PatternGeneratorJRL::RigidBody Class Reference

#include <PreviewControl/rigid-body.hh>

Public Member Functions
	RigidBody ()
	~RigidBody ()
int	interpolate (std::deque< COMState > &COMStates, std::deque< ZMPPosition > &ZMPRefPositions, int CurrentPosition, double CX, double CY)
	Interpolate. More...
int	initialize ()
	Initialize. More...
rigid_body_state_t	increment_state (double Control)
	Increment the state. More...
int	inject_trajectory (unsigned int Axis, Eigen::VectorXd Trajectory)
	Decouple degree of freedom by injected trajectory. More...
Accessors
linear_dynamics_t const &	Dynamics (dynamics_e) const
linear_dynamics_t &	Dynamics (dynamics_e)
double const &	SamplingPeriodSim () const
void	SamplingPeriodSim (double T)
double const &	SamplingPeriodAct () const
void	SamplingPeriodAct (double Ta)
unsigned const &	NbSamplingsPreviewed () const
void	NbSamplingsPreviewed (unsigned N)
double const &	Mass () const
void	Mass (double Mass)
std::deque< rigid_body_state_t > &	Trajectory ()
rigid_body_state_t &	State ()
rigid_body_state_t const &	State () const

Constructor & Destructor Documentation

RigidBody::RigidBody

(

)

References PatternGeneratorJRL::linear_dynamics_s::Type.

RigidBody::~RigidBody

(

)

Member Function Documentation

linear_dynamics_t const & RigidBody::Dynamics

(

dynamics_e

type

)

const

linear_dynamics_t & RigidBody::Dynamics

(

dynamics_e

type

)

rigid_body_state_t PatternGeneratorJRL::RigidBody::increment_state

(

double

Control

)

Increment the state.

Parameters

[in]

Control

Control vector

int RigidBody::initialize

(

)

Initialize.

Returns

0

References PatternGeneratorJRL::linear_dynamics_s::S.

int PatternGeneratorJRL::RigidBody::inject_trajectory	(	unsigned int	Axis,
		Eigen::VectorXd	Trajectory
	)

Decouple degree of freedom by injected trajectory.

Parameters

[in]	Axis	The axis to be decoupled
[in]	Trajectory	The injected trajectory

Returns

0

int PatternGeneratorJRL::RigidBody::interpolate	(	std::deque< COMState > &	COMStates,
		std::deque< ZMPPosition > &	ZMPRefPositions,
		int	CurrentPosition,
		double	CX,
		double	CY
	)

Interpolate.

double const& PatternGeneratorJRL::RigidBody::Mass ( ) const

inline

void PatternGeneratorJRL::RigidBody::Mass ( double  Mass )

inline

unsigned const& PatternGeneratorJRL::RigidBody::NbSamplingsPreviewed ( ) const

inline

void PatternGeneratorJRL::RigidBody::NbSamplingsPreviewed ( unsigned  N )

inline

double const& PatternGeneratorJRL::RigidBody::SamplingPeriodAct ( ) const

inline

void PatternGeneratorJRL::RigidBody::SamplingPeriodAct ( double  Ta )

inline

double const& PatternGeneratorJRL::RigidBody::SamplingPeriodSim ( ) const

inline

void PatternGeneratorJRL::RigidBody::SamplingPeriodSim ( double  T )

inline

rigid_body_state_t& PatternGeneratorJRL::RigidBody::State ( )

inline

rigid_body_state_t const& PatternGeneratorJRL::RigidBody::State ( ) const

inline

std::deque<rigid_body_state_t>& PatternGeneratorJRL::RigidBody::Trajectory ( )

inline