Model class. More...

#include <Model.h>

Inheritance diagram for ocra::Model:

Collaboration diagram for ocra::Model:

Public Member Functions
	Model (const std::string &name, int ndofs, bool freeRoot, const std::string &jointTorqueVariableName="tau", const std::string &forceVariableName="f", const std::string &configurationVariableName="q", const std::string &internalDofsSuffix="_int", const std::string &externalDofsSuffix="_root")

virtual	~Model ()

void	setJointPositions (const Eigen::VectorXd &q)

void	setJointVelocities (const Eigen::VectorXd &q_dot)

void	setFreeFlyerPosition (const Eigen::Displacementd &H_root)

void	setFreeFlyerVelocity (const Eigen::Twistd &T_root)

void	setState (const Eigen::VectorXd &q, const Eigen::VectorXd &q_dot)

void	setState (const Eigen::Displacementd &H_root, const Eigen::VectorXd &q, const Eigen::Twistd &T_root, const Eigen::VectorXd &q_dot)

virtual const Eigen::VectorXd &	getJointPositions () const =0

virtual const Eigen::VectorXd &	getJointVelocities () const =0

virtual const Eigen::VectorXd &	getJointAccelerations () const

virtual const Eigen::VectorXd &	getJointTorques () const =0

virtual const Eigen::Displacementd &	getFreeFlyerPosition () const =0

virtual const Eigen::Twistd &	getFreeFlyerVelocity () const =0

int	nbDofs () const

int	nbInternalDofs () const

bool	hasFixedRoot () const

virtual int	nbSegments () const =0

virtual const Eigen::VectorXd &	getActuatedDofs () const =0

virtual const Eigen::VectorXd &	getJointLowerLimits () const =0

virtual const Eigen::VectorXd &	getJointUpperLimits () const =0

virtual double	getMass () const =0

virtual const Eigen::Vector3d &	getCoMPosition () const =0

virtual const Eigen::Vector3d &	getCoMVelocity () const =0

virtual const Eigen::Vector3d &	getCoMAcceleration () const

virtual const Eigen::Vector3d &	getCoMAngularVelocity () const

virtual const Eigen::Vector3d &	getCoMJdotQdot () const =0

virtual const Eigen::Matrix< double, 3, Eigen::Dynamic > &	getCoMJacobian () const =0

virtual const Eigen::Matrix< double, 3, Eigen::Dynamic > &	getCoMAngularJacobian () const

virtual const Eigen::Matrix< double, 3, Eigen::Dynamic > &	getCoMJacobianDot () const =0

virtual const Eigen::MatrixXd &	getInertiaMatrix () const =0

virtual const Eigen::MatrixXd &	getInertiaMatrixInverse () const =0

virtual const Eigen::MatrixXd &	getDampingMatrix () const =0

virtual const Eigen::VectorXd &	getNonLinearTerms () const =0

virtual const Eigen::VectorXd &	getLinearTerms () const =0

virtual const Eigen::VectorXd &	getGravityTerms () const =0

virtual const Eigen::Displacementd &	getSegmentPosition (int index) const =0

virtual const Eigen::Twistd &	getSegmentVelocity (int index) const =0

virtual const Eigen::Matrix< double, 6, Eigen::Dynamic > &	getSegmentJacobian (int index) const =0

virtual const Eigen::Matrix< double, 6, Eigen::Dynamic > &	getSegmentJdot (int index) const =0

virtual const Eigen::Twistd &	getSegmentJdotQdot (int index) const =0

virtual const Eigen::Matrix< double, 6, Eigen::Dynamic > &	getJointJacobian (int index) const =0

virtual double	getSegmentMass (int index) const =0

virtual const Eigen::Vector3d &	getSegmentCoM (int index) const =0

virtual const Eigen::Matrix< double, 6, 6 > &	getSegmentMassMatrix (int index) const =0

virtual const Eigen::Vector3d &	getSegmentMomentsOfInertia (int index) const =0

virtual const Eigen::Rotation3d &	getSegmentInertiaAxes (int index) const =0

const Eigen::Displacementd &	getSegmentPosition (const std::string &segName) const

const Eigen::Twistd &	getSegmentVelocity (const std::string &segName) const

const Eigen::Matrix< double, 6, Eigen::Dynamic > &	getSegmentJacobian (const std::string &segName) const

const Eigen::Matrix< double, 6, Eigen::Dynamic > &	getSegmentJdot (const std::string &segName) const

const Eigen::Twistd &	getSegmentJdotQdot (const std::string &segName) const

const Eigen::Matrix< double, 6, Eigen::Dynamic > &	getJointJacobian (const std::string &segName) const

double	getSegmentMass (const std::string &segName) const

const Eigen::Vector3d &	getSegmentCoM (const std::string &segName) const

const Eigen::Matrix< double, 6, 6 > &	getSegmentMassMatrix (const std::string &segName) const

const Eigen::Vector3d &	getSegmentMomentsOfInertia (const std::string &segName) const

const Eigen::Rotation3d &	getSegmentInertiaAxes (const std::string &segName) const

void	setJointDamping (const Eigen::VectorXd &damping)

const Eigen::VectorXd &	getJointDamping () const

Variable &	getConfigurationVariable () const

Variable &	getVelocityVariable () const

Variable &	getAccelerationVariable () const

Variable &	getJointTorqueVariable () const

Variable &	getRootConfigurationVariable () const

Variable &	getInternalConfigurationVariable () const

Variable &	getRootVelocityVariable () const

Variable &	getInternalVelocityVariable () const

Variable &	getRootAccelerationVariable () const

Variable &	getInternalAccelerationVariable () const

ModelContacts &	getModelContacts () const

int	getSegmentIndex (const std::string &name) const

const std::string &	getSegmentName (int index) const

int	getDofIndex (const std::string &name) const

const std::string &	getDofName (int index) const

const std::string	DofName (const std::string &name) const

const std::string	SegmentName (const std::string &name) const

virtual const std::string &	getJointName (int index) const =0

Public Member Functions inherited from ocra::ObserverSubject
	ObserverSubject ()

virtual	~ObserverSubject ()

Public Member Functions inherited from ocra::Observer
virtual	~Observer ()

template<int EVT>
void	bind (SubjectBase< EVT > &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

template<int EVT>
void	stopPropagation ()

Public Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	bind (subject_type &subject)
	Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...

Public Member Functions inherited from ocra::Subject
virtual	~Subject ()

template<int EVT, class Derived , class Base >
void	connect (Derived &object, void(Base::*newCallback)(int)) const
	Call this method to register a non-static method as a callback. More...

template<int EVT>
void	connect (void(*newCallback)(int)) const
	Call this method to register a free function as a callback. More...

template<int EVT, class Derived , class Base >
void	disconnect (Derived &object, void(Base::*callbackToErase)(int)) const
	Disconnect non-static method. More...

template<int EVT>
void	disconnect (void(*callbackToErase)(int)) const
	Disconnect free function. More...

template<int EVT>
void	propagate () const

template<int EVT>
void	propagate (int timestamp) const

Public Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
void	connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
	Call this method to register a non-static method as a callback. More...

void	connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
	Call this method to register a free function as a callback. More...

void	disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
	Disconnect non-static method. More...

void	disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
	Disconnect free function. More...

void	propagate (int timestamp) const

void	propagate () const

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

const std::string &	getName () const

virtual	~NamedInstance ()

Public Attributes
yarp::os::Semaphore	modelMutex

Protected Member Functions
virtual void	doSetState (const Eigen::VectorXd &q, const Eigen::VectorXd &q_dot)

virtual void	doSetState (const Eigen::Displacementd &H_root, const Eigen::VectorXd &q, const Eigen::Twistd &T_root, const Eigen::VectorXd &q_dot)

virtual void	doSetJointPositions (const Eigen::VectorXd &q)=0

virtual void	doSetJointVelocities (const Eigen::VectorXd &q_dot)=0

virtual void	doSetFreeFlyerPosition (const Eigen::Displacementd &H_root)=0

virtual void	doSetFreeFlyerVelocity (const Eigen::Twistd &T_root)=0

virtual int	doGetSegmentIndex (const std::string &name) const =0

virtual const std::string &	doGetSegmentName (int index) const =0

virtual void	doInvalidate ()

virtual int	doGetDofIndex (const std::string &name) const

virtual const std::string &	doGetDofName (int index) const

virtual const std::string	doSegmentName (const std::string &name) const

virtual const std::string	doDofName (const std::string &name) const

Protected Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void	stopPropagation ()
	Call this method from your callbacks to avoid propagation to the bound subject (if any). More...

	ObserverBase ()

	~ObserverBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
	SubjectBase ()

	~SubjectBase ()

Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
	SubjectBase ()

	~SubjectBase ()

Additional Inherited Members
Protected Types inherited from ocra::ObserverBase< EVT_RESIZE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
typedef SubjectBase< EVT >	subject_type

typedef InvokerBase< EVT >	invoker_type

Detailed Description

Model class.

Warning: None

TODO: complete description

terms of the dynamic equation are given so that the equation writes this way : $M\dot{T} + N + G = L tau - J_c^T f$

Definition at line 38 of file Model.h.

Constructor & Destructor Documentation

ocra::Model::Model	(	const std::string &	name,
		int	ndofs,
		bool	freeRoot,
		const std::string &	jointTorqueVariableName = `"tau"`,
		const std::string &	forceVariableName = `"f"`,
		const std::string &	configurationVariableName = `"q"`,
		const std::string &	internalDofsSuffix = `"_int"`,
		const std::string &	externalDofsSuffix = `"_root"`
	)

Definition at line 6 of file Model.cpp.

ocra::Model::~Model ( )

virtual

Definition at line 37 of file Model.cpp.

Member Function Documentation

const std::string ocra::Model::doDofName ( const std::string & name ) const

protectedvirtual

Definition at line 272 of file Model.cpp.

const std::string ocra::Model::DofName ( const std::string & name ) const

Definition at line 250 of file Model.cpp.

int ocra::Model::doGetDofIndex ( const std::string & name ) const

protectedvirtual

Definition at line 255 of file Model.cpp.

const std::string & ocra::Model::doGetDofName ( int index ) const

protectedvirtual

Definition at line 260 of file Model.cpp.

int ocra::Model::doGetSegmentIndex ( const std::string & name ) const

protectedpure virtual

Implemented in Model3T.

Definition at line 213 of file Model.cpp.

const std::string & ocra::Model::doGetSegmentName ( int index ) const

protectedpure virtual

Implemented in Model3T.

Definition at line 218 of file Model.cpp.

virtual void ocra::Model::doInvalidate ( )

inlineprotectedvirtual

Definition at line 195 of file Model.h.

const std::string ocra::Model::doSegmentName ( const std::string & name ) const

protectedvirtual

Definition at line 266 of file Model.cpp.

virtual void ocra::Model::doSetFreeFlyerPosition ( const Eigen::Displacementd & H_root )

protectedpure virtual

Implemented in Model3T.

virtual void ocra::Model::doSetFreeFlyerVelocity ( const Eigen::Twistd & T_root )

protectedpure virtual

Implemented in Model3T.

virtual void ocra::Model::doSetJointPositions ( const Eigen::VectorXd & q )

protectedpure virtual

Implemented in Model3T.

virtual void ocra::Model::doSetJointVelocities ( const Eigen::VectorXd & q_dot )

protectedpure virtual

Implemented in Model3T.

virtual void ocra::Model::doSetState	(	const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	q_dot
	)

inlineprotectedvirtual

Definition at line 184 of file Model.h.

virtual void ocra::Model::doSetState	(	const Eigen::Displacementd &	H_root,
		const Eigen::VectorXd &	q,
		const Eigen::Twistd &	T_root,
		const Eigen::VectorXd &	q_dot
	)

inlineprotectedvirtual

Definition at line 185 of file Model.h.

Variable & ocra::Model::getAccelerationVariable ( ) const

Definition at line 133 of file Model.cpp.

virtual const Eigen::VectorXd& ocra::Model::getActuatedDofs ( ) const

pure virtual

Implemented in Model3T.

virtual const Eigen::Vector3d& ocra::Model::getCoMAcceleration ( ) const

inlinevirtual

Definition at line 80 of file Model.h.

virtual const Eigen::Matrix<double,3,Eigen::Dynamic>& ocra::Model::getCoMAngularJacobian ( ) const

inlinevirtual

Definition at line 84 of file Model.h.

virtual const Eigen::Vector3d& ocra::Model::getCoMAngularVelocity ( ) const

inlinevirtual

Definition at line 81 of file Model.h.

virtual const Eigen::Matrix<double,3,Eigen::Dynamic>& ocra::Model::getCoMJacobian ( ) const

pure virtual

Implemented in Model3T.

virtual const Eigen::Matrix<double,3,Eigen::Dynamic>& ocra::Model::getCoMJacobianDot ( ) const

pure virtual

Implemented in Model3T.

virtual const Eigen::Vector3d& ocra::Model::getCoMJdotQdot ( ) const

pure virtual

Implemented in Model3T.

virtual const Eigen::Vector3d& ocra::Model::getCoMPosition ( ) const

pure virtual

Implemented in Model3T.

virtual const Eigen::Vector3d& ocra::Model::getCoMVelocity ( ) const

pure virtual

Implemented in Model3T.

Variable & ocra::Model::getConfigurationVariable ( ) const

Definition at line 123 of file Model.cpp.

virtual const Eigen::MatrixXd& ocra::Model::getDampingMatrix ( ) const

pure virtual

Implemented in Model3T.

int ocra::Model::getDofIndex ( const std::string & name ) const

Definition at line 234 of file Model.cpp.

const std::string & ocra::Model::getDofName ( int index ) const

Definition at line 239 of file Model.cpp.

virtual const Eigen::Displacementd& ocra::Model::getFreeFlyerPosition ( ) const

pure virtual

Implemented in Model3T.

virtual const Eigen::Twistd& ocra::Model::getFreeFlyerVelocity ( ) const

pure virtual

Implemented in Model3T.

virtual const Eigen::VectorXd& ocra::Model::getGravityTerms ( ) const

pure virtual

Implemented in Model3T.

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

pure virtual

Implemented in Model3T.

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

pure virtual

Implemented in Model3T.

Variable & ocra::Model::getInternalAccelerationVariable ( ) const

Definition at line 177 of file Model.cpp.

Variable & ocra::Model::getInternalConfigurationVariable ( ) const

Definition at line 149 of file Model.cpp.

Variable & ocra::Model::getInternalVelocityVariable ( ) const

Definition at line 163 of file Model.cpp.

virtual const Eigen::VectorXd& ocra::Model::getJointAccelerations ( ) const

inlinevirtual

Definition at line 62 of file Model.h.

const VectorXd & ocra::Model::getJointDamping ( ) const

Definition at line 208 of file Model.cpp.

virtual const Eigen::Matrix<double,6,Eigen::Dynamic>& ocra::Model::getJointJacobian ( int index ) const

pure virtual

Implemented in Model3T.

const Eigen::Matrix<double,6,Eigen::Dynamic>& ocra::Model::getJointJacobian ( const std::string & segName ) const

inline

Definition at line 123 of file Model.h.

virtual const Eigen::VectorXd& ocra::Model::getJointLowerLimits ( ) const

pure virtual

Implemented in Model3T.

virtual const std::string& ocra::Model::getJointName ( int index ) const

pure virtual

virtual const Eigen::VectorXd& ocra::Model::getJointPositions ( ) const

pure virtual

Implemented in Model3T.

virtual const Eigen::VectorXd& ocra::Model::getJointTorques ( ) const

pure virtual

Variable & ocra::Model::getJointTorqueVariable ( ) const

Definition at line 138 of file Model.cpp.

virtual const Eigen::VectorXd& ocra::Model::getJointUpperLimits ( ) const

pure virtual

Implemented in Model3T.

virtual const Eigen::VectorXd& ocra::Model::getJointVelocities ( ) const

pure virtual

Implemented in Model3T.

virtual const Eigen::VectorXd& ocra::Model::getLinearTerms ( ) const

pure virtual

Implemented in Model3T.

virtual double ocra::Model::getMass ( ) const

pure virtual

Implemented in Model3T.

ModelContacts & ocra::Model::getModelContacts ( ) const

Definition at line 186 of file Model.cpp.

virtual const Eigen::VectorXd& ocra::Model::getNonLinearTerms ( ) const

pure virtual

Implemented in Model3T.

Variable & ocra::Model::getRootAccelerationVariable ( ) const

Definition at line 171 of file Model.cpp.

Variable & ocra::Model::getRootConfigurationVariable ( ) const

Definition at line 143 of file Model.cpp.

Variable & ocra::Model::getRootVelocityVariable ( ) const

Definition at line 157 of file Model.cpp.

virtual const Eigen::Vector3d& ocra::Model::getSegmentCoM ( int index ) const

pure virtual

Implemented in Model3T.

const Eigen::Vector3d& ocra::Model::getSegmentCoM ( const std::string & segName ) const

inline

Definition at line 129 of file Model.h.

int ocra::Model::getSegmentIndex ( const std::string & name ) const

Definition at line 192 of file Model.cpp.

virtual const Eigen::Rotation3d& ocra::Model::getSegmentInertiaAxes ( int index ) const

pure virtual

Implemented in Model3T.

const Eigen::Rotation3d& ocra::Model::getSegmentInertiaAxes ( const std::string & segName ) const

inline

Definition at line 138 of file Model.h.

virtual const Eigen::Matrix<double,6,Eigen::Dynamic>& ocra::Model::getSegmentJacobian ( int index ) const

pure virtual

Implemented in Model3T.

const Eigen::Matrix<double,6,Eigen::Dynamic>& ocra::Model::getSegmentJacobian ( const std::string & segName ) const

inline

Definition at line 114 of file Model.h.

virtual const Eigen::Matrix<double,6,Eigen::Dynamic>& ocra::Model::getSegmentJdot ( int index ) const

pure virtual

Implemented in Model3T.

const Eigen::Matrix<double,6,Eigen::Dynamic>& ocra::Model::getSegmentJdot ( const std::string & segName ) const

inline

Definition at line 117 of file Model.h.

virtual const Eigen::Twistd& ocra::Model::getSegmentJdotQdot ( int index ) const

pure virtual

Implemented in Model3T.

const Eigen::Twistd& ocra::Model::getSegmentJdotQdot ( const std::string & segName ) const

inline

Definition at line 120 of file Model.h.

virtual double ocra::Model::getSegmentMass ( int index ) const

pure virtual

Implemented in Model3T.

double ocra::Model::getSegmentMass ( const std::string & segName ) const

inline

Definition at line 126 of file Model.h.

virtual const Eigen::Matrix<double, 6, 6>& ocra::Model::getSegmentMassMatrix ( int index ) const

pure virtual

Implemented in Model3T.

const Eigen::Matrix<double, 6, 6>& ocra::Model::getSegmentMassMatrix ( const std::string & segName ) const

inline

Definition at line 132 of file Model.h.

virtual const Eigen::Vector3d& ocra::Model::getSegmentMomentsOfInertia ( int index ) const

pure virtual

Implemented in Model3T.

const Eigen::Vector3d& ocra::Model::getSegmentMomentsOfInertia ( const std::string & segName ) const

inline

Definition at line 135 of file Model.h.

const std::string & ocra::Model::getSegmentName ( int index ) const

Definition at line 197 of file Model.cpp.

virtual const Eigen::Displacementd& ocra::Model::getSegmentPosition ( int index ) const

pure virtual

Implemented in Model3T.

const Eigen::Displacementd& ocra::Model::getSegmentPosition ( const std::string & segName ) const

inline

Definition at line 108 of file Model.h.

virtual const Eigen::Twistd& ocra::Model::getSegmentVelocity ( int index ) const

pure virtual

Implemented in Model3T.

const Eigen::Twistd& ocra::Model::getSegmentVelocity ( const std::string & segName ) const

inline

Definition at line 111 of file Model.h.

Variable & ocra::Model::getVelocityVariable ( ) const

Definition at line 128 of file Model.cpp.

bool ocra::Model::hasFixedRoot ( ) const

Definition at line 67 of file Model.cpp.

int ocra::Model::nbDofs ( ) const

Definition at line 54 of file Model.cpp.

int ocra::Model::nbInternalDofs ( ) const

Definition at line 59 of file Model.cpp.

virtual int ocra::Model::nbSegments ( ) const

pure virtual

Implemented in Model3T.

const std::string ocra::Model::SegmentName ( const std::string & name ) const

Definition at line 245 of file Model.cpp.

void ocra::Model::setFreeFlyerPosition ( const Eigen::Displacementd & H_root )

Definition at line 88 of file Model.cpp.

void ocra::Model::setFreeFlyerVelocity ( const Eigen::Twistd & T_root )

Definition at line 96 of file Model.cpp.

void ocra::Model::setJointDamping ( const Eigen::VectorXd & damping )

Definition at line 203 of file Model.cpp.

void ocra::Model::setJointPositions ( const Eigen::VectorXd & q )

Definition at line 72 of file Model.cpp.

void ocra::Model::setJointVelocities ( const Eigen::VectorXd & q_dot )

Definition at line 80 of file Model.cpp.

void ocra::Model::setState	(	const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	q_dot
	)

void ocra::Model::setState	(	const Eigen::Displacementd &	H_root,
		const Eigen::VectorXd &	q,
		const Eigen::Twistd &	T_root,
		const Eigen::VectorXd &	q_dot
	)

Member Data Documentation

yarp::os::Semaphore ocra::Model::modelMutex

Definition at line 157 of file Model.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation