mc_tvm::MomentumFunction Struct Reference

#include <mc_tvm/MomentumFunction.h>

Inheritance diagram for mc_tvm::MomentumFunction:

Collaboration diagram for mc_tvm::MomentumFunction:

Public Member Functions
	MomentumFunction (const mc_rbdyn::Robot &robot)
void	reset ()
const sva::ForceVecd &	momentum () const noexcept
void	momentum (const sva::ForceVecd &momentum) noexcept
const Eigen::Vector6d &	refVel () const noexcept
void	refVel (const Eigen::Vector6d &refVel) noexcept
const Eigen::Vector6d &	refAccel () const noexcept
void	refAccel (const Eigen::Vector6d &refAccel) noexcept
const mc_tvm::Momentum &	algo () const noexcept

Detailed Description

This class implements a Momentum function for a given robot

You can provide:

• a reference Momentum target
• a reference Momentum velocity target
• a reference Momentum acceleration target

Constructor & Destructor Documentation

MomentumFunction()

mc_tvm::MomentumFunction::MomentumFunction

(

const mc_rbdyn::Robot &

robot

)

Constructor

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

Member Function Documentation

algo()

const mc_tvm::Momentum& mc_tvm::MomentumFunction::algo ( ) const

inlinenoexcept

Get the associated algorithm

momentum() [1/2]

const sva::ForceVecd& mc_tvm::MomentumFunction::momentum ( ) const

inlinenoexcept

Get the current objective

momentum() [2/2]

void mc_tvm::MomentumFunction::momentum ( const sva::ForceVecd &  momentum )

inlinenoexcept

Set the objective

refAccel() [1/2]

const Eigen::Vector6d& mc_tvm::MomentumFunction::refAccel ( ) const

inlinenoexcept

Get the current objective

refAccel() [2/2]

void mc_tvm::MomentumFunction::refAccel ( const Eigen::Vector6d &  refAccel )

inlinenoexcept

Set the objective

refVel() [1/2]

const Eigen::Vector6d& mc_tvm::MomentumFunction::refVel ( ) const

inlinenoexcept

Get the current objective

refVel() [2/2]

void mc_tvm::MomentumFunction::refVel ( const Eigen::Vector6d &  refVel )

inlinenoexcept

Set the objective

reset()

void mc_tvm::MomentumFunction::reset

(

)

Reset the objectve to the current momentum and reference speed/acceleration to zero

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

• include/mc_tvm/MomentumFunction.h