#include <model-generator.hpp>

Public Member Functions
	MimicTestCases (int case_i, bool verbose=false)

void	toFull (const Eigen::VectorXd &q, Eigen::VectorXd &q_full) const

Public Attributes
Eigen::MatrixXd	G

std::vector< pinocchio::JointIndex >	mimicked_ids

std::vector< pinocchio::JointIndex >	mimicking_ids

pinocchio::Model	model_full

pinocchio::Model	model_mimic

std::vector< double >	offsets

std::vector< double >	ratios

Static Public Attributes
static const int	N_CASES = 6

Detailed Description

Definition at line 125 of file model-generator.hpp.

Constructor & Destructor Documentation

◆ MimicTestCases()

pinocchio::MimicTestCases::MimicTestCases	(	int	case_i,
		bool	verbose = `false`
	)

inline

Definition at line 138 of file model-generator.hpp.

Member Function Documentation

◆ toFull()

void pinocchio::MimicTestCases::toFull	(	const Eigen::VectorXd &	q,
		Eigen::VectorXd &	q_full
	)		const

inline

Definition at line 241 of file model-generator.hpp.

Member Data Documentation

◆ G

Eigen::MatrixXd pinocchio::MimicTestCases::G

Definition at line 134 of file model-generator.hpp.

◆ mimicked_ids

std::vector<pinocchio::JointIndex> pinocchio::MimicTestCases::mimicked_ids

Definition at line 132 of file model-generator.hpp.

◆ mimicking_ids

std::vector<pinocchio::JointIndex> pinocchio::MimicTestCases::mimicking_ids

Definition at line 133 of file model-generator.hpp.

◆ model_full

pinocchio::Model pinocchio::MimicTestCases::model_full

Definition at line 131 of file model-generator.hpp.

◆ model_mimic

pinocchio::Model pinocchio::MimicTestCases::model_mimic

Definition at line 130 of file model-generator.hpp.

◆ N_CASES

const int pinocchio::MimicTestCases::N_CASES = 6

static

Definition at line 128 of file model-generator.hpp.

◆ offsets

std::vector<double> pinocchio::MimicTestCases::offsets

Definition at line 136 of file model-generator.hpp.

◆ ratios

std::vector<double> pinocchio::MimicTestCases::ratios

Definition at line 135 of file model-generator.hpp.

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

model-generator.hpp

Public Member Functions

Public Attributes

Static Public Attributes