Class GroupCommand

Defined in File group_command.hpp

Class Documentation

class GroupCommand

A list of Command objects appropriate for sending to a Group of modules; the size() must match the number of modules in the group.

Public Functions

GroupCommand(size_t number_of_modules): Create a group command with the specified number of modules.

~GroupCommand() noexcept = default: Destructor cleans up group command object as necessary.

GroupCommand(GroupCommand&&) = default: Allows moving result from “subview”.

GroupCommand subview(std::vector<int> indices) const

Creates a “subview” of this group command object, with shared access to a subset of the Command elements. Note that certain functions (clear, read/write gains, and read/write safety parameters and not currently supported on subviews)

The indices do not need to remain in order, and do not need to be unique; however, they must each be >= 0 and < size(); otherwise an out_of_range exception is thrown.

inline bool isSubview() const: Was this created as a subview of another GroupCommand?

size_t size() const: Returns the number of module commands in this group command.

Command &operator[](size_t index): Access the command for an individual module.

const Command &operator[](size_t index) const: Access the command for an individual module.

void clear(): Clears all data in this GroupCommand object; this returns to the state the GroupCommand was at time of creation.

bool readGains(const std::string &file)

Import the gains from a file into this GroupCommand object.

Parameters:: file – The filename (or path + filename) to the file to read from.

bool writeGains(const std::string &file) const

Export the gains from this GroupCommand object into a file, creating it as necessary.

Parameters:: file – The filename (or path + filename) to the file to write to.

inline FunctionCallResult readSafetyParameters(const std::string &file)

Import the safety parameters from a file into this GroupCommand object.

Parameters:: file – The filename (or path + filename) to the file to read from.

inline FunctionCallResult writeSafetyParameters(const std::string &file) const

Export the safety parameters from this GroupCommand object into a file, creating it as necessary.

Parameters:: file – The filename (or path + filename) to the file to write to.

void setPosition(const Eigen::VectorXd &position)

Convenience function for setting position commands from Eigen vectors.

Note that if the vector is not the correct link, no action is taken.

void setVelocity(const Eigen::VectorXd &velocity)

Convenience function for setting velocity commands from Eigen vectors.

Note that if the vector is not the correct link, no action is taken.

void setEffort(const Eigen::VectorXd &effort)

Convenience function for setting effort commands from Eigen vectors.

Note that if the vector is not the correct link, no action is taken.

void setSpringConstant(const Eigen::VectorXd &springConstant)

Convenience function for setting spring constant commands from Eigen vectors.

Note that if the vector is not the correct link, no action is taken.

Eigen::VectorXd getPosition() const: Convenience function for returning commanded position values.

Eigen::VectorXd getVelocity() const: Convenience function for returning commanded velocity values.

Eigen::VectorXd getEffort() const: Convenience function for returning commanded effort values.

Eigen::VectorXd getSpringConstant() const: Convenience function for returning commanded spring constant values.

void getPosition(Eigen::VectorXd &out) const: Convenience function for returning commanded position values.

void getVelocity(Eigen::VectorXd &out) const: Convenience function for returning commanded velocity values.

void getEffort(Eigen::VectorXd &out) const: Convenience function for returning commanded effort values.

void getSpringConstant(Eigen::VectorXd &out) const: Convenience function for returning commanded spring constant values.

Public Members

std::shared_ptr<GroupCommandWrapper> internal_: Light wrapper around C-style group command object. NOTE: this should not be used except by library functions!