aikido::statespace::dart::MetaSkeletonStateSpace::Properties Class Reference

Static properties from the DART MetaSkeleton. More...

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

Public Member Functions
	Properties (const ::dart::dynamics::MetaSkeleton *metaskeleton)
	Constructs the MetaSkeleton properties for _metaskeleton. More...
const std::string &	getName () const
	Return the name of the MetaSkeleton. More...
std::size_t	getNumJoints () const
	Return the number of joints in the MetaSkeleton. More...
std::size_t	getNumDofs () const
	Return the number of DOFs in the MetaSkeleton. More...
const std::vector< std::string > &	getDofNames () const
	Return the names of DOFs in the MetaSkeleton. More...
std::size_t	getDofIndex (std::size_t ijoint, std::size_t ijointdof) const
	Return the MetaSkeleton DOF index. More...
std::size_t	getDofIndex (const std::string &dofName) const
	Return the MetaSkeleton DOF index. 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 MetaSkeletonStateSpace::Properties are identical. More...
bool	operator!= (const Properties &otherProperties) const
	Return whether two MetaSkeletonStateSpace::Properties are different. More...

Protected Attributes
std::string	mName
	Name of the MetaSkeleton. More...
std::size_t	mNumJoints
	Number of joints in the MetaSkeleton. More...
std::vector< std::string >	mDofNames
	Names of DOFs in the MetaSkeleton. More...
std::unordered_map< std::pair< std::size_t, std::size_t >, std::size_t, aikido::common::PairHash >	mIndexMap
	Mapping from Joint index and Joint DOF index to MetaSkeleton DOF index. More...
Eigen::VectorXd	mPositionLowerLimits
	The metaskeleton's position lower limits. More...
Eigen::VectorXd	mPositionUpperLimits
	The metaskeleton's position upper limits. More...
Eigen::VectorXd	mVelocityLowerLimits
	The metaskeleton's velocity lower limits. More...
Eigen::VectorXd	mVelocityUpperLimits
	The metaskeleton's velocity upper limits. More...

Detailed Description

Static properties from the DART MetaSkeleton.

These will not update if the MetaSkeleton is updated.

Constructor & Destructor Documentation

Properties()

aikido::statespace::dart::MetaSkeletonStateSpace::Properties::Properties ( const ::dart::dynamics::MetaSkeleton *  metaskeleton )

explicit

Constructs the MetaSkeleton properties for _metaskeleton.

Parameters

metaskeleton

MetaSkeleton to create properties for

Member Function Documentation

getDofIndex() [1/2]

std::size_t aikido::statespace::dart::MetaSkeletonStateSpace::Properties::getDofIndex

(

const std::string &

dofName

)

const

Return the MetaSkeleton DOF index.

getDofIndex() [2/2]

std::size_t aikido::statespace::dart::MetaSkeletonStateSpace::Properties::getDofIndex	(	std::size_t	ijoint,
		std::size_t	ijointdof
	)		const

Return the MetaSkeleton DOF index.

getDofNames()

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

(

)

const

Return the names of DOFs in the MetaSkeleton.

getName()

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

(

)

const

Return the name of the MetaSkeleton.

getNumDofs()

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

(

)

const

Return the number of DOFs in the MetaSkeleton.

getNumJoints()

std::size_t aikido::statespace::dart::MetaSkeletonStateSpace::Properties::getNumJoints

(

)

const

Return the number of joints in the MetaSkeleton.

getPositionLowerLimits()

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

(

)

const

Return the vector of position lower limits.

getPositionUpperLimits()

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

(

)

const

Return the vector of position upper limits.

getVelocityLowerLimits()

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

(

)

const

Return the vector of velocity lower limits.

getVelocityUpperLimits()

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

(

)

const

Return the vector of velocity upper limits.

operator!=()

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

(

const Properties &

otherProperties

)

const

Return whether two MetaSkeletonStateSpace::Properties are different.

Parameters

otherProperties

Other Properties to compare against

operator==()

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

(

const Properties &

otherProperties

)

const

Return whether two MetaSkeletonStateSpace::Properties are identical.

Parameters

otherProperties

Other Properties to compare against

Member Data Documentation

mDofNames

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

protected

Names of DOFs in the MetaSkeleton.

mIndexMap

std::unordered_map< std::pair<std::size_t, std::size_t>, std::size_t, aikido::common::PairHash> aikido::statespace::dart::MetaSkeletonStateSpace::Properties::mIndexMap

protected

Mapping from Joint index and Joint DOF index to MetaSkeleton DOF index.

mName

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

protected

Name of the MetaSkeleton.

mNumJoints

std::size_t aikido::statespace::dart::MetaSkeletonStateSpace::Properties::mNumJoints

protected

Number of joints in the MetaSkeleton.

mPositionLowerLimits

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

protected

The metaskeleton's position lower limits.

mPositionUpperLimits

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

protected

The metaskeleton's position upper limits.

mVelocityLowerLimits

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

protected

The metaskeleton's velocity lower limits.

mVelocityUpperLimits

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

protected

The metaskeleton's velocity upper limits.