PartialState.h File Reference

Define partial state classes that can be used to control some joints of the robot. More...

#include "ocra/optim/NamedInstance.h"
#include "ocra/control/Model.h"
#include <ocra/util/Macros.h>
#include <Eigen/Core>
#include <boost/shared_ptr.hpp>

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Classes
class	ocra::PartialState
	A abstract partial state. More...
class	ocra::PartialModelState
	A partial state of the model. More...
class	ocra::PartialTargetState
	A target for a model partial state. More...

Namespaces
	ocra
	Optimization-based Robot Controller namespace. a library of classes to write and solve optimization problems dedicated to the control of multi-body systems.

Detailed Description

Define partial state classes that can be used to control some joints of the robot.

Author

Joseph Salini

The ocra framework propose a full state control. However, sometimes we want to control only a subset of joint, for instance the back joints to stay straight, the neck joints, the arms joint to be in a particular position. That's why we extend the ocra framework with these classes.

Definition in file PartialState.h.