Template Struct ThrusterTpl

Struct Documentation

template<typename _Scalar>
struct ThrusterTpl

Public Types

typedef pinocchio::SE3Tpl<Scalar> SE3
typedef ThrusterTpl<Scalar> Thruster

Public Functions

inline ThrusterTpl(const SE3 &pose, const Scalar ctorque, const ThrusterType type = CW, const Scalar min_thrust = Scalar(0.), const Scalar max_thrust = std::numeric_limits<Scalar>::infinity())

Initialize the thruster in a give pose from the root joint.

Parameters:

  • pose[in] – Pose from root joint

  • ctorque[in] – Coefficient of generated torque per thrust

  • type[in] – Type of thruster (clockwise or counterclockwise, default clockwise)

  • min_thrust[in] – [in] Minimum thrust (default 0.)

  • max_thrust[in] – [in] Maximum thrust (default inf number))

inline ThrusterTpl(const Scalar ctorque, const ThrusterType type = CW, const Scalar min_thrust = Scalar(0.), const Scalar max_thrust = std::numeric_limits<Scalar>::infinity())

Initialize the thruster in a pose in the origin of the root joint.

Parameters:

  • pose[in] – Pose from root joint

  • ctorque[in] – Coefficient of generated torque per thrust

  • type[in] – Type of thruster (clockwise or counterclockwise, default clockwise)

  • min_thrust[in] – [in] Minimum thrust (default 0.)

  • max_thrust[in] – [in] Maximum thrust (default inf number))

inline ThrusterTpl(const ThrusterTpl<Scalar> &clone)
template<typename NewScalar>
inline ThrusterTpl<NewScalar> cast() const
inline ThrusterTpl &operator=(const ThrusterTpl<Scalar> &other)
template<typename OtherScalar>
inline bool operator==(const ThrusterTpl<OtherScalar> &other) const

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar
SE3 pose

Thruster pose.

Scalar ctorque

Coefficient of generated torque per thrust.

ThrusterType type

Type of thruster (CW and CCW for clockwise and counterclockwise, respectively)

Scalar min_thrust

Minimum thrust.

Scalar max_thrust

Minimum thrust.

Friends

inline friend std::ostream &operator<<(std::ostream &os, const ThrusterTpl<Scalar> &X)