ThrusterTpl< _Scalar > Struct Template Reference

Public Types
typedef pinocchio::SE3Tpl< Scalar >	SE3
typedef ThrusterTpl< Scalar >	Thruster

Public Member Functions
	ThrusterTpl (const Scalar ctorque, const ThrusterType type=CW, const Scalar min_thrust=Scalar(0.), const Scalar max_thrust=std::numeric_limits< Scalar >::infinity())
	Initialize the thruster in a pose in the origin of the root joint.
	ThrusterTpl (const SE3 &pose, const Scalar ctorque, const ThrusterType type=CW, const Scalar min_thrust=Scalar(0.), const Scalar max_thrust=std::numeric_limits< Scalar >::infinity())
	Initialize the thruster in a give pose from the root joint.
	ThrusterTpl (const ThrusterTpl< Scalar > &clone)
template<typename NewScalar>
ThrusterTpl< NewScalar >	cast () const
ThrusterTpl &	operator= (const ThrusterTpl< Scalar > &other)
template<typename OtherScalar>
bool	operator== (const ThrusterTpl< OtherScalar > &other) const

Public Attributes
Scalar	ctorque
	Coefficient of generated torque per thrust.
Scalar	max_thrust
	Minimum thrust.
Scalar	min_thrust
	Minimum thrust.
SE3	pose
	Thruster pose.
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar
ThrusterType	type

Friends
std::ostream &	operator<< (std::ostream &os, const ThrusterTpl< Scalar > &X)

Detailed Description

template<typename _Scalar>
struct crocoddyl::ThrusterTpl< _Scalar >

Definition at line 20 of file floating-base-thrusters.hpp.

Member Typedef Documentation

SE3

template<typename _Scalar>

typedef pinocchio::SE3Tpl<Scalar> SE3

Definition at line 24 of file floating-base-thrusters.hpp.

Thruster

template<typename _Scalar>

typedef ThrusterTpl<Scalar> Thruster

Definition at line 25 of file floating-base-thrusters.hpp.

Constructor & Destructor Documentation

ThrusterTpl() [1/3]

template<typename _Scalar>

ThrusterTpl ( const SE3 & pose, const Scalar ctorque, const ThrusterType type = CW, const Scalar min_thrust = Scalar(0.), const Scalar max_thrust = std::numeric_limits<Scalar>::infinity() )

inline

Initialize the thruster in a give pose from the root joint.

Parameters

	pose[in]	Pose from root joint
	ctorque[in]	Coefficient of generated torque per thrust
	type[in]	Type of thruster (clockwise or counterclockwise, default clockwise)
[in]	min_thrust[in]	Minimum thrust (default 0.)
[in]	max_thrust[in]	Maximum thrust (default inf number))

Definition at line 37 of file floating-base-thrusters.hpp.

ThrusterTpl() [2/3]

template<typename _Scalar>

ThrusterTpl ( const Scalar ctorque, const ThrusterType type = CW, const Scalar min_thrust = Scalar(0.), const Scalar max_thrust = std::numeric_limits<Scalar>::infinity() )

inline

Initialize the thruster in a pose in the origin of the root joint.

Parameters

	pose[in]	Pose from root joint
	ctorque[in]	Coefficient of generated torque per thrust
	type[in]	Type of thruster (clockwise or counterclockwise, default clockwise)
[in]	min_thrust[in]	Minimum thrust (default 0.)
[in]	max_thrust[in]	Maximum thrust (default inf number))

Definition at line 57 of file floating-base-thrusters.hpp.

ThrusterTpl() [3/3]

template<typename _Scalar>

ThrusterTpl ( const ThrusterTpl< Scalar > & clone )

inline

Definition at line 65 of file floating-base-thrusters.hpp.

Member Function Documentation

cast()

template<typename _Scalar>

template<typename NewScalar>

ThrusterTpl< NewScalar > cast ( ) const

inline

Definition at line 73 of file floating-base-thrusters.hpp.

operator=()

template<typename _Scalar>

ThrusterTpl & operator= ( const ThrusterTpl< Scalar > & other )

inline

Definition at line 81 of file floating-base-thrusters.hpp.

operator==()

template<typename _Scalar>

template<typename OtherScalar>

bool operator== ( const ThrusterTpl< OtherScalar > & other ) const

inline

Definition at line 93 of file floating-base-thrusters.hpp.

Friends And Related Symbol Documentation

operator<<

template<typename _Scalar>

std::ostream & operator<< ( std::ostream & os, const ThrusterTpl< Scalar > & X )

friend

Definition at line 99 of file floating-base-thrusters.hpp.

Member Data Documentation

Scalar

template<typename _Scalar>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 23 of file floating-base-thrusters.hpp.

pose

template<typename _Scalar>

SE3 pose

Thruster pose.

Definition at line 109 of file floating-base-thrusters.hpp.

ctorque

template<typename _Scalar>

Scalar ctorque

Coefficient of generated torque per thrust.

Definition at line 110 of file floating-base-thrusters.hpp.

type

template<typename _Scalar>

ThrusterType type

Type of thruster (CW and CCW for clockwise and counterclockwise, respectively)

Definition at line 111 of file floating-base-thrusters.hpp.

min_thrust

template<typename _Scalar>

Scalar min_thrust

Minimum thrust.

Definition at line 113 of file floating-base-thrusters.hpp.

max_thrust

template<typename _Scalar>

Scalar max_thrust

Minimum thrust.

Definition at line 114 of file floating-base-thrusters.hpp.

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

• /build/source/include/crocoddyl/multibody/actuations/floating-base-thrusters.hpp