aikido::statespace::dart::JointStateSpace::Properties Class Reference

Static properties from the DART Joint. More...

#include <aikido/statespace/dart/JointStateSpace.hpp>

Public Member Functions
	Properties (const ::dart::dynamics::Joint *joint)
	Constructs the joint properties for joint. More...
const std::string &	getName () const
	Return the name of the joint. More...
const std::string &	getType () const
	Return the type of the joint. More...
std::size_t	getNumDofs () const
	Return the number of DOFs in the joint. More...
const std::vector< std::string > &	getDofNames () const
	Return the names of DOFs in the joint. More...
bool	hasPositionLimit (std::size_t index) const
	Return whether the index DOF is position-limited. More...
bool	isPositionLimited () const
	Return whether any DOF is position-limited. More...
const Eigen::VectorXd &	getPositionLowerLimits () const
	Return the vector of position lower limits. More...
const Eigen::VectorXd &	getPositionUpperLimits () const
	Return the vector of position upper limits. More...
const Eigen::VectorXd &	getVelocityLowerLimits () const
	Return the vector of velocity lower limits. More...
const Eigen::VectorXd &	getVelocityUpperLimits () const
	Return the vector of velocity upper limits. More...
bool	operator== (const Properties &otherProperties) const
	Return whether two JointStateSpace::Properties are identical. More...
bool	operator!= (const Properties &otherProperties) const
	Return whether two JointStateSpace::Properties are different. More...

Protected Attributes
std::string	mName
	Name of the joint. More...
std::string	mType
	Name of the joint type. More...
std::vector< std::string >	mDofNames
	Names of DOFs in the Joint. More...
Eigen::VectorXd	mPositionLowerLimits
	The joint's position lower limits. More...
Eigen::VectorXd	mPositionUpperLimits
	The joint's position upper limits. More...
Eigen::Matrix< bool, Eigen::Dynamic, 1 >	mPositionHasLimits
	The joint's position limits. More...
Eigen::VectorXd	mVelocityLowerLimits
	The joint's velocity lower limits. More...
Eigen::VectorXd	mVelocityUpperLimits
	The joint's velocity upper limits. More...

Detailed Description

Static properties from the DART Joint.

These will not update if the Joint is updated.

Constructor & Destructor Documentation

Properties()

aikido::statespace::dart::JointStateSpace::Properties::Properties ( const ::dart::dynamics::Joint *  joint )

explicit

Constructs the joint properties for joint.

Parameters

joint

Joint to create properties for

Member Function Documentation

getDofNames()

const std::vector<std::string>& aikido::statespace::dart::JointStateSpace::Properties::getDofNames

(

)

const

Return the names of DOFs in the joint.

getName()

const std::string& aikido::statespace::dart::JointStateSpace::Properties::getName

(

)

const

Return the name of the joint.

getNumDofs()

std::size_t aikido::statespace::dart::JointStateSpace::Properties::getNumDofs

(

)

const

Return the number of DOFs in the joint.

getPositionLowerLimits()

const Eigen::VectorXd& aikido::statespace::dart::JointStateSpace::Properties::getPositionLowerLimits

(

)

const

Return the vector of position lower limits.

getPositionUpperLimits()

const Eigen::VectorXd& aikido::statespace::dart::JointStateSpace::Properties::getPositionUpperLimits

(

)

const

Return the vector of position upper limits.

getType()

const std::string& aikido::statespace::dart::JointStateSpace::Properties::getType

(

)

const

Return the type of the joint.

getVelocityLowerLimits()

const Eigen::VectorXd& aikido::statespace::dart::JointStateSpace::Properties::getVelocityLowerLimits

(

)

const

Return the vector of velocity lower limits.

getVelocityUpperLimits()

const Eigen::VectorXd& aikido::statespace::dart::JointStateSpace::Properties::getVelocityUpperLimits

(

)

const

Return the vector of velocity upper limits.

hasPositionLimit()

bool aikido::statespace::dart::JointStateSpace::Properties::hasPositionLimit

(

std::size_t

index

)

const

Return whether the index DOF is position-limited.

isPositionLimited()

bool aikido::statespace::dart::JointStateSpace::Properties::isPositionLimited

(

)

const

Return whether any DOF is position-limited.

operator!=()

bool aikido::statespace::dart::JointStateSpace::Properties::operator!=

(

const Properties &

otherProperties

)

const

Return whether two JointStateSpace::Properties are different.

Parameters

otherProperties

Other Properties to compare against

operator==()

bool aikido::statespace::dart::JointStateSpace::Properties::operator==

(

const Properties &

otherProperties

)

const

Return whether two JointStateSpace::Properties are identical.

Parameters

otherProperties

Other Properties to compare against

Member Data Documentation

mDofNames

std::vector<std::string> aikido::statespace::dart::JointStateSpace::Properties::mDofNames

protected

Names of DOFs in the Joint.

mName

std::string aikido::statespace::dart::JointStateSpace::Properties::mName

protected

Name of the joint.

mPositionHasLimits

Eigen::Matrix<bool, Eigen::Dynamic, 1> aikido::statespace::dart::JointStateSpace::Properties::mPositionHasLimits

protected

The joint's position limits.

mPositionLowerLimits

Eigen::VectorXd aikido::statespace::dart::JointStateSpace::Properties::mPositionLowerLimits

protected

The joint's position lower limits.

mPositionUpperLimits

Eigen::VectorXd aikido::statespace::dart::JointStateSpace::Properties::mPositionUpperLimits

protected

The joint's position upper limits.

mType

std::string aikido::statespace::dart::JointStateSpace::Properties::mType

protected

Name of the joint type.

mVelocityLowerLimits

Eigen::VectorXd aikido::statespace::dart::JointStateSpace::Properties::mVelocityLowerLimits

protected

The joint's velocity lower limits.

mVelocityUpperLimits

Eigen::VectorXd aikido::statespace::dart::JointStateSpace::Properties::mVelocityUpperLimits

protected

The joint's velocity upper limits.