PatternGeneratorJRL::RigidBody Class Reference

#include <PreviewControl/rigid-body.hh>

List of all members.

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_tDynamics (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_tState ()
rigid_body_state_t const & State () const

Constructor & Destructor Documentation

RigidBody::RigidBody ( )
RigidBody::~RigidBody ( )

Member Function Documentation

linear_dynamics_t & RigidBody::Dynamics ( dynamics_e  type)
rigid_body_state_t PatternGeneratorJRL::RigidBody::increment_state ( double  Control)

Increment the state.

Parameters:
[in]ControlControl vector
int RigidBody::initialize ( )
int PatternGeneratorJRL::RigidBody::inject_trajectory ( unsigned int  Axis,
boost_ublas::vector< double >  Trajectory 
)

Decouple degree of freedom by injected trajectory.

Parameters:
[in]AxisThe axis to be decoupled
[in]TrajectoryThe 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]

References Mass().

Referenced by Mass().

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]