Builder interface to add an edge to the graph. Allows for an easy customization of the edge. More...

#include <pinocchio/parsers/graph/model-graph.hpp>

Collaboration diagram for EdgeBuilder:

Public Member Functions
	EdgeBuilder (ModelGraph &graph)
	Constructor.
void	build ()
	Add the edge to the ModelGraph.
EdgeBuilder &	withArmature (const Eigen::VectorXd &armature_)
	Specify armature.
EdgeBuilder &	withDamping (const Eigen::VectorXd &damping_)
	Specify damping.
EdgeBuilder &	withFriction (const Eigen::VectorXd &friction_)
	Specify friction.
EdgeBuilder &	withFrictionLoss (const double frictionLoss_)
	Specify friction loss.
EdgeBuilder &	withJointType (const JointVariant &jtype)
	Specify the type of joint for the edge. Default : Fixed.
EdgeBuilder &	withMaxConfig (const Eigen::VectorXd &maxConfig_)
	Specify limit maxConfig.
EdgeBuilder &	withMaxEffort (const Eigen::VectorXd &maxEffort_)
	Specify limit maxEffort.
EdgeBuilder &	withMaxVel (const Eigen::VectorXd &maxVel_)
	Specify limit maxVel.
EdgeBuilder &	withMinConfig (const Eigen::VectorXd &minConfig_)
	Specify limit minConfig.
EdgeBuilder &	withName (const std::string &name)
	Specify the name of the edge.
EdgeBuilder &	withQref (const Eigen::VectorXd &qref)
	Specify a bias for the joint configuration.
EdgeBuilder &	withSourcePose (const SE3 &source_pose)
	Specify the pose of the joint wrt the source vertex. Default : Identity.
EdgeBuilder &	withSourceVertex (const std::string &source_name)
	Specify the name of the source vertex.
EdgeBuilder &	withTargetPose (const SE3 &target_pose)
	Specify the pose of target vertex wrt edge. Default : Identity.
EdgeBuilder &	withTargetVertex (const std::string &target_name)
	Specify the name of the target vertex.

Public Attributes
boost::optional< Eigen::VectorXd >	armature
boost::optional< Eigen::VectorXd >	damping
boost::optional< Eigen::VectorXd >	friction
double	frictionLoss = 0
ModelGraph &	g
	ModelGraph to which the edge will be added.
boost::optional< Eigen::VectorXd >	maxConfig
boost::optional< Eigen::VectorXd >	maxEffort
boost::optional< Eigen::VectorXd >	maxVel
boost::optional< Eigen::VectorXd >	minConfig
EdgeParameters	param
	Parameters of the edge.

Detailed Description

Builder interface to add an edge to the graph. Allows for an easy customization of the edge.

Definition at line 202 of file model-graph.hpp.

Constructor & Destructor Documentation

◆ EdgeBuilder()

EdgeBuilder ( ModelGraph & graph )

inlineexplicit

Constructor.

Definition at line 221 of file model-graph.hpp.

Member Function Documentation

◆ withArmature()

EdgeBuilder & withArmature ( const Eigen::VectorXd & armature_ )

inline

Specify armature.

Definition at line 314 of file model-graph.hpp.

◆ withDamping()

EdgeBuilder & withDamping ( const Eigen::VectorXd & damping_ )

inline

Specify damping.

Definition at line 307 of file model-graph.hpp.

◆ withFriction()

EdgeBuilder & withFriction ( const Eigen::VectorXd & friction_ )

inline

Specify friction.

Definition at line 300 of file model-graph.hpp.

◆ withFrictionLoss()

EdgeBuilder & withFrictionLoss ( const double frictionLoss_ )

inline

Specify friction loss.

Definition at line 321 of file model-graph.hpp.

◆ withJointType()

EdgeBuilder & withJointType ( const JointVariant & jtype )

inline

Specify the type of joint for the edge. Default : Fixed.

Definition at line 227 of file model-graph.hpp.

◆ withMaxConfig()

EdgeBuilder & withMaxConfig ( const Eigen::VectorXd & maxConfig_ )

inline

Specify limit maxConfig.

Definition at line 279 of file model-graph.hpp.

◆ withMaxEffort()

EdgeBuilder & withMaxEffort ( const Eigen::VectorXd & maxEffort_ )

inline

Specify limit maxEffort.

Definition at line 293 of file model-graph.hpp.

◆ withMaxVel()

EdgeBuilder & withMaxVel ( const Eigen::VectorXd & maxVel_ )

inline

Specify limit maxVel.

Definition at line 286 of file model-graph.hpp.

◆ withMinConfig()

EdgeBuilder & withMinConfig ( const Eigen::VectorXd & minConfig_ )

inline

Specify limit minConfig.

Definition at line 272 of file model-graph.hpp.

◆ withName()

EdgeBuilder & withName ( const std::string & name )

inline

Specify the name of the edge.

Definition at line 234 of file model-graph.hpp.

◆ withQref()

EdgeBuilder & withQref ( const Eigen::VectorXd & qref )

inline

Specify a bias for the joint configuration.

Definition at line 265 of file model-graph.hpp.

◆ withSourcePose()

EdgeBuilder & withSourcePose ( const SE3 & source_pose )

inline

Specify the pose of the joint wrt the source vertex. Default : Identity.

Definition at line 258 of file model-graph.hpp.

◆ withSourceVertex()

EdgeBuilder & withSourceVertex ( const std::string & source_name )

inline

Specify the name of the source vertex.

Definition at line 246 of file model-graph.hpp.

◆ withTargetPose()

EdgeBuilder & withTargetPose ( const SE3 & target_pose )

inline

Specify the pose of target vertex wrt edge. Default : Identity.

Definition at line 252 of file model-graph.hpp.

◆ withTargetVertex()

EdgeBuilder & withTargetVertex ( const std::string & target_name )

inline

Specify the name of the target vertex.

Definition at line 240 of file model-graph.hpp.

Member Data Documentation

◆ armature

boost::optional<Eigen::VectorXd> armature

Definition at line 214 of file model-graph.hpp.

◆ damping

boost::optional<Eigen::VectorXd> damping

Definition at line 216 of file model-graph.hpp.

◆ friction

boost::optional<Eigen::VectorXd> friction

Definition at line 215 of file model-graph.hpp.

◆ frictionLoss

double frictionLoss = 0

Definition at line 218 of file model-graph.hpp.

◆ g

ModelGraph& g

ModelGraph to which the edge will be added.

Definition at line 205 of file model-graph.hpp.

◆ maxConfig

boost::optional<Eigen::VectorXd> maxConfig

Definition at line 211 of file model-graph.hpp.

◆ maxEffort

boost::optional<Eigen::VectorXd> maxEffort

Definition at line 213 of file model-graph.hpp.

◆ maxVel

boost::optional<Eigen::VectorXd> maxVel

Definition at line 212 of file model-graph.hpp.

◆ minConfig

boost::optional<Eigen::VectorXd> minConfig

Definition at line 210 of file model-graph.hpp.

◆ param

EdgeParameters param

Parameters of the edge.

Definition at line 208 of file model-graph.hpp.

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

include/pinocchio/parsers/graph/model-graph.hpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EdgeBuilder()

Member Function Documentation

◆ withArmature()

◆ withDamping()

◆ withFriction()

◆ withFrictionLoss()

◆ withJointType()

◆ withMaxConfig()

◆ withMaxEffort()

◆ withMaxVel()

◆ withMinConfig()

◆ withName()

◆ withQref()

◆ withSourcePose()

◆ withSourceVertex()

◆ withTargetPose()

◆ withTargetVertex()

Member Data Documentation

◆ armature

◆ damping

◆ friction

◆ frictionLoss

◆ g

◆ maxConfig

◆ maxEffort

◆ maxVel

◆ minConfig

◆ param