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 (int n_ee, int n_joints_per_ee, double value=0.0)
	Constructs joint values all set to value. More...

	Joints (const std::vector< VectorXd > &joints)
	Converts a vector of leg joints into a Joint representation. 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 48 of file joints.h.

Member Typedef Documentation

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

Definition at line 50 of file joints.h.

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

Definition at line 53 of file joints.h.

using xpp::Joints::JointID = uint

Definition at line 54 of file joints.h.

Constructor & Destructor Documentation

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 35 of file joints.cc.

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 44 of file joints.cc.

virtual xpp::Joints::~Joints ( )

virtualdefault

Member Function Documentation

double & xpp::Joints::GetJoint ( JointID joint )

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

Definition at line 101 of file joints.cc.

double xpp::Joints::GetJoint ( JointID joint ) const

Returns: read access of the joint value at index joint.

Definition at line 109 of file joints.cc.

int xpp::Joints::GetNumJoints ( ) const

Definition at line 52 of file joints.cc.

int xpp::Joints::GetNumJointsPerEE ( ) const

Definition at line 58 of file joints.cc.

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 95 of file joints.cc.

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 78 of file joints.cc.

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 89 of file joints.cc.

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 64 of file joints.cc.

Member Data Documentation

int xpp::Joints::n_joints_

private

Definition at line 124 of file joints.h.

int xpp::Joints::n_joints_per_leg_

private

Definition at line 123 of file joints.h.

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

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation