ocra::FullModelState Class Reference

#include <FullState.h>

Inheritance diagram for ocra::FullModelState:

Collaboration diagram for ocra::FullModelState:

Classes
struct	Pimpl

Public Member Functions
	FullModelState (const std::string &name, const Model &model, int whichPart)
const Eigen::MatrixXd &	getInertiaMatrix () const
const Eigen::MatrixXd &	getInertiaMatrixInverse () const
const Eigen::VectorXd &	q () const
const Eigen::VectorXd &	qdot () const
const Eigen::VectorXd &	qddot () const
const Eigen::VectorXd &	tau () const
Public Member Functions inherited from ocra::FullState
	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
Public Member Functions inherited from ocra::NamedInstance
	NamedInstance (const std::string &name)
const std::string &	getName () const
virtual	~NamedInstance ()

Additional Inherited Members
Public Types inherited from ocra::FullState
enum	{ FULL_STATE, FREE_FLYER, INTERNAL }
Protected Member Functions inherited from ocra::FullState
int	whichPart () const

Detailed Description

Definition at line 52 of file FullState.h.

Constructor & Destructor Documentation

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

Definition at line 81 of file FullState.cpp.

Member Function Documentation

const MatrixXd & ocra::FullModelState::getInertiaMatrix ( ) const

virtual

Implements ocra::FullState.

Definition at line 129 of file FullState.cpp.

const MatrixXd & ocra::FullModelState::getInertiaMatrixInverse ( ) const

virtual

Implements ocra::FullState.

Definition at line 146 of file FullState.cpp.

const Eigen::VectorXd & ocra::FullModelState::q ( ) const

virtual

Implements ocra::FullState.

Definition at line 89 of file FullState.cpp.

const Eigen::VectorXd & ocra::FullModelState::qddot ( ) const

virtual

Implements ocra::FullState.

Definition at line 119 of file FullState.cpp.

const Eigen::VectorXd & ocra::FullModelState::qdot ( ) const

virtual

Implements ocra::FullState.

Definition at line 104 of file FullState.cpp.

const Eigen::VectorXd & ocra::FullModelState::tau ( ) const

virtual

Implements ocra::FullState.

Definition at line 124 of file FullState.cpp.

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

• FullState.h
• FullState.cpp