sobec::RobotDesigner Class Reference

#include <sobec/walk-with-traj/designer.hpp>

Public Member Functions
	RobotDesigner ()
	RobotDesigner (const RobotDesignerSettings &settings)
void	initialize (const RobotDesignerSettings &settings)
void	updateReducedModel (const Eigen::VectorXd &x)
void	updateCompleteModel (const Eigen::VectorXd &x)
void	addToeAndHeel (const double &heel_translation, const double &toe_translation)
void	set_q0 (const Eigen::VectorXd &q0)
void	addEndEffectorFrame (std::string endEffectorName, std::string parentName, pinocchio::SE3 endEffectorPlacement)
const pinocchio::SE3 &	get_LF_frame ()
const pinocchio::SE3 &	get_RF_frame ()
const pinocchio::SE3 &	get_root_frame ()
const pinocchio::SE3 &	get_EndEff_frame ()
double	getRobotMass ()
const pinocchio::Model &	get_rModel ()
const pinocchio::Model &	get_rModelComplete ()
const pinocchio::Data &	get_rData ()
const pinocchio::Data &	get_rDataComplete ()
const Eigen::VectorXd &	get_q0 ()
const Eigen::VectorXd &	get_v0 ()
const Eigen::VectorXd &	get_q0Complete ()
const Eigen::VectorXd &	get_v0Complete ()
const Eigen::VectorXd &	get_x0 ()
const std::string &	get_LF_name ()
const std::string &	get_RF_name ()
const pinocchio::FrameIndex &	get_root_id ()
const pinocchio::FrameIndex &	get_LF_id ()
const pinocchio::FrameIndex &	get_RF_id ()
const pinocchio::FrameIndex &	get_LF_heel_id ()
const pinocchio::FrameIndex &	get_RF_heel_id ()
const pinocchio::FrameIndex &	get_LF_toe_id ()
const pinocchio::FrameIndex &	get_RF_toe_id ()
const pinocchio::FrameIndex &	get_EndEff_id ()
const RobotDesignerSettings &	get_settings ()
const std::vector< unsigned long > &	get_controlledJointsIDs ()
const Eigen::Vector3d &	get_LF_position ()
const Eigen::Vector3d &	get_RF_position ()
const Eigen::Vector3d &	get_com_position ()
void	changeInertia (const size_t &i, const double &offset)

Public Attributes
bool	initialized_ = false

Constructor & Destructor Documentation

RobotDesigner() [1/2]

sobec::RobotDesigner::RobotDesigner

(

)

RobotDesigner() [2/2]

sobec::RobotDesigner::RobotDesigner

(

const RobotDesignerSettings &

settings

)

Member Function Documentation

addEndEffectorFrame()

void sobec::RobotDesigner::addEndEffectorFrame	(	std::string	endEffectorName,
		std::string	parentName,
		pinocchio::SE3	endEffectorPlacement
	)

addToeAndHeel()

void sobec::RobotDesigner::addToeAndHeel	(	const double &	heel_translation,
		const double &	toe_translation
	)

changeInertia()

void sobec::RobotDesigner::changeInertia	(	const size_t &	i,
		const double &	offset
	)

get_com_position()

const Eigen::Vector3d& sobec::RobotDesigner::get_com_position ( )

inline

get_controlledJointsIDs()

const std::vector<unsigned long>& sobec::RobotDesigner::get_controlledJointsIDs ( )

inline

get_EndEff_frame()

const pinocchio::SE3 & sobec::RobotDesigner::get_EndEff_frame

(

)

get_EndEff_id()

const pinocchio::FrameIndex& sobec::RobotDesigner::get_EndEff_id ( )

inline

get_LF_frame()

const pinocchio::SE3 & sobec::RobotDesigner::get_LF_frame

(

)

get_LF_heel_id()

const pinocchio::FrameIndex& sobec::RobotDesigner::get_LF_heel_id ( )

inline

get_LF_id()

const pinocchio::FrameIndex& sobec::RobotDesigner::get_LF_id ( )

inline

get_LF_name()

const std::string& sobec::RobotDesigner::get_LF_name ( )

inline

get_LF_position()

const Eigen::Vector3d& sobec::RobotDesigner::get_LF_position ( )

inline

get_LF_toe_id()

const pinocchio::FrameIndex& sobec::RobotDesigner::get_LF_toe_id ( )

inline

get_q0()

const Eigen::VectorXd& sobec::RobotDesigner::get_q0 ( )

inline

get_q0Complete()

const Eigen::VectorXd& sobec::RobotDesigner::get_q0Complete ( )

inline

get_rData()

const pinocchio::Data& sobec::RobotDesigner::get_rData ( )

inline

get_rDataComplete()

const pinocchio::Data& sobec::RobotDesigner::get_rDataComplete ( )

inline

get_RF_frame()

const pinocchio::SE3 & sobec::RobotDesigner::get_RF_frame

(

)

get_RF_heel_id()

const pinocchio::FrameIndex& sobec::RobotDesigner::get_RF_heel_id ( )

inline

get_RF_id()

const pinocchio::FrameIndex& sobec::RobotDesigner::get_RF_id ( )

inline

get_RF_name()

const std::string& sobec::RobotDesigner::get_RF_name ( )

inline

get_RF_position()

const Eigen::Vector3d& sobec::RobotDesigner::get_RF_position ( )

inline

get_RF_toe_id()

const pinocchio::FrameIndex& sobec::RobotDesigner::get_RF_toe_id ( )

inline

get_rModel()

const pinocchio::Model& sobec::RobotDesigner::get_rModel ( )

inline

get_rModelComplete()

const pinocchio::Model& sobec::RobotDesigner::get_rModelComplete ( )

inline

get_root_frame()

const pinocchio::SE3 & sobec::RobotDesigner::get_root_frame

(

)

get_root_id()

const pinocchio::FrameIndex& sobec::RobotDesigner::get_root_id ( )

inline

get_settings()

const RobotDesignerSettings& sobec::RobotDesigner::get_settings ( )

inline

get_v0()

const Eigen::VectorXd& sobec::RobotDesigner::get_v0 ( )

inline

get_v0Complete()

const Eigen::VectorXd& sobec::RobotDesigner::get_v0Complete ( )

inline

get_x0()

const Eigen::VectorXd& sobec::RobotDesigner::get_x0 ( )

inline

getRobotMass()

double sobec::RobotDesigner::getRobotMass

(

)

initialize()

void sobec::RobotDesigner::initialize

(

const RobotDesignerSettings &

settings

)

set_q0()

void sobec::RobotDesigner::set_q0

(

const Eigen::VectorXd &

q0

)

updateCompleteModel()

void sobec::RobotDesigner::updateCompleteModel

(

const Eigen::VectorXd &

x

)

x is the complete posture, or contains the complete posture in the first elements

updateReducedModel()

void sobec::RobotDesigner::updateReducedModel

(

const Eigen::VectorXd &

x

)

x is the reduced posture, or contains the reduced posture in the first elements

Member Data Documentation

initialized_

bool sobec::RobotDesigner::initialized_ = false

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

• include/sobec/walk-with-traj/designer.hpp
• src/walk-with-traj/designer.cpp