Detailed Description

template<int t_features>
class humoto::pepper_ik::GeneralizedCoordinates< t_features >

State of the model.

Template Parameters

t_features features which identify model

Definition at line 22 of file generalized_coordinates.h.

#include <generalized_coordinates.h>

Inheritance diagram for humoto::pepper_ik::GeneralizedCoordinates< t_features >:

Public Member Functions
	GeneralizedCoordinates ()
	Default constructor. More...

	asVector () const
	Returns generalized coordinates as a single vector [root_pose; joint_angles]. More...

	EIGENTOOLS_CONSTANT_SIZE_VECTOR (ModelDescription< t_features >::ROOT_DOF_NUMBER) root_pose_

	EIGENTOOLS_CONSTANT_SIZE_VECTOR (ModelDescription< t_features >::JOINTS_DOF_NUMBER) joint_angles_

void	getRootOrientation (etools::Vector3 &rpy) const
	Get orientation of the root. More...

void	getRootPosition (etools::Vector3 &position) const
	Get position of the root. More...

void	log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="model_state") const
	Log. More...

void	readConfig (t_Reader &reader, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (t_Reader &reader, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (t_Reader &reader, const char *node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const char *node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readNestedConfig (t_Reader &reader, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read nested configuration node. More...

void	setRootOrientation (const etools::Vector3 &rpy)
	Set orientation of the root. More...

void	setRootPosition (const etools::Vector3 &position)
	Set position of the root. More...

void	writeConfig (t_Writer &writer) const
	Write configuration. More...

void	writeConfig (t_Writer &writer, const std::string &node_name) const
	Write configuration. More...

void	writeConfig (const std::string &file_name) const
	Write configuration. More...

void	writeConfig (const std::string &file_name, const std::string &node_name) const
	Write configuration. More...

void	writeNestedConfig (t_Writer &writer) const
	Write nested configuration node. More...

void	writeNestedConfig (t_Writer &writer, const std::string &node_name) const
	Write nested configuration node. More...

Protected Member Functions
void	finalize ()
	Check length of the vector of joint angles after reading it from a configuration file. More...

virtual const std::string &	getConfigSectionID () const=0
	Return the default name of a configuration node corresponding to this class. More...

virtual std::size_t	getNumberOfEntries () const=0
	Get number of entries in the corresponding configuration node. More...

void	setDefaults ()
	Default configuration. More...

Static Protected Attributes
static const bool	default_crash_on_missing_entry_

Constructor & Destructor Documentation

◆ GeneralizedCoordinates()

template<int t_features>

humoto::pepper_ik::GeneralizedCoordinates< t_features >::GeneralizedCoordinates ( )

inline

Default constructor.

Definition at line 62 of file generalized_coordinates.h.

Member Function Documentation

◆ asVector()

template<int t_features>

humoto::pepper_ik::GeneralizedCoordinates< t_features >::asVector ( ) const

inline

Returns generalized coordinates as a single vector [root_pose; joint_angles].

Returns: generalized coordinates.

Definition at line 120 of file generalized_coordinates.h.

◆ EIGENTOOLS_CONSTANT_SIZE_VECTOR() [1/2]

template<int t_features>

humoto::pepper_ik::GeneralizedCoordinates< t_features >::EIGENTOOLS_CONSTANT_SIZE_VECTOR ( ModelDescription< t_features >::ROOT_DOF_NUMBER )

◆ EIGENTOOLS_CONSTANT_SIZE_VECTOR() [2/2]

template<int t_features>

humoto::pepper_ik::GeneralizedCoordinates< t_features >::EIGENTOOLS_CONSTANT_SIZE_VECTOR ( ModelDescription< t_features >::JOINTS_DOF_NUMBER )

◆ finalize()

template<int t_features>

void humoto::pepper_ik::GeneralizedCoordinates< t_features >::finalize ( )

inlineprotectedvirtual

Check length of the vector of joint angles after reading it from a configuration file.

Reimplemented from humoto::config::CommonConfigurableBase< true >.

Definition at line 46 of file generalized_coordinates.h.

◆ getConfigSectionID()

virtual const std::string& humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::getConfigSectionID ( ) const

protectedpure virtualinherited

Return the default name of a configuration node corresponding to this class.

Returns: the name

Attention: Implementation of this method is added automatically upon inclusion of define_accessors.h if HUMOTO_CONFIG_SECTION_ID is defined.

Implemented in humoto::TaskBase.

◆ getNumberOfEntries()

virtual std::size_t humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::getNumberOfEntries ( ) const

protectedpure virtualinherited

Get number of entries in the corresponding configuration node.

Returns: number of entries

Implemented in humoto::ConfigurableOptimizationProblem.

◆ getRootOrientation()

template<int t_features>

void humoto::pepper_ik::GeneralizedCoordinates< t_features >::getRootOrientation ( etools::Vector3 & rpy ) const

inline

Get orientation of the root.

Parameters

[out] rpy

Definition at line 106 of file generalized_coordinates.h.

◆ getRootPosition()

template<int t_features>

void humoto::pepper_ik::GeneralizedCoordinates< t_features >::getRootPosition ( etools::Vector3 & position ) const

inline

Get position of the root.

Parameters

[out] position

Definition at line 95 of file generalized_coordinates.h.

◆ log()

template<int t_features>

void humoto::pepper_ik::GeneralizedCoordinates< t_features >::log	(	humoto::Logger &	logger,
		const LogEntryName &	parent = `LogEntryName()`,
		const std::string &	name = `"model_state"`
	)		const

inlinevirtual

Log.

Parameters

[in,out]	logger	logger
[in]	parent	parent
[in]	name	name

Implements humoto::ModelState.

Definition at line 135 of file generalized_coordinates.h.

◆ readConfig() [1/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry

Definition at line 167 of file config.h.

◆ readConfig() [2/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Definition at line 183 of file config.h.

◆ readConfig() [3/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const char *	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Note: Intercept implicit conversion of a pointer to bool.

Definition at line 202 of file config.h.

◆ readConfig() [4/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	crash_on_missing_entry

Definition at line 218 of file config.h.

◆ readConfig() [5/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	node_name	node name, the default is used if empty
[in]	crash_on_missing_entry

Definition at line 235 of file config.h.

◆ readConfig() [6/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const char *	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Note: Intercept implicit conversion of a pointer to bool.

Definition at line 255 of file config.h.

◆ readNestedConfig()

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readNestedConfig	(	t_Reader &	reader,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read nested configuration node.

Parameters

[in]	reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Definition at line 132 of file config.h.

◆ setDefaults()

template<int t_features>

void humoto::pepper_ik::GeneralizedCoordinates< t_features >::setDefaults ( )

inlineprotectedvirtual

Default configuration.

Implements humoto::config::CommonConfigurableBase< true >.

Definition at line 36 of file generalized_coordinates.h.

◆ setRootOrientation()

template<int t_features>

void humoto::pepper_ik::GeneralizedCoordinates< t_features >::setRootOrientation ( const etools::Vector3 & rpy )

inline

Set orientation of the root.

Parameters

[in] rpy

Definition at line 84 of file generalized_coordinates.h.

◆ setRootPosition()

template<int t_features>

void humoto::pepper_ik::GeneralizedCoordinates< t_features >::setRootPosition ( const etools::Vector3 & position )

inline

Set position of the root.

Parameters

[in] position

Definition at line 73 of file generalized_coordinates.h.

◆ writeConfig() [1/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig ( t_Writer & writer ) const

inlineinherited

Write configuration.

Parameters

[in,out] writer configuration writer

Definition at line 300 of file config.h.

◆ writeConfig() [2/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig	(	t_Writer &	writer,
		const std::string &	node_name
	)		const

inlineinherited

Write configuration.

Parameters

[in,out]	writer	configuration writer
[in]	node_name	node name, the default is used if empty

Definition at line 313 of file config.h.

◆ writeConfig() [3/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig ( const std::string & file_name ) const

inlineinherited

Write configuration.

Parameters

[in] file_name file name

Definition at line 328 of file config.h.

◆ writeConfig() [4/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig	(	const std::string &	file_name,
		const std::string &	node_name
	)		const

inlineinherited

Write configuration.

Parameters

[in]	file_name	file name
[in]	node_name	node name, the default is used if empty

Definition at line 342 of file config.h.

◆ writeNestedConfig() [1/2]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeNestedConfig ( t_Writer & writer ) const

inlineinherited

Write nested configuration node.

Parameters

[in,out] writer configuration writer

Definition at line 272 of file config.h.

◆ writeNestedConfig() [2/2]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeNestedConfig	(	t_Writer &	writer,
		const std::string &	node_name
	)		const

inlineinherited

Write nested configuration node.

Parameters

[in,out]	writer	configuration writer
[in]	node_name	node name, the default is used if empty

Definition at line 285 of file config.h.

Member Data Documentation

◆ default_crash_on_missing_entry_

const bool humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::default_crash_on_missing_entry_

staticprotectedinherited

Definition at line 67 of file config.h.

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

modules/pepper_ik/include/pepper_ik/generalized_coordinates.h

Detailed Description

template<int t_features> class humoto::pepper_ik::GeneralizedCoordinates< t_features >

Public Member Functions

Protected Member Functions

Static Protected Attributes

Constructor & Destructor Documentation

◆ GeneralizedCoordinates()

Member Function Documentation

◆ asVector()

◆ EIGENTOOLS_CONSTANT_SIZE_VECTOR() [1/2]

◆ EIGENTOOLS_CONSTANT_SIZE_VECTOR() [2/2]

◆ finalize()

◆ getConfigSectionID()

◆ getNumberOfEntries()

◆ getRootOrientation()

◆ getRootPosition()

◆ log()

◆ readConfig() [1/6]

◆ readConfig() [2/6]

◆ readConfig() [3/6]

◆ readConfig() [4/6]

◆ readConfig() [5/6]

◆ readConfig() [6/6]

◆ readNestedConfig()

◆ setDefaults()

◆ setRootOrientation()

◆ setRootPosition()

◆ writeConfig() [1/4]

◆ writeConfig() [2/4]

◆ writeConfig() [3/4]

◆ writeConfig() [4/4]

◆ writeNestedConfig() [1/2]

◆ writeNestedConfig() [2/2]

Member Data Documentation

◆ default_crash_on_missing_entry_

template<int t_features>
class humoto::pepper_ik::GeneralizedCoordinates< t_features >