whole fix base robot state, i.e. Joint state, Actuator Dynamics (and fix-base pose) More...

#include <FixBaseRobotState.h>

Public Types
using	RigidBodyPose_t = tpl::RigidBodyPose< SCALAR >

using	JointState_t = JointState< NJOINTS, SCALAR >

using	RBDState_t = RBDState< NJOINTS, SCALAR >

using	actuator_state_vector_t = ct::core::StateVector< ACT_STATE_DIM, SCALAR >

using	state_vector_t = ct::core::StateVector< NSTATE, SCALAR >

Public Member Functions
	FixBaseRobotState ()
	constructor More...

	FixBaseRobotState (const JointState_t &joints, const actuator_state_vector_t &actState=actuator_state_vector_t::Zero())
	constructor More...

	FixBaseRobotState (const state_vector_t &robotState)
	constructor More...

	FixBaseRobotState (const FixBaseRobotState &other)
	constructor More...

	~FixBaseRobotState ()
	destructor More...

actuator_state_vector_t &	actuatorState ()
	accessor to actuator state More...

const actuator_state_vector_t &	actuatorState () const
	accessor to actuator state More...

SCALAR &	actuatorState (size_t i)
	accessor to single element of actuator state More...

const SCALAR &	actuatorState (size_t i) const
	accessor to single element of actuator state More...

JointState_t &	joints ()
	accessor to joint state More...

const JointState_t &	joints () const
	accessor to joint state More...

void	setZero ()

template<typename T = void>
std::enable_if<(ACT_STATE_DIM==0), T >::type	fromStateVector (const state_vector_t &robotState)
	conversion from dense state vector to a RobotState More...

template<typename T = void>
std::enable_if<(ACT_STATE_DIM > 0), T >::type	fromStateVector (const state_vector_t &robotState)

template<typename T = state_vector_t>
std::enable_if<(ACT_STATE_DIM==0), T >::type	toStateVector () const
	conversion from RobotState to dense state vector More...

template<typename T = state_vector_t>
std::enable_if<(ACT_STATE_DIM > 0), T >::type	toStateVector () const

RBDState_t	toRBDState (const RigidBodyPose_t &basePose=RigidBodyPose_t())
	transform full robot state to RBDState More...

Static Public Member Functions
static const JointState_t	jointStateFromVector (const state_vector_t &robotState)
	full state vector to JointState (static) More...

static const RBDState_t	rbdStateFromVector (const state_vector_t &robotState, const RigidBodyPose_t &basePose=RigidBodyPose_t())
	transform full robot state to RBDState (static) More...

static const actuator_state_vector_t	actuatorStateFromVector (const state_vector_t &robotState)
	transform full robot state to a actuator state (static) More...

static const state_vector_t	toFullState (const ct::core::StateVector< 2 *NJOINTS, SCALAR > &jointState, const actuator_state_vector_t &x_act=actuator_state_vector_t::Zero())
	transform from joint and actuator state to full state More...

Static Public Attributes
static const size_t	NDOF = NJOINTS

static const size_t	NSTATE = 2 * NJOINTS + ACT_STATE_DIM

Protected Attributes
JointState_t	joints_
	the joint state More...

actuator_state_vector_t	act_state_
	the actuator state vector More...

Detailed Description

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>
class ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >

whole fix base robot state, i.e. Joint state, Actuator Dynamics (and fix-base pose)

Note: a base pose is not included on purpose, since that would rather be part of the "output equation" than of the state

Parameters

NJOINTS	the number of robot joints
ACT_STATE_DIM	the state dimension of the actuator
SCALAR	the scalar type

Member Typedef Documentation

◆ RigidBodyPose_t

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

using ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::RigidBodyPose_t = tpl::RigidBodyPose<SCALAR>

◆ JointState_t

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

using ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::JointState_t = JointState<NJOINTS, SCALAR>

◆ RBDState_t

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

using ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::RBDState_t = RBDState<NJOINTS, SCALAR>

◆ actuator_state_vector_t

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

using ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::actuator_state_vector_t = ct::core::StateVector<ACT_STATE_DIM, SCALAR>

◆ state_vector_t

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

using ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::state_vector_t = ct::core::StateVector<NSTATE, SCALAR>

Constructor & Destructor Documentation

◆ FixBaseRobotState() [1/4]

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::FixBaseRobotState ( )

inline

constructor

◆ FixBaseRobotState() [2/4]

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::FixBaseRobotState	(	const JointState_t &	joints,
		const actuator_state_vector_t &	actState = `actuator_state_vector_t::Zero()`
	)

inline

constructor

◆ FixBaseRobotState() [3/4]

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::FixBaseRobotState ( const state_vector_t & robotState )

inline

constructor

References ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVector().

◆ FixBaseRobotState() [4/4]

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::FixBaseRobotState ( const FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR > & other )

inline

constructor

◆ ~FixBaseRobotState()

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::~FixBaseRobotState ( )

inline

destructor

Member Function Documentation

◆ jointStateFromVector()

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

static const JointState_t ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::jointStateFromVector ( const state_vector_t & robotState )

inlinestatic

full state vector to JointState (static)

References ct::rbd::JointState< NJOINTS, SCALAR >::getPositions(), and ct::rbd::JointState< NJOINTS, SCALAR >::getVelocities().

Referenced by ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::rbdStateFromVector(), and TEST().

◆ rbdStateFromVector()

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

static const RBDState_t ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::rbdStateFromVector	(	const state_vector_t &	robotState,
		const RigidBodyPose_t &	basePose = `RigidBodyPose_t()`
	)

inlinestatic

transform full robot state to RBDState (static)

References ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), ct::rbd::RBDState< NJOINTS, SCALAR >::joints(), ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::jointStateFromVector(), and ct::rbd::RBDState< NJOINTS, SCALAR >::setZero().

◆ actuatorStateFromVector()

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

static const actuator_state_vector_t ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::actuatorStateFromVector ( const state_vector_t & robotState )

inlinestatic

transform full robot state to a actuator state (static)

Referenced by TEST().

◆ toFullState()

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

static const state_vector_t ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toFullState	(	const ct::core::StateVector< 2 *NJOINTS, SCALAR > &	jointState,
		const actuator_state_vector_t &	x_act = `actuator_state_vector_t::Zero()`
	)

inlinestatic

transform from joint and actuator state to full state

◆ actuatorState() [1/4]

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

actuator_state_vector_t& ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::actuatorState ( )

inline

accessor to actuator state

References ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::act_state_.

Referenced by ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeActuatorDynamics(), and ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::initializeDirectInterpolation().

◆ actuatorState() [2/4]

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

const actuator_state_vector_t& ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::actuatorState ( ) const

inline

accessor to actuator state

References ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::act_state_.

◆ actuatorState() [3/4]

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

SCALAR& ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::actuatorState ( size_t i )

inline

accessor to single element of actuator state

References ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::act_state_.

◆ actuatorState() [4/4]

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

const SCALAR& ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::actuatorState ( size_t i ) const

inline

accessor to single element of actuator state

References ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::act_state_.

◆ joints() [1/2]

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

JointState_t& ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints ( )

inline

accessor to joint state

References ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints_.

Referenced by ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeActuatorDynamics(), ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeControlledDynamics(), ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::initializeDirectInterpolation(), and ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::initializeSteadyPose().

◆ joints() [2/2]

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

const JointState_t& ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints ( ) const

inline

accessor to joint state

References ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints_.

◆ setZero()

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

void ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::setZero ( )

inline

References ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::act_state_, ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints_, and ct::rbd::JointState< NJOINTS, SCALAR >::setZero().

◆ fromStateVector() [1/2]

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

template<typename T = void>

std::enable_if<(ACT_STATE_DIM == 0), T>::type ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVector ( const state_vector_t & robotState )

inline

conversion from dense state vector to a RobotState

References ct::rbd::JointState< NJOINTS, SCALAR >::getPositions(), ct::rbd::JointState< NJOINTS, SCALAR >::getVelocities(), and ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints_.

Referenced by ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::FixBaseRobotState().

◆ fromStateVector() [2/2]

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

template<typename T = void>

std::enable_if<(ACT_STATE_DIM > 0), T>::type ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVector ( const state_vector_t & robotState )

inline

References ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::act_state_, ct::rbd::JointState< NJOINTS, SCALAR >::getPositions(), ct::rbd::JointState< NJOINTS, SCALAR >::getVelocities(), and ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints_.

◆ toStateVector() [1/2]

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

template<typename T = state_vector_t>

std::enable_if<(ACT_STATE_DIM == 0), T>::type ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVector ( ) const

inline

conversion from RobotState to dense state vector

References ct::rbd::JointState< NJOINTS, SCALAR >::getPositions(), ct::rbd::JointState< NJOINTS, SCALAR >::getVelocities(), and ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints_.

Referenced by ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::initializeDirectInterpolation(), and ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::initializeSteadyPose().

◆ toStateVector() [2/2]

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

template<typename T = state_vector_t>

std::enable_if<(ACT_STATE_DIM > 0), T>::type ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVector ( ) const

inline

References ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::act_state_, ct::rbd::JointState< NJOINTS, SCALAR >::getPositions(), ct::rbd::JointState< NJOINTS, SCALAR >::getVelocities(), and ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints_.

◆ toRBDState()

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

RBDState_t ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toRBDState ( const RigidBodyPose_t & basePose = RigidBodyPose_t() )

inline

transform full robot state to RBDState

References ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), ct::rbd::RBDState< NJOINTS, SCALAR >::joints(), ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints_, and ct::rbd::RBDState< NJOINTS, SCALAR >::setZero().

Member Data Documentation

◆ NDOF

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

const size_t ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::NDOF = NJOINTS

static

◆ NSTATE

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

const size_t ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::NSTATE = 2 * NJOINTS + ACT_STATE_DIM

static

Referenced by TEST().

◆ joints_

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

JointState_t ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints_

protected

the joint state

Referenced by ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVector(), ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::joints(), ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::setZero(), ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toRBDState(), and ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVector().

◆ act_state_

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>

actuator_state_vector_t ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::act_state_

protected

the actuator state vector

Referenced by ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::actuatorState(), ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVector(), ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::setZero(), and ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVector().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/state/FixBaseRobotState.h

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Attributes

Detailed Description

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double> class ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >

Member Typedef Documentation

◆ RigidBodyPose_t

◆ JointState_t

◆ RBDState_t

◆ actuator_state_vector_t

◆ state_vector_t

Constructor & Destructor Documentation

◆ FixBaseRobotState() [1/4]

◆ FixBaseRobotState() [2/4]

◆ FixBaseRobotState() [3/4]

◆ FixBaseRobotState() [4/4]

◆ ~FixBaseRobotState()

Member Function Documentation

◆ jointStateFromVector()

◆ rbdStateFromVector()

◆ actuatorStateFromVector()

◆ toFullState()

◆ actuatorState() [1/4]

◆ actuatorState() [2/4]

◆ actuatorState() [3/4]

◆ actuatorState() [4/4]

◆ joints() [1/2]

◆ joints() [2/2]

◆ setZero()

◆ fromStateVector() [1/2]

◆ fromStateVector() [2/2]

◆ toStateVector() [1/2]

◆ toStateVector() [2/2]

◆ toRBDState()

Member Data Documentation

◆ NDOF

◆ NSTATE

◆ joints_

◆ act_state_

template<size_t NJOINTS, size_t ACT_STATE_DIM = 0, typename SCALAR = double>
class ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >