aligator::ModelTpl< typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl > Struct Template Reference

Inheritance diagram for aligator::ModelTpl< typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl >:

Collaboration diagram for aligator::ModelTpl< typename _Scalar, int _Options, template< typename, int > class JointCollectionTpl >:

Public Types
typedef std::map< std::string, ConfigVectorMap
typedef VectorXs	ConfigVectorType
typedef VectorXs	TangentVectorType

Public Member Functions
	ModelTpl ()
	ModelTpl (const ModelTpl< S2, O2 > &other)
FrameIndex	addBodyFrame (const std::string &body_name, const JointIndex &parentJoint, const SE3 &body_placement=SE3::Identity(), int parentFrame=-1)
FrameIndex	addFrame (const Frame &frame, const bool append_inertia=true)
JointIndex	addJoint (const JointIndex parent, const JointModel &joint_model, const SE3 &joint_placement, const std::string &joint_name)
JointIndex	addJoint (const JointIndex parent, const JointModel &joint_model, const SE3 &joint_placement, const std::string &joint_name, const VectorXs &max_effort, const VectorXs &max_velocity, const VectorXs &min_config, const VectorXs &max_config)
JointIndex	damping)
FrameIndex	addJointFrame (const JointIndex &joint_index, int previous_frame_index=-1)
void	appendBodyToJoint (const JointIndex joint_index, const Inertia &Y, const SE3 &body_placement=SE3::Identity())
CastType< NewScalar, ModelTpl >::type	cast () const
bool	check () const
bool	check (const AlgorithmCheckerBase< D > &checker=AlgorithmCheckerBase< D >()) const
bool	check (const Data &data) const
bool	name) const
bool	name, const FrameType &type=(FrameType)(JOINT|FIXED_JOINT|BODY|OP_FRAME|SENSOR)) const
bool	name) const
FrameIndex	name) const
FrameIndex	name, const FrameType &type=(FrameType)(JOINT|FIXED_JOINT|BODY|OP_FRAME|SENSOR)) const
JointIndex	name) const
std::vector< bool >	hasConfigurationLimit ()
std::vector< bool >	hasConfigurationLimitInTangent ()
bool	operator!= (const ModelTpl &other) const
bool	operator== (const ModelTpl &other) const

Public Attributes
VectorXs	armature
std::vector< IndexVector >	children
damping
effortLimit
FrameVector	frames
friction
Motion	gravity
std::vector< int >	idx_qs
std::vector< int >	idx_vExtendeds
std::vector< int >	idx_vs
InertiaVector	inertias
SE3Vector	jointPlacements
JointModelVector	joints
lowerPositionLimit
std::vector< IndexVector >	mimic_joint_supports
std::vector< JointIndex >	mimicked_joints
std::vector< JointIndex >	mimicking_joints
std::string	name
std::vector< std::string >	names
int	nbodies
int	nframes
int	njoints
int	nq
std::vector< int >	nqs
int	nv
int	nvExtended
std::vector< int >	nvExtendeds
std::vector< int >	nvs
std::vector< JointIndex >	parents
referenceConfigurations
rotorGearRatio
rotorInertia
std::vector< IndexVector >	subtrees
std::vector< IndexVector >	supports
upperPositionLimit
velocityLimit

Static Public Attributes
static const Vector3	gravity981

Protected Member Functions
void	addJointIndexToParentSubtrees (const JointIndex joint_id)

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