iit::rbd::StateDependentBase< State, Actual > Class Template Reference

#include <StateDependentBase.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW const Actual &	operator() (State const &state)
const Actual &	update (State const &state)

Detailed Description

template<class State, class Actual>
class iit::rbd::StateDependentBase< State, Actual >

A sort of minimal interface to model the dependency on some kind of state variable. The type of such a state variable is the first template parameter.

The second parameter must be a class inheriting from this one, i.e., this class is supposed to be used according to the "curiously recurring template pattern". The sub-class shall implement the update() function with the actual, class-specific logic to update the instance, because the implementation of the operator(State const&) relies on update(State const&).

Member Function Documentation

operator()()

template<class State, class Actual>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const Actual& iit::rbd::StateDependentBase< State, Actual >::operator() ( State const &  state )

inline

Updates this object according to the given state. The actual logic of the update must be implemented in the update() function.

update()

template<class State, class Actual>

const Actual& iit::rbd::StateDependentBase< State, Actual >::update

(

State const &

state

)

Updates this object according to the given state variable. Subclasses shall implement this method since the implementation of operator()(State const&) relies on it.

Referenced by iit::rbd::StateDependentBase< iit::TestHyQ::tpl::JointState< TRAIT::Scalar >, JSIM< TRAIT > >::operator()().

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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/iit/rbd/StateDependentBase.h