hpp::pinocchio::ExtraConfigSpace Class Reference

Extra degrees of freedom to store internal values in configurations. More...

#include <hpp/pinocchio/extra-config-space.hh>

Public Member Functions
	ExtraConfigSpace ()
value_type &	lower (const size_type &index)
value_type &	upper (const size_type &index)
const value_type &	lower (const size_type &index) const
const value_type &	upper (const size_type &index) const
const vector_t &	lower () const
const vector_t &	upper () const
size_type	dimension () const
	Get dimension. More...

Friends
class	Device

Detailed Description

Extra degrees of freedom to store internal values in configurations.

In some applications, it is useful to store extra variables with the configuration vector of a robot. For instance, when planning motions in state space using roadmap based methods, the velocity of the robot is stored in the nodes of the roadmap.

Constructor & Destructor Documentation

hpp::pinocchio::ExtraConfigSpace::ExtraConfigSpace ( )

inline

Member Function Documentation

size_type hpp::pinocchio::ExtraConfigSpace::dimension ( ) const

inline

Get dimension.

value_type& hpp::pinocchio::ExtraConfigSpace::lower ( const size_type &  index )

inline

const value_type& hpp::pinocchio::ExtraConfigSpace::lower ( const size_type &  index ) const

inline

const vector_t& hpp::pinocchio::ExtraConfigSpace::lower ( ) const

inline

value_type& hpp::pinocchio::ExtraConfigSpace::upper ( const size_type &  index )

inline

const value_type& hpp::pinocchio::ExtraConfigSpace::upper ( const size_type &  index ) const

inline

const vector_t& hpp::pinocchio::ExtraConfigSpace::upper ( ) const

inline

Friends And Related Function Documentation

friend class Device

friend