rb::dyn::State< DOF > Class Template Reference

Public Types
template<typename T , int N>
using	ContainerType = typename std::conditional_t<(N > 0), std::array<T, (unsigned int)N>, std::vector<T>>

Public Member Functions
unsigned int	GetBaseLinkIdx () const
ContainerType< std::string, DOF >	GetJointNames () const
std::vector< std::string >	GetLinkNames () const
Eigen::Vector< double, DOF >	GetQ () const
Eigen::Vector< double, DOF >	GetQddot () const
Eigen::Vector< double, DOF >	GetQdot () const
const Eigen::Vector< double, DOF >	GetTau () const
const math::se3v::MatrixType &	GetV0 () const
const math::se3v::MatrixType &	GetVdot0 () const
void	SetGravity (const math::se3v::MatrixType &gravity)
template<typename Derived >
void	SetQ (const Eigen::MatrixBase< Derived > &new_q)
template<typename Derived >
void	SetQddot (const Eigen::MatrixBase< Derived > &new_qddot)
template<typename Derived >
void	SetQdot (const Eigen::MatrixBase< Derived > &new_qdot)
template<typename Derived >
void	SetTau (const Eigen::MatrixBase< Derived > &new_tau)
void	SetV0 (const math::se3v::MatrixType &new_V0)
void	SetVdot0 (const math::se3v::MatrixType &new_Vdot0)

Public Attributes
ContainerType< math::SE3::MatrixType, DOF >	E {}
Eigen::Matrix< double, 6, DOF >	F
Eigen::Vector< double, DOF >	q
Eigen::Vector< double, DOF >	qddot
Eigen::Vector< double, DOF >	qdot
Eigen::Matrix< double, 6, DOF >	S
ContainerType< math::SE3::MatrixType, DOF >	T {}
Eigen::Vector< double, DOF >	tau
Eigen::Matrix< double, 6, DOF >	V
math::se3v::MatrixType	V0 {math::se3v::MatrixType::Zero()}
Eigen::Matrix< double, 6, DOF >	Vdot
math::se3v::MatrixType	Vdot0 {math::se3v::MatrixType::Zero()}

Friends
template<int >
class	Robot

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

• /external/rby1-sdk/include/rby1-sdk/dynamics/state.h