ocra::PartialState Class Reference

A abstract partial state. More...

#include <PartialState.h>

Inheritance diagram for ocra::PartialState:

Collaboration diagram for ocra::PartialState:

Classes
struct	Pimpl

Public Member Functions
	PartialState (const std::string &name, const Model &model, const Eigen::VectorXi &selectedDofs, int whichPart)
virtual	~PartialState ()=0
const Model &	getModel () const
int	getSize () const
const Eigen::MatrixXd &	getJacobian () const
virtual const Eigen::MatrixXd &	getInertiaMatrix () const =0
virtual const Eigen::MatrixXd &	getInertiaMatrixInverse () const =0
virtual const Eigen::VectorXd &	q () const =0
virtual const Eigen::VectorXd &	qdot () const =0
virtual const Eigen::VectorXd &	qddot () const =0
virtual const Eigen::VectorXd &	tau () const =0
Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)
const std::string &	getName () const
virtual	~NamedInstance ()

Protected Member Functions
Eigen::VectorXi &	getDofs () const

Detailed Description

A abstract partial state.

This class is greatly inspired from the FullState class defined in the ocra framework.

Definition at line 33 of file PartialState.h.

Constructor & Destructor Documentation

ocra::PartialState::PartialState	(	const std::string &	name,
		const Model &	model,
		const Eigen::VectorXi &	selectedDofs,
		int	whichPart
	)

Definition at line 71 of file PartialState.cpp.

ocra::PartialState::~PartialState ( )

pure virtual

Definition at line 77 of file PartialState.cpp.

Member Function Documentation

Eigen::VectorXi & ocra::PartialState::getDofs ( ) const

protected

Definition at line 96 of file PartialState.cpp.

virtual const Eigen::MatrixXd& ocra::PartialState::getInertiaMatrix ( ) const

pure virtual

Implemented in ocra::PartialTargetState, and ocra::PartialModelState.

virtual const Eigen::MatrixXd& ocra::PartialState::getInertiaMatrixInverse ( ) const

pure virtual

Implemented in ocra::PartialTargetState, and ocra::PartialModelState.

const MatrixXd & ocra::PartialState::getJacobian

(

)

const

Definition at line 91 of file PartialState.cpp.

const Model & ocra::PartialState::getModel

(

)

const

Definition at line 81 of file PartialState.cpp.

int ocra::PartialState::getSize

(

)

const

Definition at line 86 of file PartialState.cpp.

virtual const Eigen::VectorXd& ocra::PartialState::q ( ) const

pure virtual

Implemented in ocra::PartialTargetState, and ocra::PartialModelState.

virtual const Eigen::VectorXd& ocra::PartialState::qddot ( ) const

pure virtual

Implemented in ocra::PartialTargetState, and ocra::PartialModelState.

virtual const Eigen::VectorXd& ocra::PartialState::qdot ( ) const

pure virtual

Implemented in ocra::PartialTargetState, and ocra::PartialModelState.

virtual const Eigen::VectorXd& ocra::PartialState::tau ( ) const

pure virtual

Implemented in ocra::PartialTargetState, and ocra::PartialModelState.

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

• PartialState.h
• PartialState.cpp