endeffectors.h
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29 
30 #ifndef _XPP_STATES_ENDEFFECTORS_H_
31 #define _XPP_STATES_ENDEFFECTORS_H_
32 
33 #include <deque>
34 #include <iostream>
35 #include <vector>
36 
37 #include <xpp_states/state.h>
38 
39 namespace xpp {
40 
41 using EndeffectorID = uint;
42 
58 template<typename T>
59 class Endeffectors {
60 public:
61  using Container = std::deque<T>; // only to avoid faulty std::vector<bool>
62  using EndeffectorsT = Endeffectors<T>;
63 
64  Endeffectors (int n_ee = 0);
65  virtual ~Endeffectors () = default;
66 
70  void SetCount(int n_ee);
71 
75  void SetAll(const T& value);
76 
80  int GetEECount() const;
81 
85  std::vector<EndeffectorID> GetEEsOrdered() const;
86 
91  T& at(EndeffectorID ee);
92 
97  const T& at(EndeffectorID ee) const;
98 
99  const EndeffectorsT operator-(const EndeffectorsT& rhs) const;
100  const EndeffectorsT operator/(double scalar) const;
101 
105  bool operator!=(const Endeffectors& other) const;
106 
110  Container ToImpl() const;
111 
112 private:
113  Container ee_;
114 };
115 
116 // convenience typedefs, can also be extended to derived classes if desired.
120 
125 class EndeffectorsMotion : public Endeffectors<StateLin3d> {
126 public:
132  {
134  for (auto ee : GetEEsOrdered())
135  val.at(ee) = at(ee).GetByIndex(deriv);
136 
137  return val;
138  }
139 };
140 
141 
149 class EndeffectorsContact : public Endeffectors<bool> {
150 public:
156  EndeffectorsContact (int n_ee=0, bool in_contact=false)
157  :Endeffectors(n_ee) { SetAll(in_contact);};
158 
162  int GetContactCount() const
163  {
164  int count = 0;
165  for (auto ee : GetEEsOrdered())
166  if (at(ee))
167  count++;
168 
169  return count;
170  }
171 };
172 
173 
174 // implementations
175 template<typename T>
177 {
178  SetCount(n_ee);
179 }
180 
181 template<typename T>
182 void
184 {
185  ee_.resize(n_ee);
186 }
187 
188 template<typename T>
189 void
190 Endeffectors<T>::SetAll (const T& value)
191 {
192  std::fill(ee_.begin(), ee_.end(), value);
193 }
194 
195 template<typename T>
196 T&
198 {
199  return ee_.at(idx);
200 }
201 
202 template<typename T>
203 const T&
205 {
206  return ee_.at(idx);
207 }
208 
209 template<typename T>
210 int
212 {
213  return ee_.size();
214 }
215 
216 template<typename T>
219 {
220  return ee_;
221 }
222 
223 template<typename T>
224 std::vector<EndeffectorID>
226 {
227  std::vector<EndeffectorID> vec;
228  for (int i=0; i<ee_.size(); ++i)
229  vec.push_back(i);
230 
231  return vec;
232 }
233 
234 template<typename T>
235 const typename Endeffectors<T>::EndeffectorsT
236 Endeffectors<T>::operator - (const EndeffectorsT& rhs) const
237 {
238  EndeffectorsT result(ee_.size());
239  for (auto i : GetEEsOrdered())
240  result.at(i) = ee_.at(i) - rhs.at(i);
241 
242  return result;
243 }
244 
245 template<typename T>
246 const typename Endeffectors<T>::EndeffectorsT
247 Endeffectors<T>::operator / (double scalar) const
248 {
249  EndeffectorsT result(ee_.size());
250  for (auto i : GetEEsOrdered())
251  result.at(i) = ee_.at(i)/scalar;
252 
253  return result;
254 }
255 
256 template <typename T>
257 std::ostream& operator<<(std::ostream& stream, Endeffectors<T> endeffectors)
258 {
259  for (EndeffectorID ee : endeffectors.GetEEsOrdered())
260  stream << endeffectors.at(ee) << ", ";
261 
262  return stream;
263 }
264 
265 template<typename T>
266 bool
267 Endeffectors<T>::operator!=(const Endeffectors& other) const
268 {
269  for (auto ee : GetEEsOrdered()) {
270  if (ee_.at(ee) != other.at(ee))
271  return true;
272  }
273  return false;
274 }
275 
276 } /* namespace xpp */
277 
278 #endif /* _XPP_STATES_ENDEFFECTORS_H_ */
xpp::StateLinXd::GetByIndex
const VectorXd GetByIndex(MotionDerivative deriv) const
Read either position, velocity of acceleration by index.
Definition: state.cc:88
xpp::Endeffectors::EndeffectorsT
Endeffectors< T > EndeffectorsT
Definition: endeffectors.h:89
xpp::EndeffectorsContact
Bundles the contact state of all endeffectors.
Definition: endeffectors.h:176
xpp::operator<<
std::ostream & operator<<(std::ostream &stream, Endeffectors< T > endeffectors)
Definition: endeffectors.h:284
xpp::Endeffectors::GetEEsOrdered
std::vector< EndeffectorID > GetEEsOrdered() const
Definition: endeffectors.h:252
xpp::Endeffectors::Endeffectors
Endeffectors(int n_ee=0)
Definition: endeffectors.h:203
xpp::Endeffectors::Container
std::deque< T > Container
Definition: endeffectors.h:88
xpp::Endeffectors::operator!=
bool operator!=(const Endeffectors &other) const
Definition: endeffectors.h:294
xpp::Endeffectors::ee_
Container ee_
Definition: endeffectors.h:140
xpp::MotionDerivative
MotionDerivative
Definition: state.h:80
xpp::EndeffectorsContact::GetContactCount
int GetContactCount() const
The number of endeffectors in contact with the environment.
Definition: endeffectors.h:189
xpp::Endeffectors::GetEECount
int GetEECount() const
Definition: endeffectors.h:238
xpp::Endeffectors::SetAll
void SetAll(const T &value)
Sets each endeffector to the same value.
Definition: endeffectors.h:217
xpp::Endeffectors
Data structure to assign values to each endeffector.
Definition: endeffectors.h:86
xpp::Endeffectors::SetCount
void SetCount(int n_ee)
Sets the number of endeffectors.
Definition: endeffectors.h:210
xpp
Definition: cartesian_declarations.h:41
xpp::EndeffectorsMotion::Get
Endeffectors< Vector3d > Get(MotionDerivative deriv) const
Extract only either the pos, vel or acc from all endeffectors.
Definition: endeffectors.h:158
xpp::Endeffectors::ToImpl
Container ToImpl() const
Definition: endeffectors.h:245
xpp::EndeffectorsMotion
Bundles the position, velocity and acceleration of all endeffectors. as well as appending a Endeffect...
Definition: endeffectors.h:152
xpp::EndeffectorsContact::EndeffectorsContact
EndeffectorsContact(int n_ee=0, bool in_contact=false)
Constructs a state, the default being 0 feet, none in contact.
Definition: endeffectors.h:183
xpp::Endeffectors::at
T & at(EndeffectorID ee)
Read/write access to the endeffector stored at index ee.
Definition: endeffectors.h:224
state.h
xpp::Endeffectors::operator-
const EndeffectorsT operator-(const EndeffectorsT &rhs) const
Definition: endeffectors.h:263
xpp::Endeffectors::operator/
const EndeffectorsT operator/(double scalar) const
Definition: endeffectors.h:274
xpp::EndeffectorID
uint EndeffectorID
Definition: endeffectors.h:68
xpp::Endeffectors::~Endeffectors
virtual ~Endeffectors()=default


xpp_states
Author(s): Alexander W. Winkler
autogenerated on Wed Sep 23 2020 03:51:20