ocra-recipes
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ocra::PartialTargetState Class Reference

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

#include <PartialState.h>

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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 ModelgetModel () 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: