humoto::pepper_mpc::ModelState Class Reference

Detailed Description

Definition at line 19 of file model_state.h.

#include <model_state.h>

Inheritance diagram for humoto::pepper_mpc::ModelState:

Public Member Functions
	ModelState ()
	Default constructor. More...
	ModelState (const double base_height, const double body_height, const double body_x_offset)
	Construct class using given parameters. More...
	ModelState (const double &base_mass, const double &body_mass, const etools::Vector3 &base_position, const etools::Vector3 &body_position)
	Construct class using given parameters. 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	set (const humoto::rigidbody::RigidBodyState &base_state, const humoto::rigidbody::PointMassState &body_state)
	Initialize state directly with the states of the CoM and feet. More...
void	set (const double &base_mass, const double &body_mass, const etools::Vector3 &base_position, const etools::Vector3 &body_position)
	Initialize state. More...
void	update (const double &base_mass, const double &body_mass, const etools::Vector3 &base_position, const etools::Vector3 &body_position, const double &base_orientation)
	Partial update of the state. 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	base_mass_
humoto::rigidbody::RigidBodyState	base_state_
	State of the base. More...
double	body_mass_
humoto::rigidbody::PointMassState	body_state_
	State of the body. More...

Protected Member Functions
virtual 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 ()
	Set members to their default values. More...
void	setParameters (const double base_height=0.125564931735602, const double body_height=7.50001340031501e-01, const double body_x_offset=-0.00656061094036387, const double base_mass=16.34234, const double body_mass=12.3389)
	Set default parameters. More...

Static Protected Attributes
static const bool	default_crash_on_missing_entry_

Constructor & Destructor Documentation

ModelState() [1/3]

humoto::pepper_mpc::ModelState::ModelState ( )

inline

Default constructor.

Definition at line 85 of file model_state.h.

ModelState() [2/3]

humoto::pepper_mpc::ModelState::ModelState ( const double  base_height, const double  body_height, const double  body_x_offset  )

inline

Construct class using given parameters.

Parameters

[in]	base_height
[in]	body_height
[in]	body_x_offset	offset of the body with respect to the base

Definition at line 98 of file model_state.h.

ModelState() [3/3]

humoto::pepper_mpc::ModelState::ModelState ( const double &  base_mass, const double &  body_mass, const etools::Vector3 &  base_position, const etools::Vector3 &  body_position  )

inline

Construct class using given parameters.

Parameters

[in]	base_mass
[in]	body_mass
[in]	base_position
[in]	body_position

Definition at line 114 of file model_state.h.

Member Function Documentation

finalize()

virtual void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::finalize ( )

inlineprotectedvirtualinherited

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

Reimplemented in humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIB< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGILU< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIL< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIU< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIB0< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAB< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAB0< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASL< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASLU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAL< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASB< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsALU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASB0< TaskBase > >, humoto::pepper_mpc::MPCParameters, humoto::pepper_mpc::MotionParameters, humoto::walking::RobotFootParameters, humoto::wpg04::MPCParameters, humoto::pepper_mpc::RobotParameters, humoto::pepper_ik::WBCParameters, humoto::pepper_ik::GeneralizedCoordinates< t_features >, humoto::wpg04::TaskCoPPosition, humoto::wpg04::TaskCoMVelocity, humoto::wpg04::TaskCoPVelocity, and humoto::wpg04::TaskTerminalConstraint.

Definition at line 102 of file config.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.

log()

void humoto::pepper_mpc::ModelState::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 195 of file model_state.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.

set() [1/2]

void humoto::pepper_mpc::ModelState::set ( const humoto::rigidbody::RigidBodyState &  base_state, const humoto::rigidbody::PointMassState &  body_state  )

inline

Initialize state directly with the states of the CoM and feet.

Parameters

[in]	base_state	state of the base
[in]	body_state	state of the body

Definition at line 130 of file model_state.h.

set() [2/2]

void humoto::pepper_mpc::ModelState::set ( const double &  base_mass, const double &  body_mass, const etools::Vector3 &  base_position, const etools::Vector3 &  body_position  )

inline

Initialize state.

Parameters

[in]	base_mass
[in]	body_mass
[in]	base_position
[in]	body_position

Definition at line 146 of file model_state.h.

setDefaults()

void humoto::pepper_mpc::ModelState::setDefaults ( )

inlineprotectedvirtual

Set members to their default values.

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

Definition at line 64 of file model_state.h.

setParameters()

void humoto::pepper_mpc::ModelState::setParameters ( const double  base_height = 0.125564931735602, const double  body_height = 7.50001340031501e-01, const double  body_x_offset = -0.00656061094036387, const double  base_mass = 16.34234, const double  body_mass = 12.3389  )

inlineprotected

Set default parameters.

Parameters

[in]	base_height
[in]	body_height
[in]	body_x_offset	offset of the body with respect to the base
[in]	base_mass
[in]	body_mass

Definition at line 41 of file model_state.h.

update()

void humoto::pepper_mpc::ModelState::update ( const double &  base_mass, const double &  body_mass, const etools::Vector3 &  base_position, const etools::Vector3 &  body_position, const double &  base_orientation  )

inline

Partial update of the state.

Parameters

[in]	base_mass
[in]	body_mass
[in]	base_position
[in]	body_position
[in]	base_orientation

Definition at line 172 of file model_state.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

base_mass_

double humoto::pepper_mpc::ModelState::base_mass_

Definition at line 77 of file model_state.h.

base_state_

humoto::rigidbody::RigidBodyState humoto::pepper_mpc::ModelState::base_state_

State of the base.

Definition at line 72 of file model_state.h.

body_mass_

double humoto::pepper_mpc::ModelState::body_mass_

Definition at line 78 of file model_state.h.

body_state_

humoto::rigidbody::PointMassState humoto::pepper_mpc::ModelState::body_state_

State of the body.

Definition at line 75 of file model_state.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.

---

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

• modules/pepper_mpc/include/pepper_mpc/model_state.h