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.
int	initialize ()
	Initialize.
rigid_body_state_t	increment_state (double Control)
	Increment the state.
int	inject_trajectory (unsigned int Axis, boost_ublas::vector< double > Trajectory)
	Decouple degree of freedom by injected trajectory.
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::RigidBody

(

)

~RigidBody()

RigidBody::~RigidBody

(

)

Member Function Documentation

Dynamics() [1/2]

linear_dynamics_t & RigidBody::Dynamics

(

dynamics_e

type

)

Dynamics() [2/2]

linear_dynamics_t const & 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,
		boost_ublas::vector< double >	Trajectory )

Decouple degree of freedom by injected trajectory.

Parameters

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

Returns

0

References Trajectory().

interpolate()

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

Interpolate.

Mass() [1/2]

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

inline

Referenced by Mass().

Mass() [2/2]

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

inline

References Mass().

NbSamplingsPreviewed() [1/2]

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

inline

NbSamplingsPreviewed() [2/2]

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

inline

SamplingPeriodAct() [1/2]

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

inline

SamplingPeriodAct() [2/2]

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

inline

SamplingPeriodSim() [1/2]

double const & 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]

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

inline

Trajectory()

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

inline

Referenced by inject_trajectory().