xpp::Endeffectors< T > Class Template Reference

Data structure to assign values to each endeffector. More...

#include <endeffectors.h>

Public Types
using	Container = std::deque< T >
using	EndeffectorsT = Endeffectors< T >

Public Member Functions
T &	at (EndeffectorID ee)
	Read/write access to the endeffector stored at index ee. More...
const T &	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 T &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
Container	ee_

Detailed Description

template<typename T>
class xpp::Endeffectors< T >

Data structure to assign values to each endeffector.

Common values are xyz-positions (Vector3d), contact-flags (bool), or joints angles of each leg.

This gives a unified interface, and also holds for boolean values (which is not possible using an std::vector). It allows to restrict default constructors, define addition and subtraction of all endeffectors and other convenience functions associated specifically to endeffectors.

The idea is that this class is an enhanced STL container, but complies to the same interface, (e.g at()). However, in case this unified interface is burdensome, you can always access the underlying STL-deque container directly.

Definition at line 59 of file endeffectors.h.

Member Typedef Documentation

template<typename T>

using xpp::Endeffectors< T >::Container = std::deque<T>

Definition at line 61 of file endeffectors.h.

template<typename T>

using xpp::Endeffectors< T >::EndeffectorsT = Endeffectors<T>

Definition at line 62 of file endeffectors.h.

Constructor & Destructor Documentation

template<typename T >

xpp::Endeffectors< T >::Endeffectors

(

int

n_ee = 0

)

Definition at line 176 of file endeffectors.h.

template<typename T>

virtual xpp::Endeffectors< T >::~Endeffectors ( )

virtualdefault

Member Function Documentation

template<typename T >

T & xpp::Endeffectors< T >::at

(

EndeffectorID

ee

)

Read/write access to the endeffector stored at index ee.

Parameters

ee	Endeffector index/position.

Definition at line 197 of file endeffectors.h.

template<typename T >

const T & xpp::Endeffectors< T >::at

(

EndeffectorID

ee

)

const

Read access to the endeffector stored at index ee.

Parameters

ee	Endeffector index/position.

Definition at line 204 of file endeffectors.h.

template<typename T >

int xpp::Endeffectors< T >::GetEECount

(

)

const

Returns

Number of endeffectors this structure holds.

Definition at line 211 of file endeffectors.h.

template<typename T >

std::vector< EndeffectorID > xpp::Endeffectors< T >::GetEEsOrdered

(

)

const

Returns

All endeffector IDs from 0 to the number of endeffectors.

Definition at line 225 of file endeffectors.h.

template<typename T >

bool xpp::Endeffectors< T >::operator!=

(

const Endeffectors< T > &

other

)

const

Returns

true if only one element differs from other.

Definition at line 267 of file endeffectors.h.

template<typename T >

const Endeffectors< T >::EndeffectorsT xpp::Endeffectors< T >::operator-

(

const EndeffectorsT &

rhs

)

const

Definition at line 236 of file endeffectors.h.

template<typename T >

const Endeffectors< T >::EndeffectorsT xpp::Endeffectors< T >::operator/

(

double

scalar

)

const

Definition at line 247 of file endeffectors.h.

template<typename T>

void xpp::Endeffectors< T >::SetAll

(

const T &

value

)

Sets each endeffector to the same value.

Definition at line 190 of file endeffectors.h.

template<typename T >

void xpp::Endeffectors< T >::SetCount

(

int

n_ee

)

Sets the number of endeffectors.

Definition at line 183 of file endeffectors.h.

template<typename T >

Endeffectors< T >::Container xpp::Endeffectors< T >::ToImpl

(

)

const

Returns

a returns a copy(!) of the underlying STL-deque container.

Definition at line 218 of file endeffectors.h.

Member Data Documentation

template<typename T>

Container xpp::Endeffectors< T >::ee_

private

Definition at line 113 of file endeffectors.h.

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

• endeffectors.h