Crocoddyl
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ThrusterTpl< _Scalar > Struct Template Reference

Public Types

typedef pinocchio::SE3Tpl< Scalar > SE3
 
typedef ThrusterTpl< Scalar > Thruster
 

Public Member Functions

 ThrusterTpl (const Scalar ctorque, const ThrusterType type=CW, const Scalar min_thrust=Scalar(0.), const Scalar max_thrust=std::numeric_limits< Scalar >::infinity())
 Initialize the thruster in a pose in the origin of the root joint. More...
 
 ThrusterTpl (const SE3 &pose, const Scalar ctorque, const ThrusterType type=CW, const Scalar min_thrust=Scalar(0.), const Scalar max_thrust=std::numeric_limits< Scalar >::infinity())
 Initialize the thruster in a give pose from the root joint. More...
 
 ThrusterTpl (const ThrusterTpl< Scalar > &clone)
 
ThrusterTpl & operator= (const ThrusterTpl< Scalar > &other)
 
template<typename OtherScalar >
bool operator== (const ThrusterTpl< OtherScalar > &other) const
 

Public Attributes

Scalar ctorque
 Coefficient of generated torque per thrust.
 
Scalar max_thrust
 Minimum thrust.
 
Scalar min_thrust
 Minimum thrust.
 
SE3 pose
 Thruster pose.
 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 
ThrusterType type
 

Friends

std::ostream & operator<< (std::ostream &os, const ThrusterTpl< Scalar > &X)
 

Detailed Description

template<typename _Scalar>
struct crocoddyl::ThrusterTpl< _Scalar >

Definition at line 25 of file floating-base-thrusters.hpp.

Constructor & Destructor Documentation

◆ ThrusterTpl() [1/2]

ThrusterTpl ( const SE3 &  pose,
const Scalar  ctorque,
const ThrusterType  type = CW,
const Scalar  min_thrust = Scalar(0.),
const Scalar  max_thrust = std::numeric_limits<Scalar>::infinity() 
)
inline

Initialize the thruster in a give pose from the root joint.

Parameters
pose[in]Pose from root joint
ctorque[in]Coefficient of generated torque per thrust
type[in]Type of thruster (clockwise or counterclockwise, default clockwise)
[in]min_thrust[in]Minimum thrust (default 0.)
[in]max_thrust[in]Maximum thrust (default inf number))

Definition at line 42 of file floating-base-thrusters.hpp.

◆ ThrusterTpl() [2/2]

ThrusterTpl ( const Scalar  ctorque,
const ThrusterType  type = CW,
const Scalar  min_thrust = Scalar(0.),
const Scalar  max_thrust = std::numeric_limits<Scalar>::infinity() 
)
inline

Initialize the thruster in a pose in the origin of the root joint.

Parameters
pose[in]Pose from root joint
ctorque[in]Coefficient of generated torque per thrust
type[in]Type of thruster (clockwise or counterclockwise, default clockwise)
[in]min_thrust[in]Minimum thrust (default 0.)
[in]max_thrust[in]Maximum thrust (default inf number))

Definition at line 62 of file floating-base-thrusters.hpp.

Member Data Documentation

◆ type

ThrusterType type

Type of thruster (CW and CCW for clockwise and counterclockwise, respectively)

Definition at line 107 of file floating-base-thrusters.hpp.

The documentation for this struct was generated from the following file: