ct::rbd::JointAcceleration< NJOINTS, SCALAR > Class Template Reference

joint acceleration More...

#include <JointAcceleration.h>

Public Types
enum	NDOFS { NDOFS = NJOINTS }
typedef Eigen::Matrix< SCALAR, NJOINTS, 1 >	Acceleration

Public Member Functions
	JointAcceleration ()
	JointAcceleration (const Eigen::Matrix< SCALAR, NJOINTS, 1 > &acceleration)
size_t	getSize ()
	get number of degrees of freedom More...
SCALAR &	operator() (size_t i)
	get i-th joint acceleration More...
Eigen::Matrix< SCALAR, NJOINTS, 1 > &	getAcceleration ()
	get joint acceleration More...
const Eigen::Matrix< SCALAR, NJOINTS, 1 > &	getAcceleration () const
	get constant joint acceleration More...
void	setAcceleration (const Eigen::Matrix< SCALAR, NJOINTS, 1 > &acceleration)
	set joint acceleration More...
void	setZero ()
	set joint acceleration to zero More...

Static Public Member Functions
static JointAcceleration< NJOINTS, SCALAR >	Zero ()

Protected Attributes
Acceleration	acceleration_

Detailed Description

template<size_t NJOINTS, typename SCALAR = double>
class ct::rbd::JointAcceleration< NJOINTS, SCALAR >

joint acceleration

Member Typedef Documentation

Acceleration

template<size_t NJOINTS, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, NJOINTS, 1> ct::rbd::JointAcceleration< NJOINTS, SCALAR >::Acceleration

Member Enumeration Documentation

NDOFS

template<size_t NJOINTS, typename SCALAR = double>

enum ct::rbd::JointAcceleration::NDOFS

Enumerator
NDOFS

Constructor & Destructor Documentation

JointAcceleration() [1/2]

template<size_t NJOINTS, typename SCALAR = double>

ct::rbd::JointAcceleration< NJOINTS, SCALAR >::JointAcceleration ( )

inline

References ct::rbd::JointAcceleration< NJOINTS, SCALAR >::setZero().

JointAcceleration() [2/2]

template<size_t NJOINTS, typename SCALAR = double>

ct::rbd::JointAcceleration< NJOINTS, SCALAR >::JointAcceleration ( const Eigen::Matrix< SCALAR, NJOINTS, 1 > &  acceleration )

inline

Member Function Documentation

getSize()

template<size_t NJOINTS, typename SCALAR = double>

size_t ct::rbd::JointAcceleration< NJOINTS, SCALAR >::getSize ( )

inline

get number of degrees of freedom

operator()()

template<size_t NJOINTS, typename SCALAR = double>

SCALAR& ct::rbd::JointAcceleration< NJOINTS, SCALAR >::operator() ( size_t  i )

inline

get i-th joint acceleration

References ct::rbd::JointAcceleration< NJOINTS, SCALAR >::acceleration_.

getAcceleration() [1/2]

template<size_t NJOINTS, typename SCALAR = double>

Eigen::Matrix<SCALAR, NJOINTS, 1>& ct::rbd::JointAcceleration< NJOINTS, SCALAR >::getAcceleration ( )

inline

get joint acceleration

References ct::rbd::JointAcceleration< NJOINTS, SCALAR >::acceleration_.

Referenced by ct::rbd::Dynamics< RBD, NEE >::FixBaseForwardDynamics(), ct::rbd::Dynamics< RBD, NEE >::FixBaseID(), ct::rbd::Dynamics< RBD, NEE >::FloatingBaseFullyActuatedID(), and ct::rbd::Dynamics< RBD, NEE >::FloatingBaseID().

getAcceleration() [2/2]

template<size_t NJOINTS, typename SCALAR = double>

const Eigen::Matrix<SCALAR, NJOINTS, 1>& ct::rbd::JointAcceleration< NJOINTS, SCALAR >::getAcceleration ( ) const

inline

get constant joint acceleration

References ct::rbd::JointAcceleration< NJOINTS, SCALAR >::acceleration_.

setAcceleration()

template<size_t NJOINTS, typename SCALAR = double>

void ct::rbd::JointAcceleration< NJOINTS, SCALAR >::setAcceleration ( const Eigen::Matrix< SCALAR, NJOINTS, 1 > &  acceleration )

inline

set joint acceleration

References ct::rbd::JointAcceleration< NJOINTS, SCALAR >::acceleration_.

setZero()

template<size_t NJOINTS, typename SCALAR = double>

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

inline

set joint acceleration to zero

References ct::rbd::JointAcceleration< NJOINTS, SCALAR >::acceleration_.

Referenced by ct::rbd::JointAcceleration< NJOINTS, SCALAR >::JointAcceleration(), and ct::rbd::JointAcceleration< NJOINTS, SCALAR >::Zero().

Zero()

template<size_t NJOINTS, typename SCALAR = double>

static JointAcceleration<NJOINTS, SCALAR> ct::rbd::JointAcceleration< NJOINTS, SCALAR >::Zero ( )

inlinestatic

References ct::rbd::JointAcceleration< NJOINTS, SCALAR >::setZero().

Referenced by ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::Zero().

Member Data Documentation

acceleration_

template<size_t NJOINTS, typename SCALAR = double>

Acceleration ct::rbd::JointAcceleration< NJOINTS, SCALAR >::acceleration_

protected

Referenced by ct::rbd::JointAcceleration< NJOINTS, SCALAR >::getAcceleration(), ct::rbd::JointAcceleration< NJOINTS, SCALAR >::operator()(), ct::rbd::JointAcceleration< NJOINTS, SCALAR >::setAcceleration(), and ct::rbd::JointAcceleration< NJOINTS, SCALAR >::setZero().

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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/JointAcceleration.h