xpp::Joints Class Reference

Container to access joint values of each endeffectors. More...

#include <joints.h>

Inheritance diagram for xpp::Joints:

Public Types
using	Base = Endeffectors< VectorXd >
using	EEOrder = std::vector< EndeffectorID >
using	JointID = uint
Public Types inherited from xpp::Endeffectors< VectorXd >
using	Container = std::deque< VectorXd >
using	EndeffectorsT = Endeffectors< VectorXd >

Public Member Functions
double &	GetJoint (JointID joint)
double	GetJoint (JointID joint) const
int	GetNumJoints () const
int	GetNumJointsPerEE () const
	Joints (const std::vector< VectorXd > &joints)
	Converts a vector of leg joints into a Joint representation. More...
	Joints (int n_ee, int n_joints_per_ee, double value=0.0)
	Constructs joint values all set to value. More...
void	SetFromVec (const VectorXd &q)
	Sets joints values from Eigen vector. More...
void	SetFromVec (const VectorXd &q, const EEOrder &ee_order)
	Sets joint values from Eigen vector in specific order. More...
VectorXd	ToVec () const
	Converts joint values to Eigen vector. More...
VectorXd	ToVec (const EEOrder &ee_order) const
	Converts joint values to Eigen vector according to specific order. More...
virtual	~Joints ()=default
Public Member Functions inherited from xpp::Endeffectors< VectorXd >
VectorXd &	at (EndeffectorID ee)
	Read/write access to the endeffector stored at index ee. More...
const VectorXd &	at (EndeffectorID ee) const
	Read access to the endeffector stored at index ee. More...
	Endeffectors (int n_ee=0)
int	GetEECount () const
std::vector< EndeffectorID >	GetEEsOrdered () const
bool	operator!= (const Endeffectors &other) const
const EndeffectorsT	operator- (const EndeffectorsT &rhs) const
const EndeffectorsT	operator/ (double scalar) const
void	SetAll (const VectorXd &value)
	Sets each endeffector to the same value. More...
void	SetCount (int n_ee)
	Sets the number of endeffectors. More...
Container	ToImpl () const
virtual	~Endeffectors ()=default

Private Attributes
int	n_joints_
int	n_joints_per_leg_

Detailed Description

Container to access joint values of each endeffectors.

The idea is that every joint affects only one specific endeffector, so the joints are grouped in this fashion. They can also be transformed to or set from an undiscriminative Eigen::VectorXd. This however is not recommended, as this Cartesian <->joint relationship is then lost/hidden.

Definition at line 75 of file joints.h.

Member Typedef Documentation

Base

using xpp::Joints::Base = Endeffectors<VectorXd>

Definition at line 104 of file joints.h.

EEOrder

using xpp::Joints::EEOrder = std::vector<EndeffectorID>

Definition at line 107 of file joints.h.

JointID

using xpp::Joints::JointID = uint

Definition at line 108 of file joints.h.

Constructor & Destructor Documentation

Joints() [1/2]

xpp::Joints::Joints ( int  n_ee, int  n_joints_per_ee, double  value = 0.0  )

explicit

Constructs joint values all set to value.

Parameters

n_ee	total number of endeffectors.
n_joints_per_ee	number of joints for each endeffector.
value	same joint value set for each joint.

Constructing joints just from the number of joints is not permitted, as we enforce every joint to be assigned to an endeffector. This is restrictive, however it helps to avoid bugs and makes later computations easier.

Definition at line 62 of file joints.cc.

Joints() [2/2]

xpp::Joints::Joints ( const std::vector< VectorXd > &  joints )

explicit

Converts a vector of leg joints into a Joint representation.

Parameters

joints

Joint values of each endeffector

Attention: Each endeffector must have the same number of joints.

Definition at line 71 of file joints.cc.

~Joints()

virtual xpp::Joints::~Joints ( )

virtualdefault

Member Function Documentation

GetJoint() [1/2]

double & xpp::Joints::GetJoint

(

JointID

joint

)

Returns

read/write access of the joint value at index joint.

Definition at line 128 of file joints.cc.

GetJoint() [2/2]

double xpp::Joints::GetJoint

(

JointID

joint

)

const

Returns

read access of the joint value at index joint.

Definition at line 136 of file joints.cc.

GetNumJoints()

int xpp::Joints::GetNumJoints

(

)

const

Definition at line 79 of file joints.cc.

GetNumJointsPerEE()

int xpp::Joints::GetNumJointsPerEE

(

)

const

Definition at line 85 of file joints.cc.

SetFromVec() [1/2]

void xpp::Joints::SetFromVec

(

const VectorXd &

q

)

Sets joints values from Eigen vector.

Parameters

q	The Eigen Vector of joint values.

The vector q is interpreted as if the top n_joints_per_leg values rows belong to endeffector 0, the next n_joints_per_leg values to endeffector 1 and so on.

Definition at line 122 of file joints.cc.

SetFromVec() [2/2]

void xpp::Joints::SetFromVec	(	const VectorXd &	q,
		const EEOrder &	ee_order
	)

Sets joint values from Eigen vector in specific order.

Parameters

q	The Eigen Vector of joint values.
ee_order	Describes the internal order of q.

Definition at line 105 of file joints.cc.

ToVec() [1/2]

VectorXd xpp::Joints::ToVec

(

)

const

Converts joint values to Eigen vector.

The endeffectors are starting from zero and for each endeffector the joints are appended in the order they where inserted.

Definition at line 116 of file joints.cc.

ToVec() [2/2]

VectorXd xpp::Joints::ToVec

(

const EEOrder &

ee_order

)

const

Converts joint values to Eigen vector according to specific order.

Parameters

ee_order

The order in which the endeffector's joints are appended.

Definition at line 91 of file joints.cc.

Member Data Documentation

n_joints_

int xpp::Joints::n_joints_

private

Definition at line 178 of file joints.h.

n_joints_per_leg_

int xpp::Joints::n_joints_per_leg_

private

Definition at line 177 of file joints.h.

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The documentation for this class was generated from the following files:

• joints.h
• joints.cc