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momentumopt::KinematicsState Class Reference

This class is a container for all variables required to define a kinematics state: joint posture, joint velocities and accelerations, endeffector poses and momentum. More...

#include <KinematicsState.hpp>

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Public Member Functions

 KinematicsState (int num_joints)
 
Eigen::Vector3d & centerOfMass ()
 
Eigen::Vector3d & linearMomentum ()
 
Eigen::Vector3d & angularMomentum ()
 
const Eigen::Vector3d & centerOfMass () const
 
const Eigen::Vector3d & linearMomentum () const
 
const Eigen::Vector3d & angularMomentum () const
 
void centerOfMass (const Eigen::Vector3d &com)
 
void linearMomentum (const Eigen::Vector3d &lmom)
 
void angularMomentum (const Eigen::Vector3d &amom)
 
RobotPosture & robotPosture ()
 
RobotVelocity & robotVelocity ()
 
RobotAcceleration & robotAcceleration ()
 
const RobotPosture & robotPosture () const
 
const RobotVelocity & robotVelocity () const
 
const RobotAcceleration & robotAcceleration () const
 
void robotPosture (const RobotPosture &robot_posture)
 
void robotVelocity (const RobotVelocity &robot_velocity)
 
void robotAcceleration (const RobotAcceleration &robot_acceleration)
 
Eigen::Vector3d & endeffectorPosition (int eff_id)
 
Eigen::Vector3d & endeffectorVelocity (int eff_id)
 
Eigen::Vector3d & endeffectorAcceleration (int eff_id)
 
Eigen::Quaternion< double > & endeffectorOrientation (int eff_id)
 
const Eigen::Vector3d & endeffectorPosition (int eff_id) const
 
const Eigen::Vector3d & endeffectorVelocity (int eff_id) const
 
const Eigen::Vector3d & endeffectorAcceleration (int eff_id) const
 
const Eigen::Quaternion< double > & endeffectorOrientation (int eff_id) const
 
const std::vector< Eigen::Vector3d > & pyEndeffectorPositions () const
 
void pyEndeffectorPositions (const std::vector< Eigen::Vector3d > &eff_positions)
 
std::string toString () const
 
const int numJoints () const
 

Private Attributes

RobotPosture robot_posture_
 
RobotVelocity robot_velocity_
 
RobotAcceleration robot_acceleration_
 
int num_joints_
 
Eigen::Vector3d com_
 
Eigen::Vector3d lmom_
 
Eigen::Vector3d amom_
 
std::vector< Eigen::Quaternion< double > > eff_orientations_
 
std::vector< Eigen::Vector3d > eff_positions_
 
std::vector< Eigen::Vector3d > eff_velocities_
 
std::vector< Eigen::Vector3d > eff_accelerations_
 

Friends

std::ostream & operator<< (std::ostream &os, const KinematicsState &obj)
 

Detailed Description

This class is a container for all variables required to define a kinematics state: joint posture, joint velocities and accelerations, endeffector poses and momentum.

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