Public Types | Public Member Functions | Public Attributes | Protected Attributes | List of all members
sobec::StateLPFTpl< _Scalar > Class Template Reference

#include <sobec/crocomplements/lowpassfilter/state.hpp>

Inheritance diagram for sobec::StateLPFTpl< _Scalar >:
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Public Types

enum  JointType { FreeFlyer = 0, Spherical, Simple }
 
typedef MathBaseTpl< Scalar > MathBase
 
typedef StateAbstractTpl< Scalar > Base
 
typedef MathBase::VectorXs VectorXs
 
typedef MathBase::MatrixXs MatrixXs
 

Public Member Functions

 StateLPFTpl (boost::shared_ptr< pinocchio::ModelTpl< Scalar > > model, std::vector< int > lpf_joint_ids)
 
virtual ~StateLPFTpl ()
 
virtual VectorXs zero () const
 
virtual VectorXs rand () const
 
virtual void diff (const Eigen::Ref< const VectorXs > &y0, const Eigen::Ref< const VectorXs > &y1, Eigen::Ref< VectorXs > dyout) const
 
virtual void integrate (const Eigen::Ref< const VectorXs > &y, const Eigen::Ref< const VectorXs > &dy, Eigen::Ref< VectorXs > yout) const
 
virtual void Jdiff (const Eigen::Ref< const VectorXs > &, const Eigen::Ref< const VectorXs > &, Eigen::Ref< MatrixXs > Jfirst, Eigen::Ref< MatrixXs > Jsecond, const Jcomponent firstsecond=both) const
 
virtual void Jintegrate (const Eigen::Ref< const VectorXs > &y, const Eigen::Ref< const VectorXs > &dy, Eigen::Ref< MatrixXs > Jfirst, Eigen::Ref< MatrixXs > Jsecond, const Jcomponent firstsecond=both, const AssignmentOp=setto) const
 
virtual void JintegrateTransport (const Eigen::Ref< const VectorXs > &y, const Eigen::Ref< const VectorXs > &dy, Eigen::Ref< MatrixXs > Jin, const Jcomponent firstsecond) const
 
const boost::shared_ptr< pinocchio::ModelTpl< Scalar > > & get_pinocchio () const
 
const std::size_t & get_ntau () const
 
const std::size_t & get_ny () const
 
const std::size_t & get_ndy () const
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
 

Protected Attributes

std::size_t ntau_
 
std::size_t ny_
 
std::size_t ndy_
 

Member Typedef Documentation

◆ Base

template<typename _Scalar >
typedef StateAbstractTpl<Scalar> sobec::StateLPFTpl< _Scalar >::Base

◆ MathBase

template<typename _Scalar >
typedef MathBaseTpl<Scalar> sobec::StateLPFTpl< _Scalar >::MathBase

◆ MatrixXs

template<typename _Scalar >
typedef MathBase::MatrixXs sobec::StateLPFTpl< _Scalar >::MatrixXs

◆ VectorXs

template<typename _Scalar >
typedef MathBase::VectorXs sobec::StateLPFTpl< _Scalar >::VectorXs

Member Enumeration Documentation

◆ JointType

template<typename _Scalar >
enum sobec::StateLPFTpl::JointType
Enumerator
FreeFlyer 
Spherical 
Simple 

Constructor & Destructor Documentation

◆ StateLPFTpl()

template<typename Scalar >
sobec::StateLPFTpl< Scalar >::StateLPFTpl ( boost::shared_ptr< pinocchio::ModelTpl< Scalar > >  model,
std::vector< int >  lpf_joint_ids 
)
explicit

◆ ~StateLPFTpl()

template<typename Scalar >
sobec::StateLPFTpl< Scalar >::~StateLPFTpl
virtual

Member Function Documentation

◆ diff()

template<typename Scalar >
void sobec::StateLPFTpl< Scalar >::diff ( const Eigen::Ref< const VectorXs > &  y0,
const Eigen::Ref< const VectorXs > &  y1,
Eigen::Ref< VectorXs >  dyout 
) const
virtual

◆ get_ndy()

template<typename Scalar >
const std::size_t & sobec::StateLPFTpl< Scalar >::get_ndy

◆ get_ntau()

template<typename Scalar >
const std::size_t & sobec::StateLPFTpl< Scalar >::get_ntau

◆ get_ny()

template<typename Scalar >
const std::size_t & sobec::StateLPFTpl< Scalar >::get_ny

◆ get_pinocchio()

template<typename Scalar >
const boost::shared_ptr< pinocchio::ModelTpl< Scalar > > & sobec::StateLPFTpl< Scalar >::get_pinocchio

◆ integrate()

template<typename Scalar >
void sobec::StateLPFTpl< Scalar >::integrate ( const Eigen::Ref< const VectorXs > &  y,
const Eigen::Ref< const VectorXs > &  dy,
Eigen::Ref< VectorXs >  yout 
) const
virtual

◆ Jdiff()

template<typename Scalar >
void sobec::StateLPFTpl< Scalar >::Jdiff ( const Eigen::Ref< const VectorXs > &  y0,
const Eigen::Ref< const VectorXs > &  y1,
Eigen::Ref< MatrixXs >  Jfirst,
Eigen::Ref< MatrixXs >  Jsecond,
const Jcomponent  firstsecond = both 
) const
virtual

◆ Jintegrate()

template<typename Scalar >
void sobec::StateLPFTpl< Scalar >::Jintegrate ( const Eigen::Ref< const VectorXs > &  y,
const Eigen::Ref< const VectorXs > &  dy,
Eigen::Ref< MatrixXs >  Jfirst,
Eigen::Ref< MatrixXs >  Jsecond,
const Jcomponent  firstsecond = both,
const AssignmentOp  op = setto 
) const
virtual

◆ JintegrateTransport()

template<typename Scalar >
void sobec::StateLPFTpl< Scalar >::JintegrateTransport ( const Eigen::Ref< const VectorXs > &  y,
const Eigen::Ref< const VectorXs > &  dy,
Eigen::Ref< MatrixXs >  Jin,
const Jcomponent  firstsecond 
) const
virtual

◆ rand()

template<typename Scalar >
MathBaseTpl< Scalar >::VectorXs sobec::StateLPFTpl< Scalar >::rand
virtual

◆ zero()

template<typename Scalar >
MathBaseTpl< Scalar >::VectorXs sobec::StateLPFTpl< Scalar >::zero
virtual

Member Data Documentation

◆ ndy_

template<typename _Scalar >
std::size_t sobec::StateLPFTpl< _Scalar >::ndy_
protected

◆ ntau_

template<typename _Scalar >
std::size_t sobec::StateLPFTpl< _Scalar >::ntau_
protected

◆ ny_

template<typename _Scalar >
std::size_t sobec::StateLPFTpl< _Scalar >::ny_
protected

◆ Scalar

template<typename _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar sobec::StateLPFTpl< _Scalar >::Scalar
The documentation for this class was generated from the following files: