Detailed Description

Parameters of the WBC problem.

Definition at line 25 of file common.h.

#include <common.h>

Inheritance diagram for humoto::pepper_ik::WBCParameters:

Public Member Functions
	WBCParameters ()

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	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...

Public Attributes
double	control_interval_

std::size_t	control_interval_ms_

double	joint_angle_error_tolerance_

std::size_t	maximal_number_of_iterations_

double	motion_parameters_tolerance_

Protected Member Functions
void	finalize ()
	This function is called automaticaly after reading a configuration file. Does nothing by default. 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 ()
	Initialize to default values. More...

Static Protected Attributes
static const bool	default_crash_on_missing_entry_

Constructor & Destructor Documentation

◆ WBCParameters()

humoto::pepper_ik::WBCParameters::WBCParameters ( )

inline

Definition at line 66 of file common.h.

Member Function Documentation

◆ finalize()

void humoto::pepper_ik::WBCParameters::finalize ( )

inlineprotectedvirtual

This function is called automaticaly after reading a configuration file. Does nothing by default.

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

Definition at line 49 of file common.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.

◆ 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()

void humoto::pepper_ik::WBCParameters::setDefaults ( )

inlineprotectedvirtual

Initialize to default values.

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

Definition at line 41 of file common.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

◆ control_interval_

double humoto::pepper_ik::WBCParameters::control_interval_

Definition at line 56 of file common.h.

◆ control_interval_ms_

std::size_t humoto::pepper_ik::WBCParameters::control_interval_ms_

Definition at line 57 of file common.h.

◆ 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.

◆ joint_angle_error_tolerance_

double humoto::pepper_ik::WBCParameters::joint_angle_error_tolerance_

Definition at line 59 of file common.h.

◆ maximal_number_of_iterations_

std::size_t humoto::pepper_ik::WBCParameters::maximal_number_of_iterations_

Definition at line 62 of file common.h.

◆ motion_parameters_tolerance_

double humoto::pepper_ik::WBCParameters::motion_parameters_tolerance_

Definition at line 60 of file common.h.

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

modules/pepper_ik/include/pepper_ik/common.h

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Attributes

Constructor & Destructor Documentation

◆ WBCParameters()

Member Function Documentation

◆ finalize()

◆ getConfigSectionID()

◆ getNumberOfEntries()

◆ readConfig() [1/6]

◆ readConfig() [2/6]

◆ readConfig() [3/6]

◆ readConfig() [4/6]

◆ readConfig() [5/6]

◆ readConfig() [6/6]

◆ readNestedConfig()

◆ setDefaults()

◆ writeConfig() [1/4]

◆ writeConfig() [2/4]

◆ writeConfig() [3/4]

◆ writeConfig() [4/4]

◆ writeNestedConfig() [1/2]

◆ writeNestedConfig() [2/2]

Member Data Documentation

◆ control_interval_

◆ control_interval_ms_

◆ default_crash_on_missing_entry_

◆ joint_angle_error_tolerance_

◆ maximal_number_of_iterations_

◆ motion_parameters_tolerance_