sobec::RobotDesigner Class Reference

#include <sobec/walk-with-traj/designer.hpp>

Public Member Functions

 RobotDesigner ()
 
 RobotDesigner (const RobotDesignerSettings &settings)
 
void initialize (const RobotDesignerSettings &settings)
 
void updateReducedModel (const Eigen::VectorXd &x)
 
void updateCompleteModel (const Eigen::VectorXd &x)
 
const pinocchio::SE3 & get_LF_frame ()
 
const pinocchio::SE3 & get_RF_frame ()
 
double getRobotMass ()
 
const pinocchio::Model & get_rModel ()
 
const pinocchio::Model & get_rModelComplete ()
 
const pinocchio::Data & get_rData ()
 
const pinocchio::Data & get_rDataComplete ()
 
const Eigen::VectorXd & get_q0 ()
 
const Eigen::VectorXd & get_v0 ()
 
const Eigen::VectorXd & get_q0Complete ()
 
const Eigen::VectorXd & get_v0Complete ()
 
const Eigen::VectorXd & get_x0 ()
 
const std::string & get_LF_name ()
 
const std::string & get_RF_name ()
 
const pinocchio::FrameIndex & get_LF_id ()
 
const pinocchio::FrameIndex & get_RF_id ()
 
const RobotDesignerSettingsget_settings ()
 
const std::vector< unsigned long > & get_controlledJointsIDs ()
 
const Eigen::Vector3d & get_LF_position ()
 
const Eigen::Vector3d & get_RF_position ()
 
const Eigen::Vector3d & get_com_position ()
 

Public Attributes

bool initialized_ = false
 

Constructor & Destructor Documentation

◆ RobotDesigner() [1/2]

sobec::RobotDesigner::RobotDesigner ( )

◆ RobotDesigner() [2/2]

sobec::RobotDesigner::RobotDesigner ( const RobotDesignerSettings settings)

Member Function Documentation

◆ get_com_position()

const Eigen::Vector3d& sobec::RobotDesigner::get_com_position ( )
inline

◆ get_controlledJointsIDs()

const std::vector<unsigned long>& sobec::RobotDesigner::get_controlledJointsIDs ( )
inline

◆ get_LF_frame()

const pinocchio::SE3 & sobec::RobotDesigner::get_LF_frame ( )

◆ get_LF_id()

const pinocchio::FrameIndex& sobec::RobotDesigner::get_LF_id ( )
inline

◆ get_LF_name()

const std::string& sobec::RobotDesigner::get_LF_name ( )
inline

◆ get_LF_position()

const Eigen::Vector3d& sobec::RobotDesigner::get_LF_position ( )
inline

◆ get_q0()

const Eigen::VectorXd& sobec::RobotDesigner::get_q0 ( )
inline

◆ get_q0Complete()

const Eigen::VectorXd& sobec::RobotDesigner::get_q0Complete ( )
inline

◆ get_rData()

const pinocchio::Data& sobec::RobotDesigner::get_rData ( )
inline

◆ get_rDataComplete()

const pinocchio::Data& sobec::RobotDesigner::get_rDataComplete ( )
inline

◆ get_RF_frame()

const pinocchio::SE3 & sobec::RobotDesigner::get_RF_frame ( )

◆ get_RF_id()

const pinocchio::FrameIndex& sobec::RobotDesigner::get_RF_id ( )
inline

◆ get_RF_name()

const std::string& sobec::RobotDesigner::get_RF_name ( )
inline

◆ get_RF_position()

const Eigen::Vector3d& sobec::RobotDesigner::get_RF_position ( )
inline

◆ get_rModel()

const pinocchio::Model& sobec::RobotDesigner::get_rModel ( )
inline

◆ get_rModelComplete()

const pinocchio::Model& sobec::RobotDesigner::get_rModelComplete ( )
inline

◆ get_settings()

const RobotDesignerSettings& sobec::RobotDesigner::get_settings ( )
inline

◆ get_v0()

const Eigen::VectorXd& sobec::RobotDesigner::get_v0 ( )
inline

◆ get_v0Complete()

const Eigen::VectorXd& sobec::RobotDesigner::get_v0Complete ( )
inline

◆ get_x0()

const Eigen::VectorXd& sobec::RobotDesigner::get_x0 ( )
inline

◆ getRobotMass()

double sobec::RobotDesigner::getRobotMass ( )

◆ initialize()

void sobec::RobotDesigner::initialize ( const RobotDesignerSettings settings)

◆ updateCompleteModel()

void sobec::RobotDesigner::updateCompleteModel ( const Eigen::VectorXd &  x)

x is the complete posture, or contains the complete posture in the first elements

◆ updateReducedModel()

void sobec::RobotDesigner::updateReducedModel ( const Eigen::VectorXd &  x)

x is the reduced posture, or contains the reduced posture in the first elements

Member Data Documentation

◆ initialized_

bool sobec::RobotDesigner::initialized_ = false

The documentation for this class was generated from the following files: