot's current CoM

com() [1/2]

const Eigen::Vector3d& mc_tvm::CoMFunction::com ( ) const

inlinenoexcept

Get the current objective

com() [2/2]

void mc_tvm::CoMFunction::com ( const Eigen::Vector3d &  com )

inlinenoexcept

Set the objective

refAccel() [1/2]

const Eigen::Vector3d& mc_tvm::CoMFunction::refAccel ( ) const

inlinenoexcept

Get the current objective

refAccel() [2/2]

void mc_tvm::CoMFunction::refAccel ( const Eigen::Vector3d &  refAccel )

inlinenoexcept

Set the objective

refVel() [1/2]

const Eigen::Vector3d& mc_tvm::CoMFunction::refVel ( ) const

inlinenoexcept

Get the current objective

refVel() [2/2]

void mc_tvm::CoMFunction::refVel ( const Eigen::Vector3d &  refVel )

inlinenoexcept

Set the objective

reset()

void mc_tvm::CoMFunction::reset

(

)

Reset the objective to the current CoM and reference speed/acceleration to zero

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

• include/mc_tvm/CoMFunction.h