ocra-recipes: ocra::PartialTargetState Class Reference

ocra-recipes

Doxygen documentation for the ocra-recipes repository

A target for a model partial state. More...

#include <PartialState.h>

Inheritance diagram for ocra::PartialTargetState:

Collaboration diagram for ocra::PartialTargetState:

Classes
struct	Pimpl

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

virtual	~PartialTargetState ()

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

void	set_q (const Eigen::VectorXd &q)

void	set_qdot (const Eigen::VectorXd &qdot)

void	set_qddot (const Eigen::VectorXd &qddot)

void	set_tau (const Eigen::VectorXd &tau)

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 target for a model partial state.

It represents a desired partial state.

Definition at line 92 of file PartialState.h.

Constructor & Destructor Documentation

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

Definition at line 216 of file PartialState.cpp.

ocra::PartialTargetState::~PartialTargetState ( )

virtual

Definition at line 226 of file PartialState.cpp.

Member Function Documentation

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

virtual

Implements ocra::PartialState.

Definition at line 251 of file PartialState.cpp.

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

virtual

Implements ocra::PartialState.

Definition at line 256 of file PartialState.cpp.

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

virtual

Implements ocra::PartialState.

Definition at line 231 of file PartialState.cpp.

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

virtual

Implements ocra::PartialState.

Definition at line 241 of file PartialState.cpp.

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

virtual

Implements ocra::PartialState.

Definition at line 236 of file PartialState.cpp.

void ocra::PartialTargetState::set_q ( const Eigen::VectorXd & q )

Definition at line 262 of file PartialState.cpp.

void ocra::PartialTargetState::set_qddot ( const Eigen::VectorXd & qddot )

Definition at line 272 of file PartialState.cpp.

void ocra::PartialTargetState::set_qdot ( const Eigen::VectorXd & qdot )

Definition at line 267 of file PartialState.cpp.

void ocra::PartialTargetState::set_tau ( const Eigen::VectorXd & tau )

Definition at line 277 of file PartialState.cpp.

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

virtual

Implements ocra::PartialState.

Definition at line 246 of file PartialState.cpp.

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