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base_module_state.cpp
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/*******************************************************************************
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* Copyright 2018 ROBOTIS CO., LTD.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*******************************************************************************/
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/*
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* base_module_state.cpp
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*
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* Created on: Jan 11, 2016
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* Author: SCH
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*/
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#include "
thormang3_base_module/base_module_state.h
"
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using namespace
thormang3
;
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BaseModuleState::BaseModuleState
()
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{
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is_moving_
=
false
;
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cnt_
= 0;
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mov_time_
= 1.0;
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smp_time_
= 0.008;
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all_time_steps_
= int(
mov_time_
/
smp_time_
) + 1;
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calc_joint_tra_
= Eigen::MatrixXd::Zero(
all_time_steps_
,
MAX_JOINT_ID
+ 1);
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joint_ini_pose_
= Eigen::MatrixXd::Zero(
MAX_JOINT_ID
+ 1, 1);
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joint_pose_
= Eigen::MatrixXd::Zero(
MAX_JOINT_ID
+ 1, 1);
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via_num_
= 1;
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joint_via_pose_
= Eigen::MatrixXd::Zero(
via_num_
,
MAX_JOINT_ID
+ 1);
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joint_via_dpose_
= Eigen::MatrixXd::Zero(
via_num_
,
MAX_JOINT_ID
+ 1);
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joint_via_ddpose_
= Eigen::MatrixXd::Zero(
via_num_
,
MAX_JOINT_ID
+ 1);
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via_time_
= Eigen::MatrixXd::Zero(
via_num_
, 1);
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}
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BaseModuleState::~BaseModuleState
()
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{
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}
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thormang3::BaseModuleState::cnt_
int cnt_
Definition:
base_module_state.h:35
thormang3::BaseModuleState::joint_via_pose_
Eigen::MatrixXd joint_via_pose_
Definition:
base_module_state.h:49
thormang3::BaseModuleState::mov_time_
double mov_time_
Definition:
base_module_state.h:37
thormang3::BaseModuleState::BaseModuleState
BaseModuleState()
Definition:
base_module_state.cpp:28
thormang3::BaseModuleState::joint_ini_pose_
Eigen::MatrixXd joint_ini_pose_
Definition:
base_module_state.h:44
thormang3
thormang3::BaseModuleState::calc_joint_tra_
Eigen::MatrixXd calc_joint_tra_
Definition:
base_module_state.h:42
thormang3::BaseModuleState::all_time_steps_
int all_time_steps_
Definition:
base_module_state.h:40
thormang3::BaseModuleState::is_moving_
bool is_moving_
Definition:
base_module_state.h:33
thormang3::BaseModuleState::joint_via_dpose_
Eigen::MatrixXd joint_via_dpose_
Definition:
base_module_state.h:50
thormang3::BaseModuleState::~BaseModuleState
~BaseModuleState()
Definition:
base_module_state.cpp:52
thormang3::BaseModuleState::joint_pose_
Eigen::MatrixXd joint_pose_
Definition:
base_module_state.h:45
base_module_state.h
MAX_JOINT_ID
#define MAX_JOINT_ID
thormang3::BaseModuleState::joint_via_ddpose_
Eigen::MatrixXd joint_via_ddpose_
Definition:
base_module_state.h:51
thormang3::BaseModuleState::smp_time_
double smp_time_
Definition:
base_module_state.h:38
thormang3::BaseModuleState::via_num_
int via_num_
Definition:
base_module_state.h:47
thormang3::BaseModuleState::via_time_
Eigen::MatrixXd via_time_
Definition:
base_module_state.h:53
thormang3_base_module
Author(s): SCH
autogenerated on Mon Jun 10 2019 15:37:51