#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, boost_ublas::vector< double > Trajectory) |
Decouple degree of freedom by injected trajectory. More... | |
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 |
RigidBody::RigidBody | ( | ) |
References PatternGeneratorJRL::linear_dynamics_s::Type.
RigidBody::~RigidBody | ( | ) |
linear_dynamics_t const & RigidBody::Dynamics | ( | dynamics_e | type | ) | const |
linear_dynamics_t & RigidBody::Dynamics | ( | dynamics_e | type | ) |
rigid_body_state_t PatternGeneratorJRL::RigidBody::increment_state | ( | double | Control | ) |
Increment the state.
[in] | Control | Control vector |
int RigidBody::initialize | ( | ) |
Initialize.
References PatternGeneratorJRL::linear_dynamics_s::S.
Referenced by PatternGeneratorJRL::RigidBodySystem::initialize().
int PatternGeneratorJRL::RigidBody::inject_trajectory | ( | unsigned int | Axis, |
boost_ublas::vector< double > | Trajectory | ||
) |
Decouple degree of freedom by injected trajectory.
[in] | Axis | The axis to be decoupled |
[in] | Trajectory | The injected trajectory |
int PatternGeneratorJRL::RigidBody::interpolate | ( | std::deque< COMState > & | COMStates, |
std::deque< ZMPPosition > & | ZMPRefPositions, | ||
int | CurrentPosition, | ||
double | CX, | ||
double | CY | ||
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Interpolate.
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Referenced by PatternGeneratorJRL::RigidBodySystem::initialize(), and Mass().
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References Mass().
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Referenced by PatternGeneratorJRL::RigidBodySystem::initialize().
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Referenced by PatternGeneratorJRL::RigidBodySystem::update().
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Referenced by PatternGeneratorJRL::RigidBodySystem::initialize().