joint state and joint velocity More...

#include <JointState.h>

Public Types
enum	NDOFS { NDOFS = NJOINTS }

typedef Eigen::Matrix< SCALAR, 2 *NJOINTS, 1 >	joint_state_vector_t

typedef Eigen::Matrix< SCALAR, NJOINTS, 1 >	Position

typedef Eigen::Matrix< SCALAR, NJOINTS, 1 >	Velocity

typedef Eigen::VectorBlock< joint_state_vector_t, NJOINTS >	JointPositionBlock

typedef Eigen::VectorBlock< const joint_state_vector_t, NJOINTS >	JointPositionBlockConst

Public Member Functions
	JointState ()

	JointState (const joint_state_vector_t &state)

bool	operator== (const JointState &rhs) const

bool	operator!= (const JointState< NJOINTS, SCALAR > &rhs) const

JointState< NJOINTS, SCALAR >	operator+ (const JointState< NJOINTS, SCALAR > &rhs) const

JointState< NJOINTS, SCALAR >	operator- (const JointState< NJOINTS, SCALAR > &rhs) const

JointState< NJOINTS, SCALAR >	operator* (const SCALAR &scalar) const

JointState< NJOINTS, SCALAR >	operator/ (const SCALAR &scalar) const

bool	operator< (const JointState< NJOINTS, SCALAR > &rhs) const

bool	operator> (const JointState< NJOINTS, SCALAR > &rhs) const

bool	isApprox (const JointState< NJOINTS, SCALAR > &rhs, const SCALAR &tol=1e-10)

JointPositionBlock	getPositions ()
	get joint state More...

const JointPositionBlockConst	getPositions () const
	get constant joint state More...

SCALAR &	getPosition (size_t i)

const SCALAR &	getPosition (size_t i) const

template<typename T >
void	toUniquePosition (T lowerLimitVec, double tolerance=0.0)
	normalize the joint state to be in the range [lowerLimitVec, lowerLimitVec + 2pi) More...

template<typename T >
bool	checkPositionLimits (const T lowerLimit, const T upperLimit, const double tolerance=0.0)
	check joint position limits assuming limits and joint position are in the same range e.g. [-pi, pi) More...

JointPositionBlock	getVelocities ()
	get joint velocity More...

const JointPositionBlockConst	getVelocities () const
	get constant joint velocity More...

SCALAR &	getVelocity (size_t i)

const SCALAR &	getVelocity (size_t i) const

template<typename T >
bool	checkVelocityLimits (T limit)
	check joint velocity limits More...

joint_state_vector_t &	toImplementation ()

const joint_state_vector_t &	toImplementation () const

void	setZero ()
	set states to zero More...

void	setRandom ()

Protected Attributes
joint_state_vector_t	state_

Detailed Description

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

joint state and joint velocity

Member Typedef Documentation

◆ joint_state_vector_t

template<size_t NJOINTS, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, 2 * NJOINTS, 1> ct::rbd::JointState< NJOINTS, SCALAR >::joint_state_vector_t

◆ Position

template<size_t NJOINTS, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, NJOINTS, 1> ct::rbd::JointState< NJOINTS, SCALAR >::Position

◆ Velocity

template<size_t NJOINTS, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, NJOINTS, 1> ct::rbd::JointState< NJOINTS, SCALAR >::Velocity

◆ JointPositionBlock

template<size_t NJOINTS, typename SCALAR = double>

typedef Eigen::VectorBlock<joint_state_vector_t, NJOINTS> ct::rbd::JointState< NJOINTS, SCALAR >::JointPositionBlock

◆ JointPositionBlockConst

template<size_t NJOINTS, typename SCALAR = double>

typedef Eigen::VectorBlock<const joint_state_vector_t, NJOINTS> ct::rbd::JointState< NJOINTS, SCALAR >::JointPositionBlockConst

Member Enumeration Documentation

◆ NDOFS

template<size_t NJOINTS, typename SCALAR = double>

enum ct::rbd::JointState::NDOFS

Enumerator
NDOFS

Constructor & Destructor Documentation

◆ JointState() [1/2]

template<size_t NJOINTS, typename SCALAR = double>

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

inline

◆ JointState() [2/2]

template<size_t NJOINTS, typename SCALAR = double>

ct::rbd::JointState< NJOINTS, SCALAR >::JointState ( const joint_state_vector_t & state )

inline

Member Function Documentation

◆ operator==()

template<size_t NJOINTS, typename SCALAR = double>

bool ct::rbd::JointState< NJOINTS, SCALAR >::operator== ( const JointState< NJOINTS, SCALAR > & rhs ) const

inline

◆ operator!=()

template<size_t NJOINTS, typename SCALAR = double>

bool ct::rbd::JointState< NJOINTS, SCALAR >::operator!= ( const JointState< NJOINTS, SCALAR > & rhs ) const

inline

◆ operator+()

template<size_t NJOINTS, typename SCALAR = double>

JointState<NJOINTS, SCALAR> ct::rbd::JointState< NJOINTS, SCALAR >::operator+ ( const JointState< NJOINTS, SCALAR > & rhs ) const

inline

◆ operator-()

template<size_t NJOINTS, typename SCALAR = double>

JointState<NJOINTS, SCALAR> ct::rbd::JointState< NJOINTS, SCALAR >::operator- ( const JointState< NJOINTS, SCALAR > & rhs ) const

inline

◆ operator*()

template<size_t NJOINTS, typename SCALAR = double>

JointState<NJOINTS, SCALAR> ct::rbd::JointState< NJOINTS, SCALAR >::operator* ( const SCALAR & scalar ) const

inline

◆ operator/()

template<size_t NJOINTS, typename SCALAR = double>

JointState<NJOINTS, SCALAR> ct::rbd::JointState< NJOINTS, SCALAR >::operator/ ( const SCALAR & scalar ) const

inline

◆ operator<()

template<size_t NJOINTS, typename SCALAR = double>

bool ct::rbd::JointState< NJOINTS, SCALAR >::operator< ( const JointState< NJOINTS, SCALAR > & rhs ) const

inline

◆ operator>()

template<size_t NJOINTS, typename SCALAR = double>

bool ct::rbd::JointState< NJOINTS, SCALAR >::operator> ( const JointState< NJOINTS, SCALAR > & rhs ) const

inline

◆ isApprox()

template<size_t NJOINTS, typename SCALAR = double>

bool ct::rbd::JointState< NJOINTS, SCALAR >::isApprox	(	const JointState< NJOINTS, SCALAR > &	rhs,
		const SCALAR &	tol = `1e-10`
	)

inline

Referenced by TEST().

◆ getPositions() [1/2]

template<size_t NJOINTS, typename SCALAR = double>

JointPositionBlock ct::rbd::JointState< NJOINTS, SCALAR >::getPositions ( )

inline

get joint state

Referenced by ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeControlledDynamics(), ct::rbd::SEADynamicsFirstOrder< NJOINTS, SCALAR >::computeControlOutput(), ct::rbd::SEADynamicsFirstOrder< NJOINTS, SCALAR >::computeStateFromOutput(), ct::rbd::Dynamics< RBD, NEE >::FixBaseForwardDynamics(), ct::rbd::Dynamics< RBD, NEE >::FixBaseID(), ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVector(), ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::jointStateFromVector(), ct::rbd::ProjectedDynamics< RBD, NEE >::ProjectedDynamics(), TEST(), and ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVector().

◆ getPositions() [2/2]

template<size_t NJOINTS, typename SCALAR = double>

const JointPositionBlockConst ct::rbd::JointState< NJOINTS, SCALAR >::getPositions ( ) const

inline

get constant joint state

◆ getPosition() [1/2]

template<size_t NJOINTS, typename SCALAR = double>

SCALAR& ct::rbd::JointState< NJOINTS, SCALAR >::getPosition ( size_t i )

inline

Referenced by ct::rbd::JointState< NJOINTS, Scalar >::checkPositionLimits(), ct::rbd::JointPositionPIDController< NJOINTS >::computeControl(), TEST(), and ct::rbd::JointState< NJOINTS, Scalar >::toUniquePosition().

◆ getPosition() [2/2]

template<size_t NJOINTS, typename SCALAR = double>

const SCALAR& ct::rbd::JointState< NJOINTS, SCALAR >::getPosition ( size_t i ) const

inline

◆ toUniquePosition()

template<size_t NJOINTS, typename SCALAR = double>

template<typename T >

void ct::rbd::JointState< NJOINTS, SCALAR >::toUniquePosition	(	T	lowerLimitVec,
		double	tolerance = `0.0`
	)

inline

normalize the joint state to be in the range [lowerLimitVec, lowerLimitVec + 2pi)

Referenced by TEST().

◆ checkPositionLimits()

template<size_t NJOINTS, typename SCALAR = double>

template<typename T >

bool ct::rbd::JointState< NJOINTS, SCALAR >::checkPositionLimits	(	const T	lowerLimit,
		const T	upperLimit,
		const double	tolerance = `0.0`
	)

inline

check joint position limits assuming limits and joint position are in the same range e.g. [-pi, pi)

Referenced by TEST().

◆ getVelocities() [1/2]

template<size_t NJOINTS, typename SCALAR = double>

JointPositionBlock ct::rbd::JointState< NJOINTS, SCALAR >::getVelocities ( )

inline

get joint velocity

Referenced by ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS >::computeControlledDynamics(), ct::rbd::Dynamics< RBD, NEE >::FixBaseForwardDynamics(), ct::rbd::Dynamics< RBD, NEE >::FixBaseID(), ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::fromStateVector(), ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::jointStateFromVector(), ct::rbd::ProjectedDynamics< RBD, NEE >::ProjectedDynamics(), TEST(), and ct::rbd::FixBaseRobotState< NJOINTS, ACT_STATE_DIM, SCALAR >::toStateVector().

◆ getVelocities() [2/2]

template<size_t NJOINTS, typename SCALAR = double>

const JointPositionBlockConst ct::rbd::JointState< NJOINTS, SCALAR >::getVelocities ( ) const

inline

get constant joint velocity

◆ getVelocity() [1/2]

template<size_t NJOINTS, typename SCALAR = double>

SCALAR& ct::rbd::JointState< NJOINTS, SCALAR >::getVelocity ( size_t i )

inline

Referenced by ct::rbd::JointState< NJOINTS, Scalar >::checkVelocityLimits(), ct::rbd::JointPositionPIDController< NJOINTS >::computeControl(), and TEST().

◆ getVelocity() [2/2]

template<size_t NJOINTS, typename SCALAR = double>

const SCALAR& ct::rbd::JointState< NJOINTS, SCALAR >::getVelocity ( size_t i ) const

inline

◆ checkVelocityLimits()

template<size_t NJOINTS, typename SCALAR = double>

template<typename T >

bool ct::rbd::JointState< NJOINTS, SCALAR >::checkVelocityLimits ( T limit )

inline

check joint velocity limits

Referenced by TEST().

◆ toImplementation() [1/2]

template<size_t NJOINTS, typename SCALAR = double>

joint_state_vector_t& ct::rbd::JointState< NJOINTS, SCALAR >::toImplementation ( )

inline

Referenced by ct::rbd::WholeBodyController< NJOINTS >::computeControl(), and ct::rbd::FixBaseNLOC< FIX_BASE_FD_SYSTEM >::initializeDirectInterpolation().

◆ toImplementation() [2/2]

template<size_t NJOINTS, typename SCALAR = double>

const joint_state_vector_t& ct::rbd::JointState< NJOINTS, SCALAR >::toImplementation ( ) const

inline

◆ setZero()

template<size_t NJOINTS, typename SCALAR = double>

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

inline

set states to zero

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

◆ setRandom()

template<size_t NJOINTS, typename SCALAR = double>

void ct::rbd::JointState< NJOINTS, SCALAR >::setRandom ( )

inline

Referenced by TEST().

Member Data Documentation

◆ state_

template<size_t NJOINTS, typename SCALAR = double>

joint_state_vector_t ct::rbd::JointState< NJOINTS, SCALAR >::state_

protected

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/JointState.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

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

Member Typedef Documentation

◆ joint_state_vector_t

◆ Position

◆ Velocity

◆ JointPositionBlock

◆ JointPositionBlockConst

Member Enumeration Documentation

◆ NDOFS

Constructor & Destructor Documentation

◆ JointState() [1/2]

◆ JointState() [2/2]

Member Function Documentation

◆ operator==()

◆ operator!=()

◆ operator+()

◆ operator-()

◆ operator*()

◆ operator/()

◆ operator<()

◆ operator>()

◆ isApprox()

◆ getPositions() [1/2]

◆ getPositions() [2/2]

◆ getPosition() [1/2]

◆ getPosition() [2/2]

◆ toUniquePosition()

◆ checkPositionLimits()

◆ getVelocities() [1/2]

◆ getVelocities() [2/2]

◆ getVelocity() [1/2]

◆ getVelocity() [2/2]

◆ checkVelocityLimits()

◆ toImplementation() [1/2]

◆ toImplementation() [2/2]

◆ setZero()

◆ setRandom()

Member Data Documentation

◆ state_

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