ct::rbd::tpl::RigidBodyState< SCALAR > Class Template Reference

State (pose and velocities) of a single rigid body. More...

#include <RigidBodyState.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RigidBodyState (typename RigidBodyPose< SCALAR >::STORAGE_TYPE storage=RigidBodyPose< SCALAR >::EULER)
	RigidBodyState (const RigidBodyState< SCALAR > &arg)
	copy constructor More...
virtual	~RigidBodyState ()
	destructor More...
RigidBodyPose< SCALAR > &	pose ()
	return the rigid body pose More...
const RigidBodyPose< SCALAR > &	pose () const
	return the rigid body pose (const) More...
RigidBodyVelocities< SCALAR > &	velocities ()
	return the rigid body velocities More...
const RigidBodyVelocities< SCALAR > &	velocities () const
	return the rigid body velocities (const) More...
bool	isApprox (const RigidBodyState &rhs, const double &tol=1e-10)
	numerically comparing two rigid body states More...
const kindr::Velocity< SCALAR, 3 >	computeTranslationalVelocityW () const
	get translational velocity More...
kindr::Velocity< SCALAR, 3 >	computeTranslationalVelocityW ()
void	setIdentity ()
void	setRandom ()

Detailed Description

template<typename SCALAR = double>
class ct::rbd::tpl::RigidBodyState< SCALAR >

State (pose and velocities) of a single rigid body.

Constructor & Destructor Documentation

RigidBodyState() [1/2]

template<typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW ct::rbd::tpl::RigidBodyState< SCALAR >::RigidBodyState ( typename RigidBodyPose< SCALAR >::STORAGE_TYPE  storage = RigidBodyPose<SCALAR>::EULER )

inline

RigidBodyState() [2/2]

template<typename SCALAR = double>

ct::rbd::tpl::RigidBodyState< SCALAR >::RigidBodyState ( const RigidBodyState< SCALAR > &  arg )

inline

copy constructor

~RigidBodyState()

template<typename SCALAR = double>

virtual ct::rbd::tpl::RigidBodyState< SCALAR >::~RigidBodyState ( )

inlinevirtual

destructor

Member Function Documentation

pose() [1/2]

template<typename SCALAR = double>

RigidBodyPose<SCALAR>& ct::rbd::tpl::RigidBodyState< SCALAR >::pose ( )

inline

return the rigid body pose

Referenced by ct::rbd::RBDState< NJOINTS, Scalar >::basePose(), ct::rbd::tpl::RigidBodyState< double >::computeTranslationalVelocityW(), ct::rbd::RBDState< NJOINTS, Scalar >::fromStateVectorEulerXyz(), ct::rbd::RBDState< NJOINTS, Scalar >::fromStateVectorQuaternion(), ct::rbd::tpl::RigidBodyState< double >::isApprox(), ct::rbd::tpl::RigidBodyState< double >::setIdentity(), ct::rbd::tpl::RigidBodyState< double >::setRandom(), testFunctionRBDState(), testFunctionRigidBodyState(), ct::rbd::RBDState< NJOINTS, Scalar >::toCoordinatePosition(), ct::rbd::RBDState< NJOINTS, Scalar >::toCoordinatePositionUnique(), and ct::rbd::RBDState< NJOINTS, Scalar >::toStateVectorQuaternion().

pose() [2/2]

template<typename SCALAR = double>

const RigidBodyPose<SCALAR>& ct::rbd::tpl::RigidBodyState< SCALAR >::pose ( ) const

inline

return the rigid body pose (const)

velocities() [1/2]

template<typename SCALAR = double>

RigidBodyVelocities<SCALAR>& ct::rbd::tpl::RigidBodyState< SCALAR >::velocities ( )

inline

return the rigid body velocities

Referenced by ct::rbd::RBDState< NJOINTS, Scalar >::baseLinearVelocity(), ct::rbd::RBDState< NJOINTS, Scalar >::baseLocalAngularVelocity(), ct::rbd::RBDState< NJOINTS, Scalar >::baseVelocities(), ct::rbd::IDControllerFB< Dynamics >::computeDesiredAcceleration(), ct::rbd::tpl::RigidBodyState< double >::computeTranslationalVelocityW(), ct::rbd::RBDState< NJOINTS, Scalar >::fromStateVectorEulerXyz(), ct::rbd::RBDState< NJOINTS, Scalar >::fromStateVectorQuaternion(), ct::rbd::tpl::RigidBodyState< double >::isApprox(), ct::rbd::tpl::RigidBodyState< double >::setIdentity(), ct::rbd::tpl::RigidBodyState< double >::setRandom(), testFunctionRBDState(), testFunctionRigidBodyState(), ct::rbd::RBDState< NJOINTS, Scalar >::toCoordinateVelocity(), and ct::rbd::RBDState< NJOINTS, Scalar >::toStateVectorQuaternion().

velocities() [2/2]

template<typename SCALAR = double>

const RigidBodyVelocities<SCALAR>& ct::rbd::tpl::RigidBodyState< SCALAR >::velocities ( ) const

inline

return the rigid body velocities (const)

isApprox()

template<typename SCALAR = double>

bool ct::rbd::tpl::RigidBodyState< SCALAR >::isApprox ( const RigidBodyState< SCALAR > &  rhs, const double &  tol = 1e-10  )

inline

numerically comparing two rigid body states

Referenced by ct::rbd::RBDState< NJOINTS, Scalar >::isApprox().

computeTranslationalVelocityW() [1/2]

template<typename SCALAR = double>

const kindr::Velocity<SCALAR, 3> ct::rbd::tpl::RigidBodyState< SCALAR >::computeTranslationalVelocityW ( ) const

inline

get translational velocity

computeTranslationalVelocityW() [2/2]

template<typename SCALAR = double>

kindr::Velocity<SCALAR, 3> ct::rbd::tpl::RigidBodyState< SCALAR >::computeTranslationalVelocityW ( )

inline

setIdentity()

template<typename SCALAR = double>

void ct::rbd::tpl::RigidBodyState< SCALAR >::setIdentity ( )

inline

Referenced by ct::rbd::RBDState< NJOINTS, Scalar >::RBDState(), ct::rbd::RBDState< NJOINTS, Scalar >::setDefault(), and ct::rbd::RBDState< NJOINTS, Scalar >::setZero().

setRandom()

template<typename SCALAR = double>

void ct::rbd::tpl::RigidBodyState< SCALAR >::setRandom ( )

inline

Referenced by ct::rbd::RBDState< NJOINTS, Scalar >::setRandom().

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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/RigidBodyState.h