xpp::Joints Class Reference

Container to access joint values of each endeffectors. More...

#include <joints.h>

Inheritance diagram for xpp::Joints:

List of all members.

Public Member Functions
double &	GetJoint (JointID joint)
double	GetJoint (JointID joint) const
int	GetNumJoints () const
int	GetNumJointsPerEE () const
	Joints (int n_ee, int n_joints_per_ee, double value=0.0)
	Constructs joint values all set to value.
	Joints (const std::vector< VectorXd > &joints)
	Converts a vector of leg joints into a Joint representation.
void	SetFromVec (const VectorXd &q)
	Sets joints values from Eigen vector.
void	SetFromVec (const VectorXd &q, const EEOrder &ee_order)
	Sets joint values from Eigen vector in specific order.
VectorXd	ToVec () const
	Converts joint values to Eigen vector.
VectorXd	ToVec (const EEOrder &ee_order) const
	Converts joint values to Eigen vector according to specific order.
virtual	~Joints ()
Private Attributes
int	n_joints_
int	n_joints_per_leg_

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Detailed Description

Container to access joint values of each endeffectors.

The idea is that every joint affects only one specific endeffector, so the joints are grouped in this fashion. They can also be transformed to or set from an undiscriminative Eigen::VectorXd. This however is not recommended, as this Cartesian <->joint relationship is then lost/hidden.

Definition at line 48 of file joints.h.

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Constructor & Destructor Documentation

xpp::Joints::Joints	(	int	n_ee,
		int	n_joints_per_ee,
		double	value = 0.0
	)		[explicit]

Constructs joint values all set to value.

Parameters:

n_ee	total number of endeffectors.
n_joints_per_ee	number of joints for each endeffector.
value	same joint value set for each joint.

Constructing joints just from the number of joints is not permitted, as we enforce every joint to be assigned to an endeffector. This is restrictive, however it helps to avoid bugs and makes later computations easier.

Definition at line 35 of file joints.cc.

xpp::Joints::Joints

(

const std::vector< VectorXd > &

joints

)

[explicit]

Converts a vector of leg joints into a Joint representation.

Parameters:

joints

Joint values of each endeffector

Attention: Each endeffector must have the same number of joints.

Definition at line 44 of file joints.cc.

virtual xpp::Joints::~Joints

(

)

[virtual]

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Member Function Documentation

double & xpp::Joints::GetJoint

(

JointID

joint

)

Returns:

read/write access of the joint value at index joint.

Definition at line 101 of file joints.cc.

double xpp::Joints::GetJoint

(

JointID

joint

)

const

Returns:

read access of the joint value at index joint.

Definition at line 109 of file joints.cc.

int xpp::Joints::GetNumJoints

(

)

const

Definition at line 52 of file joints.cc.

int xpp::Joints::GetNumJointsPerEE

(

)

const

Definition at line 58 of file joints.cc.

void xpp::Joints::SetFromVec

(

const VectorXd &

q

)

Sets joints values from Eigen vector.

Parameters:

q	The Eigen Vector of joint values.

The vector q is interpreted as if the top n_joints_per_leg values rows belong to endeffector 0, the next n_joints_per_leg values to endeffector 1 and so on.

Definition at line 95 of file joints.cc.

void xpp::Joints::SetFromVec	(	const VectorXd &	q,
		const EEOrder &	ee_order
	)

Sets joint values from Eigen vector in specific order.

Parameters:

q	The Eigen Vector of joint values.
ee_order	Describes the internal order of q.

Definition at line 78 of file joints.cc.

VectorXd xpp::Joints::ToVec

(

)

const

Converts joint values to Eigen vector.

The endeffectors are starting from zero and for each endeffector the joints are appended in the order they where inserted.

Definition at line 89 of file joints.cc.

VectorXd xpp::Joints::ToVec

(

const EEOrder &

ee_order

)

const

Converts joint values to Eigen vector according to specific order.

Parameters:

ee_order

The order in which the endeffector's joints are appended.

Definition at line 64 of file joints.cc.

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Member Data Documentation

int xpp::Joints::n_joints_ [private]

Definition at line 124 of file joints.h.

int xpp::Joints::n_joints_per_leg_ [private]

Definition at line 123 of file joints.h.

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

• joints.h
• joints.cc