Class to define velocities of the joints. More...

#include <JointVelocities.hpp>

Inheritance diagram for state_representation::JointVelocities:

Public Member Functions
const Eigen::VectorXd &	get_positions () const =delete

double	get_position (unsigned int joint_index) const =delete

double	get_position (const std::string &joint_name) const =delete

void	set_positions (const Eigen::VectorXd &positions)=delete

void	set_positions (const std::vector< double > &positions)=delete

void	set_position (double position, unsigned int joint_index) const =delete

void	set_position (double position, const std::string &joint_name) const =delete

const Eigen::VectorXd &	get_accelerations () const =delete

double	get_acceleration (unsigned int joint_index) const =delete

double	get_acceleration (const std::string &joint_name) const =delete

void	set_accelerations (const Eigen::VectorXd &accelerations)=delete

void	set_accelerations (const std::vector< double > &accelerations)=delete

void	set_acceleration (double acceleration, unsigned int joint_index) const =delete

void	set_acceleration (double acceleration, const std::string &joint_name) const =delete

const Eigen::VectorXd &	get_torques () const =delete

double	get_torque (unsigned int joint_index) const =delete

double	get_torque (const std::string &joint_name) const =delete

void	set_torques (const Eigen::VectorXd &torques)=delete

void	set_torques (const std::vector< double > &torques)=delete

void	set_torque (double torque, unsigned int joint_index) const =delete

void	set_torque (double torque, const std::string &joint_name) const =delete

JointState &	operator+= (const JointPositions &positions)=delete

JointState &	operator+= (const JointAccelerations &accelerations)=delete

JointState &	operator+= (const JointTorques &torques)=delete

JointState	operator+ (const JointPositions &positions) const =delete

JointState	operator+ (const JointAccelerations &accelerations) const =delete

JointState	operator+ (const JointTorques &torques) const =delete

JointState &	operator-= (const JointPositions &positions)=delete

JointState &	operator-= (const JointAccelerations &accelerations)=delete

JointState &	operator-= (const JointTorques &torques)=delete

JointState	operator- (const JointPositions &positions) const =delete

JointState	operator- (const JointAccelerations &accelerations) const =delete

JointState	operator- (const JointTorques &torques) const =delete

	JointVelocities ()
	Empty constructor.

	JointVelocities (const std::string &robot_name, unsigned int nb_joints=0)
	Constructor with name and number of joints provided.

	JointVelocities (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor with name and list of joint names provided.

	JointVelocities (const std::string &robot_name, const Eigen::VectorXd &velocities)
	Constructor with name and velocity values provided.

	JointVelocities (const std::string &robot_name, const std::vector< std::string > &joint_names, const Eigen::VectorXd &velocities)
	Constructor with name, a list of joint names and velocity values provided.

	JointVelocities (const JointVelocities &velocities)
	Copy constructor.

	JointVelocities (const JointState &state)
	Copy constructor from a joint state.

	JointVelocities (const JointAccelerations &accelerations)
	Integration constructor from joint accelerations by considering that it is equivalent to multiplying the accelerations by 1 second.

	JointVelocities (const JointPositions &positions)
	Differentiation constructor from joint positions by considering that it is equivalent to dividing the positions by 1 second.

JointVelocities &	operator= (const JointVelocities &velocities)=default
	Copy assignment operator that has to be defined to the custom assignment operator.

Eigen::VectorXd	data () const override
	Returns the velocities data as an Eigen vector.

virtual void	set_data (const Eigen::VectorXd &data) override
	Set the velocities data from an Eigen vector.

virtual void	set_data (const std::vector< double > &data) override
	Set the velocities data from a std vector.

void	clamp (double max_absolute_value, double noise_ratio=0.)
	Clamp inplace the magnitude of the velocity to the values in argument.

void	clamp (const Eigen::ArrayXd &max_absolute_value_array, const Eigen::ArrayXd &noise_ratio_array)
	Clamp inplace the magnitude of the velocity to the values in argument.

JointVelocities	clamped (double max_absolute_value, double noise_ratio=0.) const
	Return the velocity clamped to the values in argument.

JointVelocities	clamped (const Eigen::ArrayXd &max_absolute_value_array, const Eigen::ArrayXd &noise_ratio_array) const
	Return the velocity clamped to the values in argument.

JointVelocities	copy () const
	Return a copy of the joint velocities.

JointVelocities &	operator*= (double lambda)
	Scale inplace by a scalar.

JointVelocities	operator* (double lambda) const
	Scale joint velocities by a scalar.

JointPositions	operator* (const std::chrono::nanoseconds &dt) const
	Integrate joint velocities over a time period.

JointVelocities &	operator/= (double lambda)
	Scale inplace by a scalar.

JointVelocities	operator/ (double lambda) const
	Scale joint velocities by a scalar.

JointAccelerations	operator/ (const std::chrono::nanoseconds &dt) const
	Differentiate joint velocities pose over a time period.

JointVelocities &	operator+= (const JointVelocities &velocities)
	Add inplace other joint velocities.

JointVelocities &	operator+= (const JointState &state)
	Add inplace other joint velocities from a joint state.

JointVelocities	operator+ (const JointVelocities &velocities) const
	Add other joint velocities.

JointState	operator+ (const JointState &state) const
	Add another joint sate.

JointVelocities	operator- () const
	Negate joint velocities.

JointVelocities &	operator-= (const JointVelocities &velocities)
	Compute inplace the difference with other joint velocities.

JointVelocities &	operator-= (const JointState &state)
	Compute inplace the difference with a joint state.

JointVelocities	operator- (const JointVelocities &velocities) const
	Compute the difference with other joint velocities.

JointState	operator- (const JointState &state) const
	Compute the difference with a joint state.

Public Member Functions inherited from state_representation::JointState
	JointState ()
	Empty constructor for a joint state.

	JointState (const std::string &robot_name, unsigned int nb_joints=0)
	Constructor with name and number of joints provided.

	JointState (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor with name and list of joint names provided.

	JointState (const JointState &state)
	Copy constructor of a joint state.

JointState &	operator= (const JointState &state)
	Copy assignment operator that has to be defined to the custom assignment operator.

unsigned int	get_size () const
	Getter of the size from the attributes.

const std::vector< std::string > &	get_names () const
	Getter of the names attribute.

unsigned int	get_joint_index (const std::string &joint_name) const
	Get joint index by the name of the joint, if it exists.

const Eigen::VectorXd &	get_positions () const
	Getter of the positions attribute.

double	get_position (const std::string &joint_name) const
	Get the position of a joint by its name, if it exists.

double	get_position (unsigned int joint_index) const
	Get the position of a joint by its index, if it exists.

const Eigen::VectorXd &	get_velocities () const
	Getter of the velocities attribute.

double	get_velocity (const std::string &joint_name) const
	Get the velocity of a joint by its name, if it exists.

double	get_velocity (unsigned int joint_index) const
	Get the velocity of a joint by its index, if it exists.

const Eigen::VectorXd &	get_accelerations () const
	Getter of the accelerations attribute.

double	get_acceleration (const std::string &joint_name) const
	Get the acceleration of a joint by its name, if it exists.

double	get_acceleration (unsigned int joint_index) const
	Get the acceleration of a joint by its index, if it exists.

const Eigen::VectorXd &	get_torques () const
	Getter of the torques attribute.

double	get_torque (const std::string &joint_name) const
	Get the torque of a joint by its name, if it exists.

double	get_torque (unsigned int joint_index) const
	Get the torque of a joint by its index, if it exists.

Eigen::ArrayXd	array () const
	Returns the data vector as an Eigen array.

void	set_names (unsigned int nb_joints)
	Setter of the names attribute from the number of joints.

void	set_names (const std::vector< std::string > &names)
	Setter of the names attribute.

void	set_positions (const Eigen::VectorXd &positions)
	Setter of the positions attribute.

void	set_positions (const std::vector< double > &positions)
	Setter of the positions from std vector.

void	set_position (double position, const std::string &joint_name)
	Set the position of a joint by its name.

void	set_position (double position, unsigned int joint_index)
	Set the position of a joint by its index.

void	set_velocities (const Eigen::VectorXd &velocities)
	Setter of the velocities attribute.

void	set_velocities (const std::vector< double > &velocities)
	Setter of the velocities from std vector.

void	set_velocity (double velocity, const std::string &joint_name)
	Set the velocity of a joint by its name.

void	set_velocity (double velocity, unsigned int joint_index)
	Set the velocity of a joint by its index.

void	set_accelerations (const Eigen::VectorXd &accelerations)
	Setter of the accelerations attribute.

void	set_accelerations (const std::vector< double > &accelerations)
	Setter of the accelerations from std vector.

void	set_acceleration (double acceleration, const std::string &joint_name)
	Set the acceleration of a joint by its name.

void	set_acceleration (double acceleration, unsigned int joint_index)
	Set the acceleration of a joint by its index.

void	set_torques (const Eigen::VectorXd &torques)
	Setter of the torques attribute.

void	set_torques (const std::vector< double > &torques)
	Setter of the torques attributes.

void	set_torque (double torque, const std::string &joint_name)
	Set the torque of a joint by its name.

void	set_torque (double torque, unsigned int joint_index)
	Set the torque of a joint by its index.

void	clamp_state_variable (double max_absolute_value, const JointStateVariable &state_variable_type, double noise_ratio=0)
	Clamp inplace the magnitude of the a specific joint state variable.

void	clamp_state_variable (const Eigen::ArrayXd &max_absolute_value_array, const JointStateVariable &state_variable_type, const Eigen::ArrayXd &noise_ratio_array)
	Clamp inplace the magnitude of the a specific joint state variable for each individual joint.

JointState	copy () const
	Return a copy of the joint state.

double	dist (const JointState &state, const JointStateVariable &state_variable_type=JointStateVariable::ALL) const
	Compute the distance to another state as the sum of distances between each attribute.

void	reset () override
	Reset the object to a post-construction state.

bool	is_incompatible (const State &state) const override
	Check if the joint state is incompatible for operations with the state given as argument.

void	set_zero ()
	Set the joint state to a zero value.

std::vector< double >	to_std_vector () const
	Return the joint state as a std vector.

JointState &	operator*= (double lambda)
	Scale inplace by a scalar.

JointState	operator* (double lambda) const
	Scale a joint state by a scalar.

JointState &	operator/= (double lambda)
	Scale inplace by a scalar.

JointState	operator/ (double lambda) const
	Scale a joint state by a scalar.

JointState &	operator+= (const JointState &state)
	Add inplace another joint state.

JointState	operator+ (const JointState &state) const
	Add another joint sate.

JointState	operator- () const
	Negate a joint state.

JointState &	operator-= (const JointState &state)
	Compute inplace the difference with another joint state.

JointState	operator- (const JointState &state) const
	Compute the difference with another joint state.

Public Member Functions inherited from state_representation::State
	State ()
	Empty constructor.

	State (const std::string &name)
	Constructor with name specification.

	State (const State &state)
	Copy constructor from another state.

virtual	~State ()=default
	Virtual destructor.

State &	operator= (const State &state)
	Copy assignment operator that has to be defined to the custom assignment operator.

const StateType &	get_type () const
	Getter of the type attribute.

const std::string &	get_name () const
	Getter of the name attribute.

bool	is_empty () const
	Getter of the empty attribute.

const std::chrono::time_point< std::chrono::steady_clock > &	get_timestamp () const
	Getter of the timestamp attribute.

virtual void	set_name (const std::string &name)
	Setter of the name attribute.

void	reset_timestamp ()
	Reset the timestamp attribute to now.

virtual void	set_data (const Eigen::MatrixXd &data)
	Set the data of the state from an Eigen matrix.

double	get_age () const
	Get the age of the state, i.e. the time since the last modification.

bool	is_deprecated (double time_delay) const
	Check if the state is deprecated given a certain time delay.

template<typename DurationT >
bool	is_deprecated (const std::chrono::duration< int64_t, DurationT > &time_delay) const
	Check if the state is deprecated given a certain time delay.

	operator bool () const noexcept
	Boolean operator for the truthiness of a state.

Static Public Member Functions
static JointVelocities	Zero (const std::string &robot_name, unsigned int nb_joints)
	Constructor for zero joint velocities.

static JointVelocities	Zero (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor for zero joint velocities.

static JointVelocities	Random (const std::string &robot_name, unsigned int nb_joints)
	Constructor for random joint velocities.

static JointVelocities	Random (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor for random joint velocities.

Static Public Member Functions inherited from state_representation::JointState
static JointState	Zero (const std::string &robot_name, unsigned int nb_joints)
	Constructor for a zero joint state.

static JointState	Zero (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor for a zero joint state.

static JointState	Random (const std::string &robot_name, unsigned int nb_joints)
	Constructor for a random joint state.

static JointState	Random (const std::string &robot_name, const std::vector< std::string > &joint_names)
	Constructor for a random joint state.

Friends
JointVelocities	operator* (double lambda, const JointVelocities &velocities)
	Scale joint velocities by a scalar.

JointVelocities	operator* (const Eigen::MatrixXd &lambda, const JointVelocities &velocities)
	Scale joint velocities by a matrix.

JointPositions	operator* (const std::chrono::nanoseconds &dt, const JointVelocities &velocities)
	Integrate joint velocities over a time period.

std::ostream &	operator<< (std::ostream &os, const JointVelocities &velocities)
	Overload the ostream operator for printing.

Additional Inherited Members
Protected Member Functions inherited from state_representation::JointState
void	multiply_state_variable (const Eigen::MatrixXd &lambda, const JointStateVariable &state_variable_type)
	Proxy function that scale the specified state variable by a matrix.

Eigen::VectorXd	get_state_variable (const JointStateVariable &state_variable_type) const
	Getter of the variable value corresponding to the input.

void	set_state_variable (const Eigen::VectorXd &new_value, const JointStateVariable &state_variable_type)
	Setter of the variable value corresponding to the input.

void	set_state_variable (const std::vector< double > &new_value, const JointStateVariable &state_variable_type)
	Setter of the variable value corresponding to the input.

void	set_state_variable (double new_value, unsigned int joint_index, const JointStateVariable &state_variable_type)
	Setter of the variable value corresponding to the input.

std::string	to_string () const override
	Convert the state to its string representation.

Protected Member Functions inherited from state_representation::State
void	set_type (const StateType &type)
	Setter of the state type attribute.

void	set_empty (bool empty=true)
	Setter of the empty attribute.

void	assert_not_empty () const
	Throw an exception if the state is empty.

Detailed Description

Class to define velocities of the joints.

Definition at line 18 of file JointVelocities.hpp.

Constructor & Destructor Documentation

◆ JointVelocities() [1/9]

state_representation::JointVelocities::JointVelocities ( )

explicit

Empty constructor.

Definition at line 8 of file JointVelocities.cpp.

◆ JointVelocities() [2/9]

state_representation::JointVelocities::JointVelocities	(	const std::string &	robot_name,
		unsigned int	nb_joints = `0`
	)

explicit

Constructor with name and number of joints provided.

name The name of the state

nb_joints The number of joints for initialization

Definition at line 12 of file JointVelocities.cpp.

◆ JointVelocities() [3/9]

state_representation::JointVelocities::JointVelocities	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names
	)

explicit

Constructor with name and list of joint names provided.

name The name of the state

joint_names List of joint names

Definition at line 23 of file JointVelocities.cpp.

◆ JointVelocities() [4/9]

state_representation::JointVelocities::JointVelocities	(	const std::string &	robot_name,
		const Eigen::VectorXd &	velocities
	)

explicit

Constructor with name and velocity values provided.

name The name of the state

velocities The vector of velocities

Definition at line 17 of file JointVelocities.cpp.

◆ JointVelocities() [5/9]

state_representation::JointVelocities::JointVelocities	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names,
		const Eigen::VectorXd &	velocities
	)

explicit

Constructor with name, a list of joint names and velocity values provided.

name The name of the state

joint_names List of joint names

velocities The vector of velocities

Definition at line 28 of file JointVelocities.cpp.

◆ JointVelocities() [6/9]

state_representation::JointVelocities::JointVelocities ( const JointVelocities & velocities )

Copy constructor.

Definition at line 43 of file JointVelocities.cpp.

◆ JointVelocities() [7/9]

state_representation::JointVelocities::JointVelocities ( const JointState & state )

Copy constructor from a joint state.

Definition at line 35 of file JointVelocities.cpp.

◆ JointVelocities() [8/9]

state_representation::JointVelocities::JointVelocities ( const JointAccelerations & accelerations )

Integration constructor from joint accelerations by considering that it is equivalent to multiplying the accelerations by 1 second.

Definition at line 46 of file JointVelocities.cpp.

◆ JointVelocities() [9/9]

state_representation::JointVelocities::JointVelocities ( const JointPositions & positions )

Differentiation constructor from joint positions by considering that it is equivalent to dividing the positions by 1 second.

Definition at line 49 of file JointVelocities.cpp.

Member Function Documentation

◆ clamp() [1/2]

void state_representation::JointVelocities::clamp	(	const Eigen::ArrayXd &	max_absolute_value_array,
		const Eigen::ArrayXd &	noise_ratio_array
	)

Clamp inplace the magnitude of the velocity to the values in argument.

Parameters

max_absolute_value_array	The maximum magnitude of velocity for each joint
noise_ratio_array	If provided, this value will be used to apply a dead zone under which the velocity will be set to 0

Definition at line 84 of file JointVelocities.cpp.

◆ clamp() [2/2]

void state_representation::JointVelocities::clamp	(	double	max_absolute_value,
		double	noise_ratio = `0.`
	)

Clamp inplace the magnitude of the velocity to the values in argument.

Parameters

max_absolute_value	The maximum magnitude of velocity for all the joints
noise_ratio	If provided, this value will be used to apply a dead zone under which the velocity will be set to 0

Definition at line 80 of file JointVelocities.cpp.

◆ clamped() [1/2]

JointVelocities state_representation::JointVelocities::clamped	(	const Eigen::ArrayXd &	max_absolute_value_array,
		const Eigen::ArrayXd &	noise_ratio_array
	)		const

Return the velocity clamped to the values in argument.

Parameters

max_absolute_value_array	The maximum magnitude of velocity for each joint
noise_ratio_array	If provided, this value will be used to apply a dead zone under which the velocity will be set to 0

Returns: The clamped joint velocities

Definition at line 94 of file JointVelocities.cpp.

◆ clamped() [2/2]

JointVelocities state_representation::JointVelocities::clamped	(	double	max_absolute_value,
		double	noise_ratio = `0.`
	)		const

Return the velocity clamped to the values in argument.

Parameters

max_absolute_value	The maximum magnitude of velocity for all the joints
noise_ratio	If provided, this value will be used to apply a dead zone under which the velocity will be set to 0

Returns: The clamped joint velocities

Definition at line 88 of file JointVelocities.cpp.

◆ copy()

JointVelocities state_representation::JointVelocities::copy ( ) const

Return a copy of the joint velocities.

Definition at line 102 of file JointVelocities.cpp.

◆ data()

Eigen::VectorXd state_representation::JointVelocities::data ( ) const

overridevirtual

Returns the velocities data as an Eigen vector.

Returns: The velocities data vector

Reimplemented from state_representation::JointState.

Definition at line 68 of file JointVelocities.cpp.

◆ operator*() [1/2]

JointPositions state_representation::JointVelocities::operator* ( const std::chrono::nanoseconds & dt ) const

Integrate joint velocities over a time period.

Parameters

dt	The time period used for integration

Returns: The resulting joint positions after integration

Definition at line 128 of file JointVelocities.cpp.

◆ operator*() [2/2]

JointVelocities state_representation::JointVelocities::operator* ( double lambda ) const

Scale joint velocities by a scalar.

All joints in all the state variables are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled joint state

Parameters

lambda The scaling factor

Returns: The scaled joint velocities

Definition at line 112 of file JointVelocities.cpp.

◆ operator*=()

JointVelocities & state_representation::JointVelocities::operator*= ( double lambda )

Scale inplace by a scalar.

All joints in all the state variables are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled joint state

Parameters

lambda The scaling factor

Returns: The reference to the scaled joint velocities

Definition at line 107 of file JointVelocities.cpp.

◆ operator+() [1/2]

JointState state_representation::JointVelocities::operator+ ( const JointState & state ) const

Add another joint sate.

Parameters

state A joint state with same name and same joint names

Returns: The combined joint state

Definition at line 177 of file JointVelocities.cpp.

◆ operator+() [2/2]

JointVelocities state_representation::JointVelocities::operator+ ( const JointVelocities & velocities ) const

Add other joint velocities.

Parameters

accelerations Joint velocities with same name and same joint names

Returns: The combined joint velocities

Definition at line 173 of file JointVelocities.cpp.

◆ operator+=() [1/2]

JointVelocities & state_representation::JointVelocities::operator+= ( const JointState & state )

Add inplace other joint velocities from a joint state.

Parameters

state A joint state with same name and same joint names

Returns: The reference to the combined joint velocities

Definition at line 168 of file JointVelocities.cpp.

◆ operator+=() [2/2]

JointVelocities & state_representation::JointVelocities::operator+= ( const JointVelocities & velocities )

Add inplace other joint velocities.

Parameters

velocities Joint velocities with same name and same joint names

Returns: The reference to the combined joint velocities

Definition at line 163 of file JointVelocities.cpp.

◆ operator-() [1/3]

JointVelocities state_representation::JointVelocities::operator- ( ) const

Negate joint velocities.

Returns: The negative value of the joint velocities

Definition at line 181 of file JointVelocities.cpp.

◆ operator-() [2/3]

JointState state_representation::JointVelocities::operator- ( const JointState & state ) const

Compute the difference with a joint state.

Parameters

state A joint state with same name and same joint names

Returns: The difference in all the state variables

Definition at line 199 of file JointVelocities.cpp.

◆ operator-() [3/3]

JointVelocities state_representation::JointVelocities::operator- ( const JointVelocities & velocities ) const

Compute the difference with other joint velocities.

Parameters

velocities Joint velocities with same name and same joint names

Returns: The difference in velocities

Definition at line 195 of file JointVelocities.cpp.

◆ operator-=() [1/2]

JointVelocities & state_representation::JointVelocities::operator-= ( const JointState & state )

Compute inplace the difference with a joint state.

Parameters

state A joint state with same name and same joint names

Returns: The reference to the difference in velocities

Definition at line 190 of file JointVelocities.cpp.

◆ operator-=() [2/2]

JointVelocities & state_representation::JointVelocities::operator-= ( const JointVelocities & velocities )

Compute inplace the difference with other joint velocities.

Parameters

velocities Joint velocities with same name and same joint names

Returns: The reference to the difference in velocities

Definition at line 185 of file JointVelocities.cpp.

◆ operator/() [1/2]

JointAccelerations state_representation::JointVelocities::operator/ ( const std::chrono::nanoseconds & dt ) const

Differentiate joint velocities pose over a time period.

Parameters

dt	The time period used for derivation

Returns: The resulting joint accelerations after derivation

Definition at line 152 of file JointVelocities.cpp.

◆ operator/() [2/2]

JointVelocities state_representation::JointVelocities::operator/ ( double lambda ) const

Scale joint velocities by a scalar.

All joints in all the state variables are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled joint state

Parameters

lambda The scaling factor

Returns: The scaled joint velocities

Definition at line 148 of file JointVelocities.cpp.

◆ operator/=()

JointVelocities & state_representation::JointVelocities::operator/= ( double lambda )

Scale inplace by a scalar.

All joints in all the state variables are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled joint state

Parameters

lambda The scaling factor

Returns: The reference to the scaled joint velocities

Definition at line 143 of file JointVelocities.cpp.

◆ operator=()

JointVelocities & state_representation::JointVelocities::operator= ( const JointVelocities & velocities )

default

Copy assignment operator that has to be defined to the custom assignment operator.

Parameters

velocities The state with value to assign

Returns: Reference to the current state with new values

◆ Random() [1/2]

JointVelocities state_representation::JointVelocities::Random	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names
	)

static

Constructor for random joint velocities.

Parameters

robot_name	The name of the associated robot
joint_names	List of joint names

Returns: Joint velocities with random values

Definition at line 64 of file JointVelocities.cpp.

◆ Random() [2/2]

JointVelocities state_representation::JointVelocities::Random	(	const std::string &	robot_name,
		unsigned int	nb_joints
	)

static

Constructor for random joint velocities.

Parameters

robot_name	The name of the associated robot
nb_joints	The number of joints for initialization

Returns: Joint velocities with random values

Definition at line 60 of file JointVelocities.cpp.

◆ set_data() [1/2]

void state_representation::JointVelocities::set_data ( const Eigen::VectorXd & data )

overridevirtual

Set the velocities data from an Eigen vector.

Parameters

data	The velocities data vector

Reimplemented from state_representation::JointState.

Definition at line 72 of file JointVelocities.cpp.

◆ set_data() [2/2]

void state_representation::JointVelocities::set_data ( const std::vector< double > & data )

overridevirtual

Set the velocities data from a std vector.

Parameters

data	The velocities data vector

Reimplemented from state_representation::JointState.

Definition at line 76 of file JointVelocities.cpp.

◆ Zero() [1/2]

JointVelocities state_representation::JointVelocities::Zero	(	const std::string &	robot_name,
		const std::vector< std::string > &	joint_names
	)

static

Constructor for zero joint velocities.

Parameters

robot_name	The name of the associated robot
joint_names	List of joint names

Returns: Joint velocities with zero values

Definition at line 56 of file JointVelocities.cpp.

◆ Zero() [2/2]

JointVelocities state_representation::JointVelocities::Zero	(	const std::string &	robot_name,
		unsigned int	nb_joints
	)

static

Constructor for zero joint velocities.

Parameters

robot_name	The name of the associated robot
nb_joints	The number of joints for initialization

Returns: Joint velocities with zero values

Definition at line 52 of file JointVelocities.cpp.

Friends And Related Symbol Documentation

◆ operator* [1/3]

JointVelocities operator*	(	const Eigen::MatrixXd &	lambda,
		const JointVelocities &	velocities
	)

friend

Scale joint velocities by a matrix.

Parameters

lambda	The scaling matrix
velocities	The joint velocities to be scaled

Returns: The scaled joint velocities

Definition at line 122 of file JointVelocities.cpp.

◆ operator* [2/3]

JointPositions operator*	(	const std::chrono::nanoseconds &	dt,
		const JointVelocities &	velocities
	)

friend

Integrate joint velocities over a time period.

Parameters

dt	The time period used for integration
velocities	The joint velocities to be integrated

Returns: The resulting joint positions after integration

Definition at line 139 of file JointVelocities.cpp.

◆ operator* [3/3]

JointVelocities operator*	(	double	lambda,
		const JointVelocities &	velocities
	)

friend

Scale joint velocities by a scalar.

All joints in all the state variables are scaled by the same factor.

Parameters

lambda The scaling factor

Returns: The reference to the scaled joint state

Parameters

lambda	The scaling factor
velocities	The joint velocities to be scaled

Returns: The scaled joint velocities

Definition at line 116 of file JointVelocities.cpp.

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const JointVelocities &	velocities
	)

friend

Overload the ostream operator for printing.

Parameters

os	The ostream to append the string representing the state
state	The state to print

Returns: The appended ostream

Definition at line 203 of file JointVelocities.cpp.

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

/github/workspace/source/state_representation/include/state_representation/space/joint/JointVelocities.hpp
/github/workspace/source/state_representation/src/space/joint/JointVelocities.cpp

Public Member Functions

Static Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ JointVelocities() [1/9]

◆ JointVelocities() [2/9]

◆ JointVelocities() [3/9]

◆ JointVelocities() [4/9]

◆ JointVelocities() [5/9]

◆ JointVelocities() [6/9]

◆ JointVelocities() [7/9]

◆ JointVelocities() [8/9]

◆ JointVelocities() [9/9]

Member Function Documentation

◆ clamp() [1/2]

◆ clamp() [2/2]

◆ clamped() [1/2]

◆ clamped() [2/2]

◆ copy()

◆ data()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=()

◆ operator+() [1/2]

◆ operator+() [2/2]

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator-() [1/3]

◆ operator-() [2/3]

◆ operator-() [3/3]

◆ operator-=() [1/2]

◆ operator-=() [2/2]

◆ operator/() [1/2]

◆ operator/() [2/2]

◆ operator/=()

◆ operator=()

◆ Random() [1/2]

◆ Random() [2/2]

◆ set_data() [1/2]

◆ set_data() [2/2]

◆ Zero() [1/2]

◆ Zero() [2/2]

Friends And Related Symbol Documentation

◆ operator* [1/3]

◆ operator* [2/3]

◆ operator* [3/3]

◆ operator<<