Class GroupInfo
Defined in File group_info.hpp
Class Documentation
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class GroupInfo
A list of Info objects that can be received from a Group of modules; the size() must match the number of modules in the group.
Public Functions
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GroupInfo(size_t number_of_modules)
Create a group info with the specified number of modules.
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~GroupInfo() noexcept = default
Destructor cleans up group info object as necessary.
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GroupInfo subview(std::vector<int> indices) const
Creates a “subview” of this group info object, with shared access to a subset of the Info elements. Note that certain functions (write gains and 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.
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size_t size() const
Returns the number of module infos in this group info.
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bool writeGains(const std::string &file) const
Export the gains from this GroupInfo object into a file, creating it as necessary.
- Parameters:
file – The filename (or path + filename) to the file to write to.
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inline FunctionCallResult writeSafetyParameters(const std::string &file) const
Export the safety parameters from this GroupInfo object into a file, creating it as necessary.
- Parameters:
file – The filename (or path + filename) to the file to write to.
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Eigen::VectorXd getSpringConstant() const
Convenience function for returning spring constant values.
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void getSpringConstant(Eigen::VectorXd &out) const
Convenience function for returning spring constant values.
Public Members
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std::shared_ptr<GroupInfoWrapper> internal_
Light wrapper around C-style group info object. NOTE: this should not be used except by library functions!
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GroupInfo(size_t number_of_modules)