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
const linear_dynamics_t &	Dynamics (dynamics_e) const
linear_dynamics_t &	Dynamics (dynamics_e)
const double &	SamplingPeriodSim () const
void	SamplingPeriodSim (double T)
const double &	SamplingPeriodAct () const
void	SamplingPeriodAct (double Ta)
const unsigned &	NbSamplingsPreviewed () const
void	NbSamplingsPreviewed (unsigned N)
const double &	Mass () const
void	Mass (double Mass)
std::deque< rigid_body_state_t > &	Trajectory ()
rigid_body_state_t &	State ()
const rigid_body_state_t &	State () const

Constructor & Destructor Documentation

RigidBody()

RigidBody::RigidBody

(

)

~RigidBody()

RigidBody::~RigidBody

(

)

Member Function Documentation

Dynamics() [1/2]

linear_dynamics_t & RigidBody::Dynamics

(

dynamics_e

type

)

Dynamics() [2/2]

const linear_dynamics_t & RigidBody::Dynamics

(

dynamics_e

type

)

const

increment_state()

rigid_body_state_t PatternGeneratorJRL::RigidBody::increment_state

(

double

Control

)

Increment the state.

Parameters

[in]

Control

Control vector

initialize()

int RigidBody::initialize

(

)

Initialize.

Returns

0

inject_trajectory()

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

interpolate()

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

Interpolate.

Mass() [1/2]

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

inline

Mass() [2/2]

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

inline

NbSamplingsPreviewed() [1/2]

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

inline

NbSamplingsPreviewed() [2/2]

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

inline

SamplingPeriodAct() [1/2]

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

inline

SamplingPeriodAct() [2/2]

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

inline

SamplingPeriodSim() [1/2]

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

inline

SamplingPeriodSim() [2/2]

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

inline

State() [1/2]

rigid_body_state_t& PatternGeneratorJRL::RigidBody::State ( )

inline

State() [2/2]

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

inline

Trajectory()

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

inline

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

• src/PreviewControl/rigid-body.hh
• src/PreviewControl/rigid-body.cpp