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

#include <JointVelocities.hpp>

Inheritance diagram for state_representation::JointVelocities:

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_accelerations () const =delete

double	get_acceleration (unsigned int joint_index) const =delete

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

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

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

void	set_acceleration (double acceleration, unsigned int joint_index) const =delete

void	set_acceleration (double acceleration, 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

	JointVelocities ()
	Empty constructor. More...

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

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

	JointVelocities (const std::string &robot_name, const Eigen::VectorXd &velocities)
	Constructor with name and velocity values provided. More...

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

	JointVelocities (const JointVelocities &velocities)
	Copy constructor. More...

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

	JointVelocities (const JointAccelerations &accelerations)
	Integration constructor from a JointAccelerations by considering that it is equivalent to multiplying the accelerations by 1 second. More...

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

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

JointVelocities &	operator+= (const JointVelocities &velocities)
	Overload the += operator. More...

JointVelocities	operator+ (const JointVelocities &velocities) const
	Overload the + operator. More...

JointVelocities &	operator-= (const JointVelocities &velocities)
	Overload the -= operator. More...

JointVelocities	operator- (const JointVelocities &velocities) const
	Overload the - operator. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

JointVelocities	clamped (const Eigen::ArrayXd &max_absolute_value_array, const Eigen::ArrayXd &noise_ratio_array) const
	Return the velocity 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 JointVelocities	Zero (const std::string &robot_name, unsigned int nb_joints)
	Constructor for the zero JointVelocities. More...

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

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

static JointVelocities	Random (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor for the random JointVelocities. 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 JointVelocities &velocities)
	Overload the ostream operator for printing. More...

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

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

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

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

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 velocities of the joints.

Definition at line 15 of file JointVelocities.hpp.

Constructor & Destructor Documentation

◆ JointVelocities() [1/9]

state_representation::JointVelocities::JointVelocities ( )

explicit

Empty constructor.

Definition at line 7 of file JointVelocities.cpp.

◆ JointVelocities() [2/9]

state_representation::JointVelocities::JointVelocities	(	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 JointVelocities.cpp.

◆ JointVelocities() [3/9]

state_representation::JointVelocities::JointVelocities	(	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 JointVelocities.cpp.

◆ JointVelocities() [4/9]

state_representation::JointVelocities::JointVelocities	(	const std::string &	robot_name,
		const Eigen::VectorXd &	velocities
	)

explicit

Constructor with name and velocity values provided.

name the name of the state

velocities the vector of velocities

Definition at line 16 of file JointVelocities.cpp.

◆ JointVelocities() [5/9]

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

explicit

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

name the name of the state

joint_names list of joint names

velocities the vector of velocities

Definition at line 27 of file JointVelocities.cpp.

◆ JointVelocities() [6/9]

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

Copy constructor.

Definition at line 42 of file JointVelocities.cpp.

◆ JointVelocities() [7/9]

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

Copy constructor from a JointState.

Definition at line 34 of file JointVelocities.cpp.

◆ JointVelocities() [8/9]

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

Integration constructor from a JointAccelerations by considering that it is equivalent to multiplying the accelerations by 1 second.

Definition at line 45 of file JointVelocities.cpp.

◆ JointVelocities() [9/9]

state_representation::JointVelocities::JointVelocities ( const JointPositions & positions )

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

Definition at line 48 of file JointVelocities.cpp.

Member Function Documentation

◆ clamp() [1/2]

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

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

Parameters

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

Definition at line 176 of file JointVelocities.cpp.

◆ clamp() [2/2]

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

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

Parameters

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

Definition at line 166 of file JointVelocities.cpp.

◆ clamped() [1/2]

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

Return the velocity clamped to the values in argument.

Parameters

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

Returns: the clamped JointVelocities

Definition at line 180 of file JointVelocities.cpp.

◆ clamped() [2/2]

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

Return the velocity clamped to the values in argument.

Parameters

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

Returns: the clamped JointVelocities

Definition at line 170 of file JointVelocities.cpp.

◆ copy()

JointVelocities state_representation::JointVelocities::copy ( ) const

Return a copy of the JointVelocities.

Returns: the copy

Definition at line 149 of file JointVelocities.cpp.

◆ data()

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

overridevirtual

Returns the velocities data as an Eigen vector.

Returns: the velocities data vector

Reimplemented from state_representation::JointState.

Definition at line 154 of file JointVelocities.cpp.

◆ operator*() [1/4]

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

Overload the *= operator with an array of gains.

Parameters

lambda the gain array to multiply with

Returns: the JointVelocities multiplied by lambda

Definition at line 99 of file JointVelocities.cpp.

◆ operator*() [2/4]

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

Overload the * operator with a matrix of gains.

Parameters

lambda the matrix to multiply with

Returns: the JointVelocities multiplied by lambda

Definition at line 110 of file JointVelocities.cpp.

◆ operator*() [3/4]

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

Overload the * operator with a time period.

Parameters

dt	the time period to multiply with

Returns: the JointPositions corresponding to the displacement over the time period

Definition at line 137 of file JointVelocities.cpp.

◆ operator*() [4/4]

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

Overload the * operator with a double gain.

Parameters

lambda the gain to multiply with

Returns: the JointVelocities multiplied by lambda

Definition at line 90 of file JointVelocities.cpp.

◆ operator*=() [1/3]

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

Overload the *= operator with an array of gains.

Parameters

lambda the gain array to multiply with

Returns: the JointVelocities multiplied by lambda

Definition at line 94 of file JointVelocities.cpp.

◆ operator*=() [2/3]

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

Overload the *= operator with a matrix of gains.

Parameters

lambda the matrix to multiply with

Returns: the JointVelocities multiplied by lambda

Definition at line 105 of file JointVelocities.cpp.

◆ operator*=() [3/3]

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

Overload the *= operator with a double gain.

Parameters

lambda the gain to multiply with

Returns: the JointVelocities multiplied by lambda

Definition at line 85 of file JointVelocities.cpp.

◆ operator+()

JointVelocities state_representation::JointVelocities::operator+ ( const JointVelocities & velocities ) const

Overload the + operator.

Parameters

velocities JointVelocities to add

Returns: the current JointVelocities added the JointVelocities given in argument

Definition at line 72 of file JointVelocities.cpp.

◆ operator+=()

JointVelocities & state_representation::JointVelocities::operator+= ( const JointVelocities & velocities )

Overload the += operator.

Parameters

velocities JointVelocities to add

Returns: the current JointVelocities added the JointVelocities given in argument

Definition at line 67 of file JointVelocities.cpp.

◆ operator-()

JointVelocities state_representation::JointVelocities::operator- ( const JointVelocities & velocities ) const

Overload the - operator.

Parameters

velocities JointVelocities to subtract

Returns: the current JointVelocities subtracted the JointVelocities given in argument

Definition at line 81 of file JointVelocities.cpp.

◆ operator-=()

JointVelocities & state_representation::JointVelocities::operator-= ( const JointVelocities & velocities )

Overload the -= operator.

Parameters

velocities JointVelocities to subtract

Returns: the current JointVelocities subtracted the JointVelocities given in argument

Definition at line 76 of file JointVelocities.cpp.

◆ operator/() [1/2]

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

Overload the / operator with a time period.

Parameters

dt	the time period to multiply with

Returns: the JointAccelerations corresponding to the accelerations over the time period

Definition at line 125 of file JointVelocities.cpp.

◆ operator/() [2/2]

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

Overload the / operator with a scalar.

Parameters

lambda the scalar to divide with

Returns: the JointVelocities divided by lambda

Definition at line 121 of file JointVelocities.cpp.

◆ operator/=()

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

Overload the /= operator with a scalar.

Parameters

lambda the scalar to divide with

Returns: the JointVelocities divided by lambda

Definition at line 116 of file JointVelocities.cpp.

◆ operator=()

JointVelocities & state_representation::JointVelocities::operator= ( const JointVelocities & velocities )

default

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

Parameters

velocities the state with value to assign

Returns: reference to the current state with new values

◆ Random() [1/2]

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

static

Constructor for the random JointVelocities.

Parameters

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

Returns: JointVelocities with random velocities values

Definition at line 63 of file JointVelocities.cpp.

◆ Random() [2/2]

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

static

Constructor for the random JointVelocities.

Parameters

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

Returns: JointVelocities with random velocities values

Definition at line 59 of file JointVelocities.cpp.

◆ set_data() [1/2]

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

overridevirtual

Set the velocities data from an Eigen vector.

Parameters

the	velocities data vector

Reimplemented from state_representation::JointState.

Definition at line 158 of file JointVelocities.cpp.

◆ set_data() [2/2]

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

overridevirtual

Set the velocities data from a std vector.

Parameters

the	velocities data vector

Reimplemented from state_representation::JointState.

Definition at line 162 of file JointVelocities.cpp.

◆ Zero() [1/2]

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

static

Constructor for the zero JointVelocities.

Parameters

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

Returns: JointVelocities with zero velocities values

Definition at line 55 of file JointVelocities.cpp.

◆ Zero() [2/2]

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

static

Constructor for the zero JointVelocities.

Parameters

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

Returns: JointVelocities with zero velocities values

Definition at line 51 of file JointVelocities.cpp.

Friends And Related Function Documentation

◆ operator* [1/4]

JointVelocities operator*	(	const Eigen::ArrayXd &	lambda,
		const JointVelocities &	velocities
	)

friend

Overload the * operator with an array of gains.

Parameters

lambda the array to multiply with

Returns: the JointVelocities provided multiply by lambda

Definition at line 209 of file JointVelocities.cpp.

◆ operator* [2/4]

JointVelocities operator*	(	const Eigen::MatrixXd &	lambda,
		const JointVelocities &	velocities
	)

friend

Overload the * operator with a matrix of gains.

Parameters

lambda the matrix to multiply with

Returns: the JointVelocities provided multiply by lambda

Definition at line 215 of file JointVelocities.cpp.

◆ operator* [3/4]

JointPositions operator*	(	const std::chrono::nanoseconds &	dt,
		const JointVelocities &	velocities
	)

friend

Overload the * operator with a time period.

Parameters

dt	the time period to multiply with

Returns: the JointPositions corresponding to the displacement over the time period

Definition at line 221 of file JointVelocities.cpp.

◆ operator* [4/4]

JointVelocities operator*	(	double	lambda,
		const JointVelocities &	velocities
	)

friend

Overload the * operator with a scalar.

Parameters

lambda the scalar to multiply with

Returns: the JointVelocities provided multiply by lambda

Definition at line 203 of file JointVelocities.cpp.

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const JointVelocities &	velocities
	)

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 188 of file JointVelocities.cpp.

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

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

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ JointVelocities() [1/9]

◆ JointVelocities() [2/9]

◆ JointVelocities() [3/9]

◆ JointVelocities() [4/9]

◆ JointVelocities() [5/9]

◆ JointVelocities() [6/9]

◆ JointVelocities() [7/9]

◆ JointVelocities() [8/9]

◆ JointVelocities() [9/9]

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/() [1/2]

◆ operator/() [2/2]

◆ 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<<