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

#include <KinematicsState.hpp>

Public Member Functions

 RobotPosture (int num_joints)
 
Eigen::Vector3d & basePosition ()
 
Eigen::VectorXd & jointPositions ()
 
Eigen::Quaternion< double > & baseOrientation ()
 
const Eigen::Vector3d & basePosition () const
 
const Eigen::VectorXd & jointPositions () const
 
const Eigen::Quaternion< double > & baseOrientation () const
 
const Eigen::Vector4d pyBaseOrientation () const
 
void basePosition (const Eigen::Vector3d &base_position)
 
void jointPositions (const Eigen::VectorXd &joint_positions)
 
void baseOrientation (const Eigen::Quaternion< double > &base_orientation)
 
void pyBaseOrientation (const Eigen::Vector4d base_orientation)
 
Eigen::VectorXd generalizedJointPositions () const
 
std::string toString () const
 

Private Attributes

int num_joints_
 
Eigen::Vector3d base_position_
 
Eigen::VectorXd joint_positions_
 
Eigen::Quaternion< double > base_orientation_
 

Friends

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

Detailed Description

container for robot position variables

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