ocra-recipes
Doxygen documentation for the ocra-recipes repository
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A target for a model partial state. More...
#include <PartialState.h>
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 |
A target for a model partial state.
It represents a desired partial state.
Definition at line 92 of file PartialState.h.
ocra::PartialTargetState::PartialTargetState | ( | const std::string & | name, |
const Model & | model, | ||
const Eigen::VectorXi & | selectedDofs, | ||
int | whichPart | ||
) |
Definition at line 216 of file PartialState.cpp.
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virtual |
Definition at line 226 of file PartialState.cpp.
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virtual |
Implements ocra::PartialState.
Definition at line 251 of file PartialState.cpp.
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virtual |
Implements ocra::PartialState.
Definition at line 256 of file PartialState.cpp.
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virtual |
Implements ocra::PartialState.
Definition at line 231 of file PartialState.cpp.
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virtual |
Implements ocra::PartialState.
Definition at line 241 of file PartialState.cpp.
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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.
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virtual |
Implements ocra::PartialState.
Definition at line 246 of file PartialState.cpp.