orwell::RobotState< dof > Class Template Reference

describes the RobotState More...

#include <RobotState.hpp>

Public Types
using	Vector = Eigen::Vector<double, dof>
	typedef

Public Member Functions
void	setPosition (const Vector &position)
	set the joint position
void	setVelocity (const Vector &velocity)
	set the joint velocity
void	setTorque (const Vector &torque)
	set the joint torque
const Vector &	getPosition () const
	get the joint position
const Vector &	getVelocity () const
	get the joint velocity
const Vector &	getTorque () const
	get the joint torque

Detailed Description

template<int dof>
class orwell::RobotState< dof >

describes the RobotState

Template Parameters

dof	number of degrees of freedom of the controlled system

Definition at line 26 of file StoppingCriterion.hpp.

Member Typedef Documentation

Vector

template<int dof>

using orwell::RobotState< dof >::Vector = Eigen::Vector<double, dof>

typedef

Definition at line 38 of file RobotState.hpp.

Member Function Documentation

getPosition()

template<int dof>

const RobotState< dof >::Vector & orwell::RobotState< dof >::getPosition

(

)

const

get the joint position

Returns

joint position

Definition at line 52 of file RobotState.hxx.

    {
        return position_;
    }

getTorque()

template<int dof>

const RobotState< dof >::Vector & orwell::RobotState< dof >::getTorque

(

)

const

get the joint torque

Returns

joint torque

Definition at line 64 of file RobotState.hxx.

    {
        return torque_;
    }

getVelocity()

template<int dof>

const RobotState< dof >::Vector & orwell::RobotState< dof >::getVelocity

(

)

const

get the joint velocity

Returns

joint velocity

Definition at line 58 of file RobotState.hxx.

    {
        return velocity_;
    }

setPosition()

template<int dof>

void orwell::RobotState< dof >::setPosition

(

const Vector &

position

)

set the joint position

Parameters

position

joint position

Definition at line 34 of file RobotState.hxx.

    {
        position_ = position;
    }

setTorque()

template<int dof>

void orwell::RobotState< dof >::setTorque

(

const Vector &

torque

)

set the joint torque

Parameters

torque

joint torque

Definition at line 46 of file RobotState.hxx.

    {
        torque_ = torque;
    }

setVelocity()

template<int dof>

void orwell::RobotState< dof >::setVelocity

(

const Vector &

velocity

)

set the joint velocity

Parameters

velocity

joint velocity

Definition at line 40 of file RobotState.hxx.

    {
        velocity_ = velocity;
    }

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

• RobotState.hpp
• StoppingCriterion.hpp
• RobotState.hxx