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

#include <KinematicsState.hpp>

Public Member Functions

 RobotVelocity (int num_joints)
 
Eigen::VectorXd & generalizedJointVelocities ()
 
Eigen::Ref< Eigen::Vector3d > baseLinearVelocity ()
 
Eigen::Ref< Eigen::Vector3d > baseAngularVelocity ()
 
Eigen::Ref< Eigen::VectorXd > jointVelocities ()
 
const Eigen::VectorXd & generalizedJointVelocities () const
 
const Eigen::Ref< const Eigen::Vector3d > baseLinearVelocity () const
 
const Eigen::Ref< const Eigen::Vector3d > baseAngularVelocity () const
 
const Eigen::Ref< const Eigen::VectorXd > jointVelocities () const
 
void generalizedJointVelocities (const Eigen::VectorXd &generalized_joint_velocities)
 
void jointVelocities (const Eigen::Ref< const Eigen::VectorXd > joint_velocities)
 
void baseLinearVelocity (const Eigen::Ref< const Eigen::Vector3d > base_linear_velocity)
 
void baseAngularVelocity (const Eigen::Ref< const Eigen::Vector3d > base_angular_velocity)
 
std::string toString () const
 

Private Attributes

int num_joints_
 
Eigen::VectorXd generalized_joint_velocities_
 

Friends

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

Detailed Description

container for robot velocity variables

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