#include <hpp/rbprm/sampling/sample.hh>
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| Sample (const pinocchio::JointPtr_t limb, const pinocchio::Frame effector, const fcl::Vec3f &offset=fcl::Vec3f(0, 0, 0), const fcl::Vec3f &limbOffset=fcl::Vec3f(0, 0, 0), const std::size_t id=0) |
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| Sample (const std::size_t id, const std::size_t length, const std::size_t startRank, const double staticValue, const fcl::Vec3f &effectorPosition, const fcl::Vec3f &effectorPositionInLimbFrame, const pinocchio::ConfigurationIn_t configuration, const Eigen::MatrixXd &jacobian, const Eigen::Matrix< pinocchio::value_type, 6, 6 > &jacobianProduct) |
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| Sample (const pinocchio::JointPtr_t limb, const pinocchio::Frame effector, pinocchio::ConfigurationIn_t configuration, const fcl::Vec3f &offset=fcl::Vec3f(0, 0, 0), const fcl::Vec3f &limbOffset=fcl::Vec3f(0, 0, 0), const std::size_t id=0) |
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| Sample (const Sample &clone) |
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| ~Sample () |
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◆ Sample() [1/4]
hpp::rbprm::sampling::Sample::Sample |
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const pinocchio::JointPtr_t |
limb, |
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const pinocchio::Frame |
effector, |
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const fcl::Vec3f & |
offset = fcl::Vec3f(0, 0, 0) , |
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const fcl::Vec3f & |
limbOffset = fcl::Vec3f(0, 0, 0) , |
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const std::size_t |
id = 0 |
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Creates a sample configuration, given the current configuration of a limb. the current Configuration_t of the limb will be used to compute the sample.
- Parameters
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limb | root of the considered limb |
effector | joint to be considered as the effector of the limb |
offset | location of the contact point of the effector, relatively to the effector joint |
id | optional identifier for the sample |
◆ Sample() [2/4]
hpp::rbprm::sampling::Sample::Sample |
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const std::size_t |
id, |
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const std::size_t |
length, |
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const std::size_t |
startRank, |
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const double |
staticValue, |
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const fcl::Vec3f & |
effectorPosition, |
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const fcl::Vec3f & |
effectorPositionInLimbFrame, |
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const pinocchio::ConfigurationIn_t |
configuration, |
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const Eigen::MatrixXd & |
jacobian, |
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const Eigen::Matrix< pinocchio::value_type, 6, 6 > & |
jacobianProduct |
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◆ Sample() [3/4]
hpp::rbprm::sampling::Sample::Sample |
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const pinocchio::JointPtr_t |
limb, |
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const pinocchio::Frame |
effector, |
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pinocchio::ConfigurationIn_t |
configuration, |
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const fcl::Vec3f & |
offset = fcl::Vec3f(0, 0, 0) , |
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const fcl::Vec3f & |
limbOffset = fcl::Vec3f(0, 0, 0) , |
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const std::size_t |
id = 0 |
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Creates sample configuration for a limb, extracted from a complete robot configuration, passed as a parameter
- Parameters
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limb | root of the considered limb |
the | configuration from which the limb sample will be extracted |
effector | joint to be considered as the effector of the limb |
offset | location of the contact point of the effector, relatively to the effector joint |
id | optional identifier for the sample |
◆ Sample() [4/4]
hpp::rbprm::sampling::Sample::Sample |
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const Sample & |
clone | ) |
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◆ ~Sample()
hpp::rbprm::sampling::Sample::~Sample |
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inline |
◆ configuration_
pinocchio::Configuration_t hpp::rbprm::sampling::Sample::configuration_ |
◆ effectorPosition_
fcl::Vec3f hpp::rbprm::sampling::Sample::effectorPosition_ |
Position relative to robot root (ie, robot base at 0 everywhere)
◆ effectorPositionInLimbFrame_
fcl::Vec3f hpp::rbprm::sampling::Sample::effectorPositionInLimbFrame_ |
◆ id_
std::size_t hpp::rbprm::sampling::Sample::id_ |
◆ jacobian_
Eigen::MatrixXd hpp::rbprm::sampling::Sample::jacobian_ |
◆ jacobianProduct_
Eigen::Matrix<pinocchio::value_type, 6, 6> hpp::rbprm::sampling::Sample::jacobianProduct_ |
Product of the jacobian by its transpose.
◆ length_
std::size_t hpp::rbprm::sampling::Sample::length_ |
◆ startRank_
std::size_t hpp::rbprm::sampling::Sample::startRank_ |
◆ staticValue_
double hpp::rbprm::sampling::Sample::staticValue_ |
The documentation for this class was generated from the following file: