Class to define accelerations of the joints. More...

#include <JointAccelerations.hpp>

Inheritance diagram for state_representation::JointAccelerations:

Public Member Functions
const Eigen::VectorXd &	get_positions () const =delete

double	get_position (unsigned int joint_index) const =delete

double	get_position (const std::string &joint_name) const =delete

void	set_positions (const Eigen::VectorXd &positions)=delete

void	set_positions (const std::vector< double > &positions)=delete

void	set_position (double position, unsigned int joint_index) const =delete

void	set_position (double position, const std::string &joint_name) const =delete

const Eigen::VectorXd &	get_velocities () const =delete

double	get_velocity (unsigned int joint_index) const =delete

double	get_velocity (const std::string &joint_name) const =delete

void	set_velocities (const Eigen::VectorXd &accelerations)=delete

void	set_velocities (const std::vector< double > &accelerations)=delete

void	set_velocity (double velocity, unsigned int joint_index) const =delete

void	set_velocity (double velocity, const std::string &joint_name) const =delete

const Eigen::VectorXd &	get_torques () const =delete

double	get_torque (unsigned int joint_index) const =delete

double	get_torque (const std::string &joint_name) const =delete

void	set_torques (const Eigen::VectorXd &torques)=delete

void	set_torques (const std::vector< double > &torques)=delete

void	set_torque (double torque, unsigned int joint_index) const =delete

void	set_torque (double torque, const std::string &joint_name) const =delete

	JointAccelerations ()
	Empty constructor. More...

	JointAccelerations (const std::string &robot_name, unsigned int nb_joints=0)
	Constructor with name and number of joints provided. More...

	JointAccelerations (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor with name and list of joint names provided. More...

	JointAccelerations (const std::string &robot_name, const Eigen::VectorXd &accelerations)
	Constructor with name and acceleration values provided. More...

	JointAccelerations (const std::string &robot_name, const std::vector< std::string > &joint_names, const Eigen::VectorXd &accelerations)
	Constructor with name, a list of joint names and accelerations values provided. More...

	JointAccelerations (const JointAccelerations &accelerations)
	Copy constructor. More...

	JointAccelerations (const JointState &state)
	Copy constructor from a JointState. More...

	JointAccelerations (const JointVelocities &velocities)
	Differentiation constructor from a JointVelocities by considering that it is equivalent to dividing the velocities by 1 second. More...

JointAccelerations &	operator= (const JointAccelerations &accelerations)=default
	Copy assignment operator that have to be defined to the custom assignment operator. More...

JointAccelerations &	operator+= (const JointAccelerations &accelerations)
	Overload the += operator. More...

JointAccelerations	operator+ (const JointAccelerations &accelerations) const
	Overload the + operator. More...

JointAccelerations &	operator-= (const JointAccelerations &accelerations)
	Overload the -= operator. More...

JointAccelerations	operator- (const JointAccelerations &accelerations) const
	Overload the - operator. More...

JointAccelerations &	operator*= (double lambda)
	Overload the *= operator with a double gain. More...

JointAccelerations	operator* (double lambda) const
	Overload the * operator with a double gain. More...

JointAccelerations &	operator*= (const Eigen::ArrayXd &lambda)
	Overload the *= operator with an array of gains. More...

JointAccelerations	operator* (const Eigen::ArrayXd &lambda) const
	Overload the *= operator with an array of gains. More...

JointAccelerations &	operator*= (const Eigen::MatrixXd &lambda)
	Overload the *= operator with a matrix of gains. More...

JointAccelerations	operator* (const Eigen::MatrixXd &lambda) const
	Overload the * operator with a matrix of gains. More...

JointAccelerations &	operator/= (double lambda)
	Overload the /= operator with a scalar. More...

JointAccelerations	operator/ (double lambda) const
	Overload the / operator with a scalar. More...

JointVelocities	operator* (const std::chrono::nanoseconds &dt) const
	Overload the * operator with a time period. More...

JointAccelerations	copy () const
	Return a copy of the JointAccelerations. More...

Eigen::VectorXd	data () const override
	Returns the accelerations data as an Eigen vector. More...

virtual void	set_data (const Eigen::VectorXd &data) override
	Set the accelerations data from an Eigen vector. More...

virtual void	set_data (const std::vector< double > &data) override
	Set the accelerations data from a std vector. More...

void	clamp (double max_absolute_value, double noise_ratio=0.)
	Clamp inplace the magnitude of the acceleration to the values in argument. More...

JointAccelerations	clamped (double max_absolute_value, double noise_ratio=0.) const
	Return the acceleration clamped to the values in argument. More...

void	clamp (const Eigen::ArrayXd &max_absolute_value_array, const Eigen::ArrayXd &noise_ratio_array)
	Clamp inplace the magnitude of the acceleration to the values in argument. More...

JointAccelerations	clamped (const Eigen::ArrayXd &max_absolute_value_array, const Eigen::ArrayXd &noise_ratio_array) const
	Return the acceleration clamped to the values in argument. More...

Public Member Functions inherited from state_representation::JointState
	JointState ()
	Empty constructor for a JointState. More...

	JointState (const std::string &robot_name, unsigned int nb_joints=0)
	Constructor with name and number of joints provided. More...

	JointState (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor with name and list of joint names provided. More...

	JointState (const JointState &state)=default
	Copy constructor of a JointState. More...

JointState &	operator= (const JointState &state)
	Copy assignment operator that have to be defined to the custom assignment operator. More...

unsigned int	get_size () const
	Getter of the size from the attributes. More...

const std::vector< std::string > &	get_names () const
	Getter of the names attribute. More...

void	set_names (unsigned int nb_joints)
	Setter of the names attribute from the number of joints. More...

void	set_names (const std::vector< std::string > &names)
	Setter of the names attribute. More...

unsigned int	get_joint_index (const std::string &joint_name) const
	Get joint index by the name of the joint, if it exists. More...

const Eigen::VectorXd &	get_positions () const
	Getter of the positions attribute. More...

double	get_position (const std::string &joint_name) const
	Get the position of a joint by its name, if it exists. More...

double	get_position (unsigned int joint_index) const
	Get the position of a joint by its index, if it exists. More...

void	set_positions (const Eigen::VectorXd &positions)
	Setter of the positions attribute. More...

void	set_positions (const std::vector< double > &positions)
	Setter of the positions from std vector. More...

void	set_position (double position, const std::string &joint_name)
	Set the position of a joint by its name. More...

void	set_position (double position, unsigned int joint_index)
	Set the position of a joint by its index. More...

const Eigen::VectorXd &	get_velocities () const
	Getter of the velocities attribute. More...

double	get_velocity (const std::string &joint_name) const
	Get the velocity of a joint by its name, if it exists. More...

double	get_velocity (unsigned int joint_index) const
	Get the velocity of a joint by its index, if it exists. More...

void	set_velocities (const Eigen::VectorXd &velocities)
	Setter of the velocities attribute. More...

void	set_velocities (const std::vector< double > &velocities)
	Setter of the velocities from std vector. More...

void	set_velocity (double velocity, const std::string &joint_name)
	Set the velocity of a joint by its name. More...

void	set_velocity (double velocity, unsigned int joint_index)
	Set the velocity of a joint by its index. More...

const Eigen::VectorXd &	get_accelerations () const
	Getter of the accelerations attribute. More...

double	get_acceleration (const std::string &joint_name) const
	Get the acceleration of a joint by its name, if it exists. More...

double	get_acceleration (unsigned int joint_index) const
	Get the acceleration of a joint by its index, if it exists. More...

void	set_accelerations (const Eigen::VectorXd &accelerations)
	Setter of the accelerations attribute. More...

void	set_accelerations (const std::vector< double > &accelerations)
	Setter of the accelerations from std vector. More...

void	set_acceleration (double acceleration, const std::string &joint_name)
	Set the acceleration of a joint by its name. More...

void	set_acceleration (double acceleration, unsigned int joint_index)
	Set the acceleration of a joint by its index. More...

const Eigen::VectorXd &	get_torques () const
	Getter of the torques attribute. More...

double	get_torque (const std::string &joint_name) const
	Get the torque of a joint by its name, if it exists. More...

double	get_torque (unsigned int joint_index) const
	Get the torque of a joint by its index, if it exists. More...

void	set_torques (const Eigen::VectorXd &torques)
	Setter of the torques attribute. More...

void	set_torques (const std::vector< double > &torques)
	Setter of the torques attributes. More...

void	set_torque (double torque, const std::string &joint_name)
	Set the torque of a joint by its name. More...

void	set_torque (double torque, unsigned int joint_index)
	Set the torque of a joint by its index. More...

bool	is_compatible (const State &state) const
	Check if the state is compatible for operations with the state given as argument. More...

void	initialize ()
	Initialize the State to a zero value. More...

void	set_zero ()
	Set the JointState to a zero value. More...

void	clamp_state_variable (double max_absolute_value, const JointStateVariable &state_variable_type, double noise_ratio=0)
	Clamp inplace the magnitude of the a specific joint state variable. More...

void	clamp_state_variable (const Eigen::ArrayXd &max_absolute_value_array, const JointStateVariable &state_variable_type, const Eigen::ArrayXd &noise_ratio_array)
	Clamp inplace the magnitude of the a specific joint state variable for each individual joint. More...

JointState	copy () const
	Return a copy of the JointState. More...

virtual Eigen::VectorXd	data () const
	Returns the data as the concatenation of all the state variables in a single vector. More...

virtual void	set_data (const Eigen::VectorXd &data) override
	Set the data of the state from all the state variables in a single Eigen vector. More...

virtual void	set_data (const std::vector< double > &data) override
	Set the data of the state from all the state variables in a single std vector. More...

Eigen::ArrayXd	array () const
	Returns the data vector as an Eigen Array. More...

JointState &	operator+= (const JointState &state)
	Overload the += operator. More...

JointState	operator+ (const JointState &state) const
	Overload the + operator. More...

JointState &	operator-= (const JointState &state)
	Overload the -= operator. More...

JointState	operator- (const JointState &state) const
	Overload the - operator. More...

JointState &	operator*= (double lambda)
	Overload the *= operator with a double gain. More...

JointState	operator* (double lambda) const
	Overload the * operator with a double gain. More...

JointState &	operator*= (const Eigen::ArrayXd &lambda)
	Overload the *= operator with an array of gains. More...

JointState	operator* (const Eigen::ArrayXd &lambda) const
	Overload the * operator with an array of gains. More...

JointState &	operator*= (const Eigen::MatrixXd &lambda)
	Overload the *= operator with a matrix of gains. More...

JointState	operator* (const Eigen::MatrixXd &lambda) const
	Overload the * operator with a matrix of gains. More...

JointState &	operator/= (double lambda)
	Overload the /= operator with a scalar. More...

JointState	operator/ (double lambda) const
	Overload the / operator with a scalar. More...

double	dist (const JointState &state, const JointStateVariable &state_variable_type=JointStateVariable::ALL) const
	Compute the distance to another state as the sum of distances between each attribute. More...

std::vector< double >	to_std_vector () const
	Return the joint state as a std vector of floats. More...

Public Member Functions inherited from state_representation::State
	State ()
	Empty constructor. More...

	State (const StateType &type)
	Constructor only specifying the type of the state from the StateType enumeration. More...

	State (const StateType &type, const std::string &name, const bool &empty=true)
	Constructor with name specification. More...

	State (const State &state)
	Copy constructor from another State. More...

virtual	~State ()=default
	Virtual destructor.

State &	operator= (const State &state)
	Copy assignment operator that have to be defined to the custom assignment operator. More...

const StateType &	get_type () const
	Getter of the type attribute. More...

bool	is_empty () const
	Getter of the empty attribute. More...

void	set_empty (bool empty=true)
	Setter of the empty attribute. More...

void	set_filled ()
	Setter of the empty attribute to false and also reset the timestamp. More...

const std::chrono::time_point< std::chrono::steady_clock > &	get_timestamp () const
	Getter of the timestamp attribute. More...

void	set_timestamp (const std::chrono::time_point< std::chrono::steady_clock > &timepoint)
	Setter of the timestamp attribute. More...

void	reset_timestamp ()
	Reset the timestamp attribute to now. More...

const std::string &	get_name () const
	Getter of the name as const reference. More...

virtual void	set_name (const std::string &name)
	Setter of the name. More...

template<typename DurationT >
bool	is_deprecated (const std::chrono::duration< int64_t, DurationT > &time_delay)
	Check if the state is deprecated given a certain time delay. More...

virtual bool	is_compatible (const State &state) const
	Check if the state is compatible for operations with the state given as argument. More...

virtual void	initialize ()
	Initialize the State to a zero value. More...

virtual void	set_data (const Eigen::VectorXd &data)
	Set the data of the state from a single Eigen vector. More...

virtual void	set_data (const std::vector< double > &data)
	Set the data of the state from a single std vector. More...

virtual void	set_data (const Eigen::MatrixXd &data)
	Set the data of the state from an Eigen matrix. More...

	operator bool () const noexcept
	Boolean operator for the truthiness of a state. More...

Static Public Member Functions
static JointAccelerations	Zero (const std::string &robot_name, unsigned int nb_joints)
	Constructor for the zero JointAccelerations. More...

static JointAccelerations	Zero (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor for the zero JointAccelerations. More...

static JointAccelerations	Random (const std::string &robot_name, unsigned int nb_joints)
	Constructor for the random JointAccelerations. More...

static JointAccelerations	Random (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor for the random JointAccelerations. More...

Static Public Member Functions inherited from state_representation::JointState
static JointState	Zero (const std::string &robot_name, unsigned int nb_joints)
	Constructor for a zero JointState. More...

static JointState	Zero (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor for a zero JointState. More...

static JointState	Random (const std::string &robot_name, unsigned int nb_joints)
	Constructor for a random JointState. More...

static JointState	Random (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor for a random JointState. More...

Friends
std::ostream &	operator<< (std::ostream &os, const JointAccelerations &accelerations)
	Overload the ostream operator for printing. More...

JointAccelerations	operator* (double lambda, const JointAccelerations &accelerations)
	Overload the * operator with a scalar. More...

JointAccelerations	operator* (const Eigen::ArrayXd &lambda, const JointAccelerations &accelerations)
	Overload the * operator with an array of gains. More...

JointAccelerations	operator* (const Eigen::MatrixXd &lambda, const JointAccelerations &accelerations)
	Overload the * operator with a matrix of gains. More...

JointVelocities	operator* (const std::chrono::nanoseconds &dt, const JointAccelerations &accelerations)

Additional Inherited Members
Protected Member Functions inherited from state_representation::JointState
void	multiply_state_variable (const Eigen::ArrayXd &lambda, const JointStateVariable &state_variable_type)
	Proxy function that multiply the specified state variable by an array of gain. More...

void	multiply_state_variable (const Eigen::MatrixXd &lambda, const JointStateVariable &state_variable_type)
	Proxy function that multiply the specified state variable by an array of gain. More...

Eigen::VectorXd	get_state_variable (const JointStateVariable &state_variable_type) const
	Getter of the variable value corresponding to the input. More...

void	set_state_variable (const Eigen::VectorXd &new_value, const JointStateVariable &state_variable_type)
	Setter of the variable value corresponding to the input. More...

Protected Member Functions inherited from state_representation::State
void	set_type (const StateType &type)
	Override the state type. More...

Detailed Description

Class to define accelerations of the joints.

Definition at line 13 of file JointAccelerations.hpp.

Constructor & Destructor Documentation

◆ JointAccelerations() [1/8]

state_representation::JointAccelerations::JointAccelerations ( )

explicit

Empty constructor.

Definition at line 7 of file JointAccelerations.cpp.

◆ JointAccelerations() [2/8]

state_representation::JointAccelerations::JointAccelerations	(	const std::string &	robot_name,
		unsigned int	nb_joints = `0`
	)

explicit

Constructor with name and number of joints provided.

name the name of the state

nb_joints the number of joints for initialization

Definition at line 11 of file JointAccelerations.cpp.

◆ JointAccelerations() [3/8]

state_representation::JointAccelerations::JointAccelerations	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names
	)

explicit

Constructor with name and list of joint names provided.

name the name of the state

joint_names list of joint names

Definition at line 22 of file JointAccelerations.cpp.

◆ JointAccelerations() [4/8]

state_representation::JointAccelerations::JointAccelerations	(	const std::string &	robot_name,
		const Eigen::VectorXd &	accelerations
	)

explicit

Constructor with name and acceleration values provided.

name the name of the state

accelerations the vector of accelerations

Definition at line 16 of file JointAccelerations.cpp.

◆ JointAccelerations() [5/8]

state_representation::JointAccelerations::JointAccelerations	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names,
		const Eigen::VectorXd &	accelerations
	)

explicit

Constructor with name, a list of joint names and accelerations values provided.

name the name of the state

joint_names list of joint names

accelerations the vector of accelerations

Definition at line 26 of file JointAccelerations.cpp.

◆ JointAccelerations() [6/8]

state_representation::JointAccelerations::JointAccelerations ( const JointAccelerations & accelerations )

Copy constructor.

Definition at line 41 of file JointAccelerations.cpp.

◆ JointAccelerations() [7/8]

state_representation::JointAccelerations::JointAccelerations ( const JointState & state )

Copy constructor from a JointState.

Definition at line 33 of file JointAccelerations.cpp.

◆ JointAccelerations() [8/8]

state_representation::JointAccelerations::JointAccelerations ( const JointVelocities & velocities )

Differentiation constructor from a JointVelocities by considering that it is equivalent to dividing the velocities by 1 second.

Definition at line 44 of file JointAccelerations.cpp.

Member Function Documentation

◆ clamp() [1/2]

void state_representation::JointAccelerations::clamp	(	const Eigen::ArrayXd &	max_absolute_value_array,
		const Eigen::ArrayXd &	noise_ratio_array
	)

Clamp inplace the magnitude of the acceleration to the values in argument.

Parameters

max_absolute_value_array	the maximum magnitude of acceleration for each joint
noise_ratio_array	if provided, this value will be used to apply a dead zone under which the acceleration will be set to 0

Definition at line 163 of file JointAccelerations.cpp.

◆ clamp() [2/2]

void state_representation::JointAccelerations::clamp	(	double	max_absolute_value,
		double	noise_ratio = `0.`
	)

Clamp inplace the magnitude of the acceleration to the values in argument.

Parameters

max_absolute_value	the maximum magnitude of acceleration for all the joints
noise_ratio	if provided, this value will be used to apply a dead zone under which the acceleration will be set to 0

Definition at line 152 of file JointAccelerations.cpp.

◆ clamped() [1/2]

JointAccelerations state_representation::JointAccelerations::clamped	(	const Eigen::ArrayXd &	max_absolute_value_array,
		const Eigen::ArrayXd &	noise_ratio_array
	)		const

Return the acceleration clamped to the values in argument.

Parameters

max_absolute_value_array	the maximum magnitude of acceleration for each joint
noise_ratio_array	if provided, this value will be used to apply a dead zone under which the acceleration will be set to 0

Returns: the clamped JointAccelerations

Definition at line 167 of file JointAccelerations.cpp.

◆ clamped() [2/2]

JointAccelerations state_representation::JointAccelerations::clamped	(	double	max_absolute_value,
		double	noise_ratio = `0.`
	)		const

Return the acceleration clamped to the values in argument.

Parameters

max_absolute_value	the maximum magnitude of acceleration for all the joints
noise_ratio	if provided, this value will be used to apply a dead zone under which the acceleration will be set to 0

Returns: the clamped JointAccelerations

Definition at line 156 of file JointAccelerations.cpp.

◆ copy()

JointAccelerations state_representation::JointAccelerations::copy ( ) const

Return a copy of the JointAccelerations.

Returns: the copy

Definition at line 135 of file JointAccelerations.cpp.

◆ data()

Eigen::VectorXd state_representation::JointAccelerations::data ( ) const

overridevirtual

Returns the accelerations data as an Eigen vector.

Returns: the accelerations data vector

Reimplemented from state_representation::JointState.

Definition at line 140 of file JointAccelerations.cpp.

◆ operator*() [1/4]

JointAccelerations state_representation::JointAccelerations::operator* ( const Eigen::ArrayXd & lambda ) const

Overload the *= operator with an array of gains.

Parameters

lambda the gain array to multiply with

Returns: the JointAccelerations multiplied by lambda

Definition at line 97 of file JointAccelerations.cpp.

◆ operator*() [2/4]

JointAccelerations state_representation::JointAccelerations::operator* ( const Eigen::MatrixXd & lambda ) const

Overload the * operator with a matrix of gains.

Parameters

lambda the matrix to multiply with

Returns: the JointAccelerations multiplied by lambda

Definition at line 108 of file JointAccelerations.cpp.

◆ operator*() [3/4]

JointVelocities state_representation::JointAccelerations::operator* ( const std::chrono::nanoseconds & dt ) const

Overload the * operator with a time period.

Parameters

dt	the time period to multiply with

Returns: the JointVelocities corresponding to the velocities over the time period

Definition at line 123 of file JointAccelerations.cpp.

◆ operator*() [4/4]

JointAccelerations state_representation::JointAccelerations::operator* ( double lambda ) const

Overload the * operator with a double gain.

Parameters

lambda the gain to multiply with

Returns: the JointAccelerations multiplied by lambda

Definition at line 88 of file JointAccelerations.cpp.

◆ operator*=() [1/3]

JointAccelerations & state_representation::JointAccelerations::operator*= ( const Eigen::ArrayXd & lambda )

Overload the *= operator with an array of gains.

Parameters

lambda the gain array to multiply with

Returns: the JointAccelerations multiplied by lambda

Definition at line 92 of file JointAccelerations.cpp.

◆ operator*=() [2/3]

JointAccelerations & state_representation::JointAccelerations::operator*= ( const Eigen::MatrixXd & lambda )

Overload the *= operator with a matrix of gains.

Parameters

lambda the matrix to multiply with

Returns: the JointAccelerations multiplied by lambda

Definition at line 103 of file JointAccelerations.cpp.

◆ operator*=() [3/3]

JointAccelerations & state_representation::JointAccelerations::operator*= ( double lambda )

Overload the *= operator with a double gain.

Parameters

lambda the gain to multiply with

Returns: the JointAccelerations multiplied by lambda

Definition at line 83 of file JointAccelerations.cpp.

◆ operator+()

JointAccelerations state_representation::JointAccelerations::operator+ ( const JointAccelerations & accelerations ) const

Overload the + operator.

Parameters

accelerations JointAccelerations to add

Returns: the current JointAccelerations added the JointAccelerations given in argument

Definition at line 70 of file JointAccelerations.cpp.

◆ operator+=()

JointAccelerations & state_representation::JointAccelerations::operator+= ( const JointAccelerations & accelerations )

Overload the += operator.

Parameters

accelerations JointAccelerations to add

Returns: the current JointAccelerations added the JointAccelerations given in argument

Definition at line 65 of file JointAccelerations.cpp.

◆ operator-()

JointAccelerations state_representation::JointAccelerations::operator- ( const JointAccelerations & accelerations ) const

Overload the - operator.

Parameters

accelerations JointAccelerations to subtract

Returns: the current JointAccelerations subtracted the JointAccelerations given in argument

Definition at line 79 of file JointAccelerations.cpp.

◆ operator-=()

JointAccelerations & state_representation::JointAccelerations::operator-= ( const JointAccelerations & accelerations )

Overload the -= operator.

Parameters

accelerations JointAccelerations to subtract

Returns: the current JointAccelerations subtracted the JointAccelerations given in argument

Definition at line 74 of file JointAccelerations.cpp.

◆ operator/()

JointAccelerations state_representation::JointAccelerations::operator/ ( double lambda ) const

Overload the / operator with a scalar.

Parameters

lambda the scalar to divide with

Returns: the JointAccelerations divided by lambda

Definition at line 119 of file JointAccelerations.cpp.

◆ operator/=()

JointAccelerations & state_representation::JointAccelerations::operator/= ( double lambda )

Overload the /= operator with a scalar.

Parameters

lambda the scalar to divide with

Returns: the JointAccelerations divided by lambda

Definition at line 114 of file JointAccelerations.cpp.

◆ operator=()

JointAccelerations & state_representation::JointAccelerations::operator= ( const JointAccelerations & accelerations )

default

Copy assignment operator that have to be defined to the custom assignment operator.

Parameters

accelerations the state with value to assign

Returns: reference to the current state with new values

◆ Random() [1/2]

JointAccelerations state_representation::JointAccelerations::Random	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names
	)

static

Constructor for the random JointAccelerations.

Parameters

robot_name	the name of the associated robot
joint_names	list of joint names

Returns: JointAccelerations with random accelerations values

Definition at line 61 of file JointAccelerations.cpp.

◆ Random() [2/2]

JointAccelerations state_representation::JointAccelerations::Random	(	const std::string &	robot_name,
		unsigned int	nb_joints
	)

static

Constructor for the random JointAccelerations.

Parameters

robot_name	the name of the associated robot
nb_joints	the number of joints for initialization

Returns: JointAccelerations with random accelerations values

Definition at line 56 of file JointAccelerations.cpp.

◆ set_data() [1/2]

void state_representation::JointAccelerations::set_data ( const Eigen::VectorXd & data )

overridevirtual

Set the accelerations data from an Eigen vector.

Parameters

the	accelerations data vector

Reimplemented from state_representation::JointState.

Definition at line 144 of file JointAccelerations.cpp.

◆ set_data() [2/2]

void state_representation::JointAccelerations::set_data ( const std::vector< double > & data )

overridevirtual

Set the accelerations data from a std vector.

Parameters

the	accelerations data vector

Reimplemented from state_representation::JointState.

Definition at line 148 of file JointAccelerations.cpp.

◆ Zero() [1/2]

JointAccelerations state_representation::JointAccelerations::Zero	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names
	)

static

Constructor for the zero JointAccelerations.

Parameters

robot_name	the name of the associated robot
joint_names	list of joint names

Returns: JointAccelerations with zero accelerations values

Definition at line 52 of file JointAccelerations.cpp.

◆ Zero() [2/2]

JointAccelerations state_representation::JointAccelerations::Zero	(	const std::string &	robot_name,
		unsigned int	nb_joints
	)

static

Constructor for the zero JointAccelerations.

Parameters

robot_name	the name of the associated robot
nb_joints	the number of joints for initialization

Returns: JointAccelerations with zero accelerations values

Definition at line 47 of file JointAccelerations.cpp.

Friends And Related Function Documentation

◆ operator* [1/4]

JointAccelerations operator*	(	const Eigen::ArrayXd &	lambda,
		const JointAccelerations &	accelerations
	)

friend

Overload the * operator with an array of gains.

Parameters

lambda the array to multiply with

Returns: the JointAccelerations provided multiply by lambda

Definition at line 195 of file JointAccelerations.cpp.

◆ operator* [2/4]

JointAccelerations operator*	(	const Eigen::MatrixXd &	lambda,
		const JointAccelerations &	accelerations
	)

friend

Overload the * operator with a matrix of gains.

Parameters

lambda the matrix to multiply with

Returns: the JointAccelerations provided multiply by lambda

Definition at line 201 of file JointAccelerations.cpp.

◆ operator* [3/4]

JointVelocities operator*	(	const std::chrono::nanoseconds &	dt,
		const JointAccelerations &	accelerations
	)

friend

Parameters

dt	the time period to multiply with

Returns: the JointVelocities corresponding to the velocities over the time period

Definition at line 207 of file JointAccelerations.cpp.

◆ operator* [4/4]

JointAccelerations operator*	(	double	lambda,
		const JointAccelerations &	accelerations
	)

friend

Overload the * operator with a scalar.

Parameters

lambda the scalar to multiply with

Returns: the JointAccelerations provided multiply by lambda

Definition at line 189 of file JointAccelerations.cpp.

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const JointAccelerations &	accelerations
	)

friend

Overload the ostream operator for printing.

Parameters

os	the ostream to append the string representing the state
state	the state to print

Returns: the appended ostream

Definition at line 174 of file JointAccelerations.cpp.

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

/github/workspace/source/state_representation/include/state_representation/space/joint/JointAccelerations.hpp
/github/workspace/source/state_representation/src/space/joint/JointAccelerations.cpp

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ JointAccelerations() [1/8]

◆ JointAccelerations() [2/8]

◆ JointAccelerations() [3/8]

◆ JointAccelerations() [4/8]

◆ JointAccelerations() [5/8]

◆ JointAccelerations() [6/8]

◆ JointAccelerations() [7/8]

◆ JointAccelerations() [8/8]

Member Function Documentation

◆ clamp() [1/2]

◆ clamp() [2/2]

◆ clamped() [1/2]

◆ clamped() [2/2]

◆ copy()

◆ data()

◆ operator*() [1/4]

◆ operator*() [2/4]

◆ operator*() [3/4]

◆ operator*() [4/4]

◆ operator*=() [1/3]

◆ operator*=() [2/3]

◆ operator*=() [3/3]

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator/()

◆ operator/=()

◆ operator=()

◆ Random() [1/2]

◆ Random() [2/2]

◆ set_data() [1/2]

◆ set_data() [2/2]

◆ Zero() [1/2]

◆ Zero() [2/2]

Friends And Related Function Documentation

◆ operator* [1/4]

◆ operator* [2/4]

◆ operator* [3/4]

◆ operator* [4/4]

◆ operator<<