#include <tsid/bindings/python/robots/robot-wrapper.hpp>

Inheritance diagram for tsid::python::RobotPythonVisitor< Robot >:

Collaboration diagram for tsid::python::RobotPythonVisitor< Robot >:

Public Types
typedef std::vector< std::string >	std_vec
typedef Eigen::Matrix< double, 3, Eigen::Dynamic >	Matrix3x

Public Member Functions
template<class PyClass>
void	visit (PyClass &cl) const

Static Public Member Functions
static boost::shared_ptr< Robot >	makeClass (const std::string &filename, const std::vector< std::string > &stdvec, bp::object &bpObject, bool verbose)
static pinocchio::Model	model (const Robot &self)
static pinocchio::Data	data (const Robot &self)
static Eigen::VectorXd	rotor_inertias (const Robot &self)
static Eigen::VectorXd	gear_ratios (const Robot &self)
static bool	set_rotor_inertias (Robot &self, const Eigen::VectorXd &rotor_inertias)
static bool	set_gear_ratios (Robot &self, const Eigen::VectorXd &gear_ratios)
static Eigen::Vector3d	com (const Robot &self, const pinocchio::Data &data)
static Eigen::Vector3d	com_vel (const Robot &self, const pinocchio::Data &data)
static Eigen::Vector3d	com_acc (const Robot &self, const pinocchio::Data &data)
static Matrix3x	Jcom (const Robot &self, const pinocchio::Data &data)
static void	computeAllTerms (const Robot &self, pinocchio::Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v)
static Eigen::MatrixXd	mass (Robot &self, pinocchio::Data &data)
static Eigen::VectorXd	nonLinearEffects (const Robot &self, const pinocchio::Data &data)
static pinocchio::SE3	position (const Robot &self, const pinocchio::Data &data, const pinocchio::Model::JointIndex &index)
static pinocchio::Motion	velocity (const Robot &self, const pinocchio::Data &data, const pinocchio::Model::JointIndex &index)
static pinocchio::Motion	acceleration (const Robot &self, const pinocchio::Data &data, const pinocchio::Model::JointIndex &index)
static pinocchio::SE3	framePosition (const Robot &self, const pinocchio::Data &data, const pinocchio::Model::FrameIndex &index)
static pinocchio::Motion	frameVelocity (const Robot &self, const pinocchio::Data &data, const pinocchio::Model::FrameIndex &index)
static pinocchio::Motion	frameAcceleration (const Robot &self, const pinocchio::Data &data, const pinocchio::Model::FrameIndex &index)
static pinocchio::Motion	frameClassicAcceleration (const Robot &self, const pinocchio::Data &data, const pinocchio::Model::FrameIndex &index)
static pinocchio::Motion	frameVelocityWorldOriented (const Robot &self, const pinocchio::Data &data, const pinocchio::Model::FrameIndex &index)
static pinocchio::Motion	frameAccelerationWorldOriented (const Robot &self, const pinocchio::Data &data, const pinocchio::Model::FrameIndex &index)
static pinocchio::Motion	frameClassicAccelerationWorldOriented (const Robot &self, const pinocchio::Data &data, const pinocchio::Model::FrameIndex &index)
static Eigen::Vector3d	angularMomentumTimeVariation (const Robot &self, const pinocchio::Data &data)
static void	setGravity (Robot &self, const pinocchio::Motion &gravity)
static void	expose (const std::string &class_name)

Member Typedef Documentation

◆ Matrix3x

template<typename Robot>

typedef Eigen::Matrix<double, 3, Eigen::Dynamic> tsid::python::RobotPythonVisitor< Robot >::Matrix3x

◆ std_vec

template<typename Robot>

typedef std::vector<std::string> tsid::python::RobotPythonVisitor< Robot >::std_vec

Member Function Documentation

◆ acceleration()

template<typename Robot>

pinocchio::Motion tsid::python::RobotPythonVisitor< Robot >::acceleration	(	const Robot &	self,
		const pinocchio::Data &	data,
		const pinocchio::Model::JointIndex &	index )

inlinestatic

◆ angularMomentumTimeVariation()

template<typename Robot>

Eigen::Vector3d tsid::python::RobotPythonVisitor< Robot >::angularMomentumTimeVariation	(	const Robot &	self,
		const pinocchio::Data &	data )

inlinestatic

◆ com()

template<typename Robot>

Eigen::Vector3d tsid::python::RobotPythonVisitor< Robot >::com	(	const Robot &	self,
		const pinocchio::Data &	data )

inlinestatic

◆ com_acc()

template<typename Robot>

Eigen::Vector3d tsid::python::RobotPythonVisitor< Robot >::com_acc	(	const Robot &	self,
		const pinocchio::Data &	data )

inlinestatic

◆ com_vel()

template<typename Robot>

Eigen::Vector3d tsid::python::RobotPythonVisitor< Robot >::com_vel	(	const Robot &	self,
		const pinocchio::Data &	data )

inlinestatic

◆ computeAllTerms()

template<typename Robot>

void tsid::python::RobotPythonVisitor< Robot >::computeAllTerms	(	const Robot &	self,
		pinocchio::Data &	data,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	v )

inlinestatic

◆ data()

template<typename Robot>

pinocchio::Data tsid::python::RobotPythonVisitor< Robot >::data ( const Robot & self )

inlinestatic

◆ expose()

template<typename Robot>

void tsid::python::RobotPythonVisitor< Robot >::expose ( const std::string & class_name )

inlinestatic

◆ frameAcceleration()

template<typename Robot>

pinocchio::Motion tsid::python::RobotPythonVisitor< Robot >::frameAcceleration	(	const Robot &	self,
		const pinocchio::Data &	data,
		const pinocchio::Model::FrameIndex &	index )

inlinestatic

◆ frameAccelerationWorldOriented()

template<typename Robot>

pinocchio::Motion tsid::python::RobotPythonVisitor< Robot >::frameAccelerationWorldOriented	(	const Robot &	self,
		const pinocchio::Data &	data,
		const pinocchio::Model::FrameIndex &	index )

inlinestatic

◆ frameClassicAcceleration()

template<typename Robot>

pinocchio::Motion tsid::python::RobotPythonVisitor< Robot >::frameClassicAcceleration	(	const Robot &	self,
		const pinocchio::Data &	data,
		const pinocchio::Model::FrameIndex &	index )

inlinestatic

◆ frameClassicAccelerationWorldOriented()

template<typename Robot>

pinocchio::Motion tsid::python::RobotPythonVisitor< Robot >::frameClassicAccelerationWorldOriented	(	const Robot &	self,
		const pinocchio::Data &	data,
		const pinocchio::Model::FrameIndex &	index )

inlinestatic

◆ framePosition()

template<typename Robot>

pinocchio::SE3 tsid::python::RobotPythonVisitor< Robot >::framePosition	(	const Robot &	self,
		const pinocchio::Data &	data,
		const pinocchio::Model::FrameIndex &	index )

inlinestatic

◆ frameVelocity()

template<typename Robot>

pinocchio::Motion tsid::python::RobotPythonVisitor< Robot >::frameVelocity	(	const Robot &	self,
		const pinocchio::Data &	data,
		const pinocchio::Model::FrameIndex &	index )

inlinestatic

◆ frameVelocityWorldOriented()

template<typename Robot>

pinocchio::Motion tsid::python::RobotPythonVisitor< Robot >::frameVelocityWorldOriented	(	const Robot &	self,
		const pinocchio::Data &	data,
		const pinocchio::Model::FrameIndex &	index )

inlinestatic

◆ gear_ratios()

template<typename Robot>

Eigen::VectorXd tsid::python::RobotPythonVisitor< Robot >::gear_ratios ( const Robot & self )

inlinestatic

◆ Jcom()

template<typename Robot>

Matrix3x tsid::python::RobotPythonVisitor< Robot >::Jcom	(	const Robot &	self,
		const pinocchio::Data &	data )

inlinestatic

◆ makeClass()

template<typename Robot>

boost::shared_ptr< Robot > tsid::python::RobotPythonVisitor< Robot >::makeClass	(	const std::string &	filename,
		const std::vector< std::string > &	stdvec,
		bp::object &	bpObject,
		bool	verbose )

inlinestatic

◆ mass()

template<typename Robot>

Eigen::MatrixXd tsid::python::RobotPythonVisitor< Robot >::mass	(	Robot &	self,
		pinocchio::Data &	data )

inlinestatic

◆ model()

template<typename Robot>

pinocchio::Model tsid::python::RobotPythonVisitor< Robot >::model ( const Robot & self )

inlinestatic

◆ nonLinearEffects()

template<typename Robot>

Eigen::VectorXd tsid::python::RobotPythonVisitor< Robot >::nonLinearEffects	(	const Robot &	self,
		const pinocchio::Data &	data )

inlinestatic

◆ position()

template<typename Robot>

pinocchio::SE3 tsid::python::RobotPythonVisitor< Robot >::position	(	const Robot &	self,
		const pinocchio::Data &	data,
		const pinocchio::Model::JointIndex &	index )

inlinestatic

◆ rotor_inertias()

template<typename Robot>

Eigen::VectorXd tsid::python::RobotPythonVisitor< Robot >::rotor_inertias ( const Robot & self )

inlinestatic

◆ set_gear_ratios()

template<typename Robot>

bool tsid::python::RobotPythonVisitor< Robot >::set_gear_ratios	(	Robot &	self,
		const Eigen::VectorXd &	gear_ratios )

inlinestatic

◆ set_rotor_inertias()

template<typename Robot>

bool tsid::python::RobotPythonVisitor< Robot >::set_rotor_inertias	(	Robot &	self,
		const Eigen::VectorXd &	rotor_inertias )

inlinestatic

◆ setGravity()

template<typename Robot>

void tsid::python::RobotPythonVisitor< Robot >::setGravity	(	Robot &	self,
		const pinocchio::Motion &	gravity )

inlinestatic

◆ velocity()

template<typename Robot>

pinocchio::Motion tsid::python::RobotPythonVisitor< Robot >::velocity	(	const Robot &	self,
		const pinocchio::Data &	data,
		const pinocchio::Model::JointIndex &	index )

inlinestatic

◆ visit()

template<typename Robot>

template<class PyClass>

void tsid::python::RobotPythonVisitor< Robot >::visit ( PyClass & cl ) const

inline

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

include/tsid/bindings/python/robots/robot-wrapper.hpp

Public Types

Public Member Functions

Static Public Member Functions

Member Typedef Documentation

◆ Matrix3x

◆ std_vec

Member Function Documentation

◆ acceleration()

◆ angularMomentumTimeVariation()

◆ com()

◆ com_acc()

◆ com_vel()

◆ computeAllTerms()

◆ data()

◆ expose()

◆ frameAcceleration()

◆ frameAccelerationWorldOriented()

◆ frameClassicAcceleration()

◆ frameClassicAccelerationWorldOriented()

◆ framePosition()

◆ frameVelocity()

◆ frameVelocityWorldOriented()

◆ gear_ratios()

◆ Jcom()

◆ makeClass()

◆ mass()

◆ model()

◆ nonLinearEffects()

◆ position()

◆ rotor_inertias()

◆ set_gear_ratios()

◆ set_rotor_inertias()

◆ setGravity()

◆ velocity()

◆ visit()