momentumopt
Public Member Functions | Private Attributes | Friends | List of all members
momentumopt::RobotAcceleration Class Reference

#include <KinematicsState.hpp>

Public Member Functions

 RobotAcceleration (int num_joints)
 
Eigen::VectorXd & generalizedJointAccelerations ()
 
Eigen::Ref< Eigen::Vector3d > baseLinearAcceleration ()
 
Eigen::Ref< Eigen::Vector3d > baseAngularAcceleration ()
 
Eigen::Ref< Eigen::VectorXd > jointAccelerations ()
 
const Eigen::VectorXd & generalizedJointAccelerations () const
 
const Eigen::Ref< const Eigen::Vector3d > baseLinearAcceleration () const
 
const Eigen::Ref< const Eigen::Vector3d > baseAngularAcceleration () const
 
const Eigen::Ref< const Eigen::VectorXd > jointAccelerations () const
 
void generalizedJointAccelerations (const Eigen::VectorXd &generalized_joint_accelerations)
 
void jointAccelerations (const Eigen::Ref< const Eigen::VectorXd > joint_accelerations)
 
void baseLinearAcceleration (const Eigen::Ref< const Eigen::Vector3d > base_linear_acceleration)
 
void baseAngularAcceleration (const Eigen::Ref< const Eigen::Vector3d > base_angular_acceleration)
 
std::string toString () const
 

Private Attributes

int num_joints_
 
Eigen::VectorXd generalized_joint_accelerations_
 

Friends

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

Detailed Description

container for robot acceleration variables

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