whole robot state, i.e. RBDState and Actuator Dynamics More...

#include <FloatingBaseRobotState.h>

Inheritance diagram for ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >:

Public Types
using	Base_t = RBDState< NJOINTS, SCALAR >

using	RBDState_t = RBDState< NJOINTS, SCALAR >

using	RigidBodyPose_t = tpl::RigidBodyPose< SCALAR >

using	RigidBodyState_t = tpl::RigidBodyState< SCALAR >

using	JointState_t = JointState< NJOINTS, SCALAR >

using	STORAGE_TYPE = typename RigidBodyPose_t::STORAGE_TYPE

using	actuator_state_vector_t = ct::core::StateVector< ACT_STATE_DIM, SCALAR >
	Euler or quat. More...

using	state_vector_quat_t = ct::core::StateVector< NSTATE_QUAT, SCALAR >

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

Public Types inherited from ct::rbd::RBDState< NJOINTS, SCALAR >
using	RigidBodyState_t = tpl::RigidBodyState< SCALAR >

using	RigidBodyPose_t = tpl::RigidBodyPose< SCALAR >

typedef ct::core::StateVector< NSTATE_QUAT, SCALAR >	state_vector_quat_t

typedef ct::core::StateVector< NSTATE, SCALAR >	state_vector_euler_t

typedef ct::core::StateVector< NDOF, SCALAR >	coordinate_vector_t

Public Member Functions
	FloatingBaseRobotState (const STORAGE_TYPE storage=STORAGE_TYPE::EULER)
	default constructor More...

	FloatingBaseRobotState (const RBDState_t &rbdState, const actuator_state_vector_t &act_state=actuator_state_vector_t::Zero())
	constructor with actuator state as parameter More...

	FloatingBaseRobotState (const RigidBodyState_t &baseState, const JointState_t &jointState, const actuator_state_vector_t &act_state=actuator_state_vector_t::Zero())
	constructor with base, jonit and actuator state as parameters More...

	FloatingBaseRobotState (const FloatingBaseRobotState &other)
	copy constructor More...

	~FloatingBaseRobotState ()
	destructor More...

RBDState_t &	rbdState ()
	accessor to base class RBDState More...

const RBDState_t &	rbdState () const
	accessor to base class RBDState More...

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

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

template<typename T = state_vector_quat_t>
std::enable_if<(ACT_STATE_DIM > 0), T >::type	toStateVectorQuaternion () const
	compute state vector including with quaternion representation More...

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

template<typename T = state_vector_euler_t>
std::enable_if<(ACT_STATE_DIM > 0), T >::type	toStateVectorEulerXyzUnique () const
	get unique state vector with euler coordinates More...

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

template<typename T = state_vector_euler_t>
std::enable_if<(ACT_STATE_DIM > 0), T >::type	toStateVectorEulerXyz () const
	get state vector in euler coordinates More...

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

template<typename T = void>
std::enable_if<(ACT_STATE_DIM > 0), T >::type	fromStateVectorQuaternion (const state_vector_quat_t &state)
	reconstruct robot state from an Eigen state-vector with quaternion representation More...

template<typename T = void>
std::enable_if<(ACT_STATE_DIM==0), T >::type	fromStateVectorQuaternion (const state_vector_quat_t &state)

template<typename T = void>
std::enable_if<(ACT_STATE_DIM > 0), T >::type	fromStateVectorEulerXyz (const state_vector_euler_t &state)
	reconstruct robot state from an Eigen state-vector with euler representation More...

template<typename T = void>
std::enable_if<(ACT_STATE_DIM==0), T >::type	fromStateVectorEulerXyz (const state_vector_euler_t &state)

void	fromStateVectorRaw (const state_vector_quat_t &state)
	a convenience method More...

void	fromStateVectorRaw (const state_vector_euler_t &state)
	a convenience method More...

void	setZero ()
	set all zero More...

Public Member Functions inherited from ct::rbd::RBDState< NJOINTS, SCALAR >
	RBDState (typename RigidBodyPose_t::STORAGE_TYPE storage=RigidBodyPose_t::EULER)

	RBDState (const RBDState &other)

	RBDState (const RigidBodyState_t &baseState, const JointState< NJOINTS, SCALAR > &jointState)

virtual	~RBDState ()=default

bool	operator!= (const RBDState &other) const

bool	isApprox (const RBDState &rhs, const SCALAR &tol=1e-10)

RigidBodyState_t &	base ()
	get base states More...

const RigidBodyState_t &	base () const
	get constant base states More...

RigidBodyPose_t &	basePose ()
	get base pose More...

const RigidBodyPose_t &	basePose () const
	get constant base states More...

tpl::RigidBodyVelocities< SCALAR > &	baseVelocities ()
	get base velocities More...

const tpl::RigidBodyVelocities< SCALAR > &	baseVelocities () const
	get constant base velocities More...

kindr::LocalAngularVelocity< SCALAR > &	baseLocalAngularVelocity ()
	get base local angular velocity More...

const kindr::LocalAngularVelocity< SCALAR > &	baseLocalAngularVelocity () const
	get constant base local angular velocity More...

kindr::Velocity< SCALAR, 3 > &	baseLinearVelocity ()
	get base linear velocity More...

const kindr::Velocity< SCALAR, 3 > &	baseLinearVelocity () const
	get constant base local angular velocity More...

JointState< NJOINTS, SCALAR > &	joints ()
	get joint states More...

const JointState< NJOINTS, SCALAR > &	joints () const
	get constant joint states More...

JointState< NJOINTS, SCALAR >::JointPositionBlock	jointPositions ()
	get joint positions More...

const JointState< NJOINTS, SCALAR >::JointPositionBlockConst	jointPositions () const
	get constant joint positions More...

JointState< NJOINTS, SCALAR >::JointPositionBlock	jointVelocities ()
	get joint velocities More...

const JointState< NJOINTS, SCALAR >::JointPositionBlockConst	jointVelocities () const
	get constant joint velocities More...

state_vector_quat_t	toStateVectorQuaternion () const

coordinate_vector_t	toCoordinatePositionUnique () const

coordinate_vector_t	toCoordinatePosition () const

coordinate_vector_t	toCoordinateVelocity () const

state_vector_euler_t	toStateVectorEulerXyzUnique () const

state_vector_euler_t	toStateVectorEulerXyz () const

void	fromStateVectorQuaternion (const state_vector_quat_t &state)

void	fromStateVectorEulerXyz (const state_vector_euler_t &state)

void	fromStateVectorRaw (const state_vector_quat_t &state)

void	fromStateVectorRaw (const state_vector_euler_t &state)

virtual void	setDefault ()

void	setZero ()

void	setRandom ()

Static Public Attributes
static const size_t	NDOF = Base_t::NDOF

static const size_t	NSTATE = Base_t::NSTATE + ACT_STATE_DIM

static const size_t	NSTATE_QUAT = NSTATE + 1

Static Public Attributes inherited from ct::rbd::RBDState< NJOINTS, SCALAR >
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const size_t	NDOF = NJOINTS + 6

static const size_t	NSTATE = 2 * (NJOINTS + 6)

static const size_t	NSTATE_QUAT = NSTATE + 1

Protected Attributes
actuator_state_vector_t	act_state_

Protected Attributes inherited from ct::rbd::RBDState< NJOINTS, SCALAR >
RigidBodyState_t	baseState_

JointState< NJOINTS, SCALAR >	jointState_

Detailed Description

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

whole robot state, i.e. RBDState and Actuator Dynamics

Parameters

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

Member Typedef Documentation

◆ Base_t

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

using ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::Base_t = RBDState<NJOINTS, SCALAR>

◆ RBDState_t

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

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

◆ RigidBodyPose_t

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

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

◆ RigidBodyState_t

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

using ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::RigidBodyState_t = tpl::RigidBodyState<SCALAR>

◆ JointState_t

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

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

◆ STORAGE_TYPE

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

using ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::STORAGE_TYPE = typename RigidBodyPose_t::STORAGE_TYPE

◆ actuator_state_vector_t

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

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

Euler or quat.

◆ state_vector_quat_t

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

using ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::state_vector_quat_t = ct::core::StateVector<NSTATE_QUAT, SCALAR>

◆ state_vector_euler_t

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

using ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::state_vector_euler_t = ct::core::StateVector<NSTATE, SCALAR>

Constructor & Destructor Documentation

◆ FloatingBaseRobotState() [1/4]

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

ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::FloatingBaseRobotState ( const STORAGE_TYPE storage = STORAGE_TYPE::EULER )

inline

default constructor

◆ FloatingBaseRobotState() [2/4]

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

ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::FloatingBaseRobotState	(	const RBDState_t &	rbdState,
		const actuator_state_vector_t &	act_state = `actuator_state_vector_t::Zero()`
	)

inline

constructor with actuator state as parameter

◆ FloatingBaseRobotState() [3/4]

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

ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::FloatingBaseRobotState	(	const RigidBodyState_t &	baseState,
		const JointState_t &	jointState,
		const actuator_state_vector_t &	act_state = `actuator_state_vector_t::Zero()`
	)

inline

constructor with base, jonit and actuator state as parameters

◆ FloatingBaseRobotState() [4/4]

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

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

inline

copy constructor

◆ ~FloatingBaseRobotState()

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

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

inline

destructor

Member Function Documentation

◆ rbdState() [1/2]

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

RBDState_t& ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::rbdState ( )

inline

accessor to base class RBDState

Referenced by TEST().

◆ rbdState() [2/2]

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

const RBDState_t& ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::rbdState ( ) const

inline

accessor to base class RBDState

◆ actuatorState() [1/2]

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

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

inline

accessor to actuator state

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

Referenced by TEST().

◆ actuatorState() [2/2]

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

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

inline

accessor to actuator state

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

◆ toStateVectorQuaternion() [1/2]

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

template<typename T = state_vector_quat_t>

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

inline

compute state vector including with quaternion representation

References ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::act_state_, and ct::rbd::RBDState< NJOINTS, SCALAR >::toStateVectorQuaternion().

Referenced by TEST().

◆ toStateVectorQuaternion() [2/2]

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

template<typename T = state_vector_quat_t>

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

inline

References ct::rbd::RBDState< NJOINTS, SCALAR >::toStateVectorQuaternion().

◆ toStateVectorEulerXyzUnique() [1/2]

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

template<typename T = state_vector_euler_t>

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

inline

get unique state vector with euler coordinates

References ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::act_state_, and ct::rbd::RBDState< NJOINTS, SCALAR >::toStateVectorEulerXyzUnique().

Referenced by TEST().

◆ toStateVectorEulerXyzUnique() [2/2]

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

template<typename T = state_vector_euler_t>

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

inline

References ct::rbd::RBDState< NJOINTS, SCALAR >::toStateVectorEulerXyzUnique().

◆ toStateVectorEulerXyz() [1/2]

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

template<typename T = state_vector_euler_t>

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

inline

get state vector in euler coordinates

References ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::act_state_, and ct::rbd::RBDState< NJOINTS, SCALAR >::toStateVectorEulerXyz().

Referenced by TEST().

◆ toStateVectorEulerXyz() [2/2]

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

template<typename T = state_vector_euler_t>

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

inline

References ct::rbd::RBDState< NJOINTS, SCALAR >::toStateVectorEulerXyz().

◆ fromStateVectorQuaternion() [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::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVectorQuaternion ( const state_vector_quat_t & state )

inline

reconstruct robot state from an Eigen state-vector with quaternion representation

References ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::act_state_, ct::rbd::RBDState< NJOINTS, SCALAR >::fromStateVectorQuaternion(), and ct::rbd::RBDState< NJOINTS, SCALAR >::NSTATE_QUAT.

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

◆ fromStateVectorQuaternion() [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::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVectorQuaternion ( const state_vector_quat_t & state )

inline

References ct::rbd::RBDState< NJOINTS, SCALAR >::fromStateVectorQuaternion().

◆ fromStateVectorEulerXyz() [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::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVectorEulerXyz ( const state_vector_euler_t & state )

inline

reconstruct robot state from an Eigen state-vector with euler representation

References ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::act_state_, ct::rbd::RBDState< NJOINTS, SCALAR >::fromStateVectorEulerXyz(), and ct::rbd::RBDState< NJOINTS, SCALAR >::NSTATE.

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

◆ fromStateVectorEulerXyz() [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::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVectorEulerXyz ( const state_vector_euler_t & state )

inline

◆ fromStateVectorRaw() [1/2]

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

void ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVectorRaw ( const state_vector_quat_t & state )

inline

a convenience method

References ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVectorQuaternion().

◆ fromStateVectorRaw() [2/2]

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

void ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVectorRaw ( const state_vector_euler_t & state )

inline

a convenience method

References ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVectorEulerXyz().

◆ setZero()

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

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

inline

set all zero

References ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::act_state_, 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::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::NDOF = Base_t::NDOF

static

◆ NSTATE

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

const size_t ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::NSTATE = Base_t::NSTATE + ACT_STATE_DIM

static

◆ NSTATE_QUAT

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

const size_t ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::NSTATE_QUAT = NSTATE + 1

static

◆ act_state_

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

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

protected

Referenced by ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::actuatorState(), ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVectorEulerXyz(), ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVectorQuaternion(), ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::setZero(), ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVectorEulerXyz(), ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVectorEulerXyzUnique(), and ct::rbd::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVectorQuaternion().

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/FloatingBaseRobotState.h

Public Types

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::FloatingBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >

Member Typedef Documentation

◆ Base_t

◆ RBDState_t

◆ RigidBodyPose_t

◆ RigidBodyState_t

◆ JointState_t

◆ STORAGE_TYPE

◆ actuator_state_vector_t

◆ state_vector_quat_t

◆ state_vector_euler_t

Constructor & Destructor Documentation

◆ FloatingBaseRobotState() [1/4]

◆ FloatingBaseRobotState() [2/4]

◆ FloatingBaseRobotState() [3/4]

◆ FloatingBaseRobotState() [4/4]

◆ ~FloatingBaseRobotState()

Member Function Documentation

◆ rbdState() [1/2]

◆ rbdState() [2/2]

◆ actuatorState() [1/2]

◆ actuatorState() [2/2]

◆ toStateVectorQuaternion() [1/2]

◆ toStateVectorQuaternion() [2/2]

◆ toStateVectorEulerXyzUnique() [1/2]

◆ toStateVectorEulerXyzUnique() [2/2]

◆ toStateVectorEulerXyz() [1/2]

◆ toStateVectorEulerXyz() [2/2]

◆ fromStateVectorQuaternion() [1/2]

◆ fromStateVectorQuaternion() [2/2]

◆ fromStateVectorEulerXyz() [1/2]

◆ fromStateVectorEulerXyz() [2/2]

◆ fromStateVectorRaw() [1/2]

◆ fromStateVectorRaw() [2/2]

◆ setZero()

Member Data Documentation

◆ NDOF

◆ NSTATE

◆ NSTATE_QUAT

◆ act_state_

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