ocra::FullState Class Reference

#include <FullState.h>

Inheritance diagram for ocra::FullState:

Collaboration diagram for ocra::FullState:

Classes
struct	Pimpl

Public Types
enum	{ FULL_STATE, FREE_FLYER, INTERNAL }

Public Member Functions
	FullState (const std::string &name, const Model &model, int whichPart)
virtual	~FullState ()=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
int	whichPart () const

Detailed Description

Definition at line 16 of file FullState.h.

Member Enumeration Documentation

anonymous enum

Enumerator
FULL_STATE
FREE_FLYER
INTERNAL

Definition at line 21 of file FullState.h.

Constructor & Destructor Documentation

ocra::FullState::FullState	(	const std::string &	name,
		const Model &	model,
		int	whichPart
	)

Definition at line 41 of file FullState.cpp.

ocra::FullState::~FullState ( )

pure virtual

Definition at line 47 of file FullState.cpp.

Member Function Documentation

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

pure virtual

Implemented in ocra::FullTargetState, and ocra::FullModelState.

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

pure virtual

Implemented in ocra::FullTargetState, and ocra::FullModelState.

const MatrixXd & ocra::FullState::getJacobian

(

)

const

Definition at line 61 of file FullState.cpp.

const Model & ocra::FullState::getModel

(

)

const

Definition at line 51 of file FullState.cpp.

int ocra::FullState::getSize

(

)

const

Definition at line 56 of file FullState.cpp.

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

pure virtual

Implemented in ocra::FullTargetState, and ocra::FullModelState.

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

pure virtual

Implemented in ocra::FullTargetState, and ocra::FullModelState.

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

pure virtual

Implemented in ocra::FullTargetState, and ocra::FullModelState.

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

pure virtual

Implemented in ocra::FullTargetState, and ocra::FullModelState.

int ocra::FullState::whichPart ( ) const

protected

Definition at line 66 of file FullState.cpp.

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

• FullState.h
• FullState.cpp