ocra-recipes: ocra::PartialModelState Class Reference

ocra-recipes

Doxygen documentation for the ocra-recipes repository

A partial state of the model. More...

#include <PartialState.h>

Inheritance diagram for ocra::PartialModelState:

Collaboration diagram for ocra::PartialModelState:

Classes
struct	Pimpl

Public Member Functions
	PartialModelState (const std::string &name, const Model &model, const Eigen::VectorXi &selectedDofs, int whichPart)

virtual	~PartialModelState ()

virtual const Eigen::MatrixXd &	getInertiaMatrix () const

virtual const Eigen::MatrixXd &	getInertiaMatrixInverse () const

virtual const Eigen::VectorXd &	q () const

virtual const Eigen::VectorXd &	qdot () const

virtual const Eigen::VectorXd &	qddot () const

virtual const Eigen::VectorXd &	tau () const

Public Member Functions inherited from ocra::PartialState
	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

Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)

const std::string &	getName () const

virtual	~NamedInstance ()

Additional Inherited Members
Protected Member Functions inherited from ocra::PartialState
Eigen::VectorXi &	getDofs () const

Detailed Description

A partial state of the model.

It get information about the partial state from a Model.

Definition at line 66 of file PartialState.h.

Constructor & Destructor Documentation

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

Definition at line 118 of file PartialState.cpp.

ocra::PartialModelState::~PartialModelState ( )

virtual

Definition at line 128 of file PartialState.cpp.

Member Function Documentation

const MatrixXd & ocra::PartialModelState::getInertiaMatrix ( ) const

virtual

Implements ocra::PartialState.

Definition at line 163 of file PartialState.cpp.

const MatrixXd & ocra::PartialModelState::getInertiaMatrixInverse ( ) const

virtual

Implements ocra::PartialState.

Definition at line 182 of file PartialState.cpp.

const Eigen::VectorXd & ocra::PartialModelState::q ( ) const

virtual

Implements ocra::PartialState.

Definition at line 133 of file PartialState.cpp.

const Eigen::VectorXd & ocra::PartialModelState::qddot ( ) const

virtual

Implements ocra::PartialState.

Definition at line 153 of file PartialState.cpp.

const Eigen::VectorXd & ocra::PartialModelState::qdot ( ) const

virtual

Implements ocra::PartialState.

Definition at line 143 of file PartialState.cpp.

const Eigen::VectorXd & ocra::PartialModelState::tau ( ) const

virtual

Implements ocra::PartialState.

Definition at line 158 of file PartialState.cpp.

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