Robotics Library  0.7.0
Public Member Functions | Private Attributes | List of all members
rl::mdl::Helical Class Reference

#include <Helical.h>

Inheritance diagram for rl::mdl::Helical:
Inheritance graph

Public Member Functions

 Helical ()
virtual ~Helical ()
::rl::math::Real getPitch () const
void setPitch (const ::rl::math::Real &h)
void setPosition (const ::rl::math::Vector &q)
- Public Member Functions inherited from rl::mdl::Joint
 Joint (const ::std::size_t &dofPosition, const ::std::size_t &dofVelocity)
virtual ~Joint ()
virtual void clip (::rl::math::Vector &q) const
virtual ::rl::math::Real distance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
void forwardAcceleration ()
void forwardDynamics1 ()
void forwardDynamics2 ()
void forwardDynamics3 ()
void forwardVelocity ()
virtual ::rl::math::Vector generatePositionGaussian (const ::rl::math::ConstVectorRef &rand, const ::rl::math::ConstVectorRef &mean, const ::rl::math::ConstVectorRef &sigma) const
virtual ::rl::math::Vector generatePositionUniform (const ::rl::math::ConstVectorRef &rand) const
const ::rl::math::VectorgetAcceleration () const
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & getAccelerationUnits () const
::std::size_t getDof () const
::std::size_t getDofPosition () const
const ::rl::math::VectorgetMaximum () const
const ::rl::math::VectorgetMinimum () const
const ::rl::math::VectorgetPosition () const
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & getPositionUnits () const
const ::rl::math::VectorgetTorque () const
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & getTorqueUnits () const
const ::rl::math::VectorgetSpeed () const
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & getSpeedUnits () const
const ::rl::math::VectorgetVelocity () const
const ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & getVelocityUnits () const
virtual void interpolate (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2, const ::rl::math::Real &alpha, ::rl::math::Vector &q) const
void inverseForce ()
virtual bool isValid (const ::rl::math::Vector &q) const
virtual void normalize (::rl::math::Vector &q) const
void setAcceleration (const ::rl::math::Vector &qdd)
void setTorque (const ::rl::math::Vector &tau)
void setVelocity (const ::rl::math::Vector &qd)
virtual void step (const ::rl::math::Vector &q1, const ::rl::math::Vector &qdot, ::rl::math::Vector &q2) const
virtual ::rl::math::Real transformedDistance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const
- Public Member Functions inherited from rl::mdl::Transform
 Transform ()
virtual ~Transform ()
void forwardPosition ()
const EdgegetEdgeDescriptor () const
virtual void inverseDynamics1 ()
virtual void inverseDynamics2 ()
void setEdgeDescriptor (const Edge &descriptor)
- Public Member Functions inherited from rl::mdl::Element
 Element ()
virtual ~Element ()
const ::std::string & getName () const
void setName (const ::std::string &name)

Private Attributes

::rl::math::Real h

Additional Inherited Members

- Public Types inherited from rl::mdl::Transform
typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::listS > Tree
typedef Tree::edge_descriptor Edge
- Public Attributes inherited from rl::mdl::Joint
::rl::math::MotionVector a
::rl::math::MotionVector c
::rl::math::Matrix D
::rl::math::Vector max
::rl::math::Vector min
::rl::math::Vector offset
::rl::math::Vector q
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > qUnits
::rl::math::Vector qd
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > qdUnits
::rl::math::Vector qdd
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > qddUnits
::rl::math::Matrix S
::rl::math::Vector speed
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > speedUnits
::rl::math::Vector tau
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > tauUnits
::rl::math::Vector u
::rl::math::Matrix U
::rl::math::MotionVector v
::Eigen::Matrix< bool, ::Eigen::Dynamic, 1 > wraparound
- Public Attributes inherited from rl::mdl::Transform
::rl::math::Transform t
::rl::math::PlueckerTransform x
- Public Attributes inherited from rl::mdl::Element

Constructor & Destructor Documentation

◆ Helical()

rl::mdl::Helical::Helical ( )

◆ ~Helical()

rl::mdl::Helical::~Helical ( )

Member Function Documentation

◆ getPitch()

rl::math::Real rl::mdl::Helical::getPitch ( ) const

◆ setPitch()

void rl::mdl::Helical::setPitch ( const ::rl::math::Real h)

◆ setPosition()

void rl::mdl::Helical::setPosition ( const ::rl::math::Vector q)

Implements rl::mdl::Joint.

Member Data Documentation

◆ h

::rl::math::Real rl::mdl::Helical::h

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