joints.cc
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29 
30 #include <xpp_states/joints.h>
31 
32 namespace xpp {
33 
34 
35 Joints::Joints (int n_ee, int n_joints_per_leg, double value)
36  : Base(n_ee)
37 {
38  n_joints_per_leg_ = n_joints_per_leg;
39  n_joints_ = n_ee * n_joints_per_leg;
40 
41  SetAll(VectorXd::Constant(n_joints_per_leg, value));
42 }
43 
44 Joints::Joints (const std::vector<VectorXd>& q_vec)
45  : Joints(q_vec.size(), q_vec.front().rows())
46 {
47  for (auto ee : GetEEsOrdered())
48  at(ee) = q_vec.at(ee);
49 }
50 
51 int
53 {
54  return n_joints_;
55 }
56 
57 int
59 {
60  return n_joints_per_leg_;
61 }
62 
64 Joints::ToVec (const EEOrder& ee_order) const
65 {
66  VectorXd q_combined(n_joints_);
67  int j = 0;
68 
69  for (auto ee : ee_order) {
70  q_combined.middleRows(j, n_joints_per_leg_) = at(ee);
71  j += n_joints_per_leg_;
72  }
73 
74  return q_combined;
75 }
76 
77 void
78 Joints::SetFromVec (const VectorXd& xpp, const EEOrder& ee_order)
79 {
80  int j = 0;
81 
82  for (auto ee : ee_order) {
83  at(ee) = xpp.middleRows(j, n_joints_per_leg_);
84  j += n_joints_per_leg_;
85  }
86 }
87 
89 Joints::ToVec () const
90 {
91  return ToVec(GetEEsOrdered());
92 }
93 
94 void
96 {
98 }
99 
100 double&
102 {
103  div_t result = std::div(joint, n_joints_per_leg_);
104  EndeffectorID ee = result.quot;
105  return at(ee)[result.rem];
106 }
107 
108 double
110 {
111  return ToVec()[joint];
112 }
113 
114 } /* namespace xpp */
int GetNumJoints() const
Definition: joints.cc:52
void SetAll(const VectorXd &value)
Sets each endeffector to the same value.
Definition: endeffectors.h:190
std::vector< EndeffectorID > GetEEsOrdered() const
Definition: endeffectors.h:225
std::vector< EndeffectorID > EEOrder
Definition: joints.h:53
VectorXd & at(EndeffectorID ee)
Read/write access to the endeffector stored at index ee.
Definition: endeffectors.h:197
uint JointID
Definition: joints.h:54
int GetNumJointsPerEE() const
Definition: joints.cc:58
double & GetJoint(JointID joint)
Definition: joints.cc:101
void SetFromVec(const VectorXd &q)
Sets joints values from Eigen vector.
Definition: joints.cc:95
Joints(int n_ee, int n_joints_per_ee, double value=0.0)
Constructs joint values all set to value.
Definition: joints.cc:35
Container to access joint values of each endeffectors.
Definition: joints.h:48
VectorXd ToVec() const
Converts joint values to Eigen vector.
Definition: joints.cc:89
int n_joints_
Definition: joints.h:124
uint EndeffectorID
Definition: endeffectors.h:41
int n_joints_per_leg_
Definition: joints.h:123
Eigen::VectorXd VectorXd
Definition: state.h:50


xpp_states
Author(s): Alexander W. Winkler
autogenerated on Tue Mar 1 2022 00:07:15