Detailed Description

Parameters of the motion.

Definition at line 24 of file common.h.

#include <common.h>

Inheritance diagram for humoto::pepper_mpc::RobotParameters:

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

etools::Matrix2	getBodyBounds () const
	Get respective bounds. More...

etools::Matrix2	getCoPBounds () const
	Get respective bounds. More...

etools::Matrix2	getNominalBaseAccelerationBounds () const
	Get respective bounds. More...

etools::Matrix2	getNominalBaseVelocityBounds () const
	Get respective bounds. 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	setDefaults ()
	Set members to their default values. 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_radius_

etools::Matrix2	body_bounds_

double	max_base_acceleration_

double	max_base_velocity_

double	max_nominal_base_acceleration_

double	max_nominal_base_velocity_

Protected Member Functions
void	finalize ()
	Finalize initialization. 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...

Static Protected Attributes
static const bool	default_crash_on_missing_entry_

Private Attributes
etools::Matrix2	base_acceleration_bounds_

etools::Matrix2	base_velocity_bounds_

etools::Matrix2	cop_bounds_

etools::Matrix2	nominal_base_acceleration_bounds_

etools::Matrix2	nominal_base_velocity_bounds_

Constructor & Destructor Documentation

◆ RobotParameters()

humoto::pepper_mpc::RobotParameters::RobotParameters ( )

inline

Default constructor.

Definition at line 124 of file common.h.

Member Function Documentation

◆ finalize()

void humoto::pepper_mpc::RobotParameters::finalize ( )

inlineprotectedvirtual

Finalize initialization.

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

Definition at line 55 of file common.h.

◆ getBodyBounds()

etools::Matrix2 humoto::pepper_mpc::RobotParameters::getBodyBounds ( ) const

inline

Get respective bounds.

Returns: [lb, ub] 2x2 matrix

Definition at line 153 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.

◆ getCoPBounds()

etools::Matrix2 humoto::pepper_mpc::RobotParameters::getCoPBounds ( ) const

inline

Get respective bounds.

Returns: [lb, ub] 2x2 matrix

Definition at line 135 of file common.h.

◆ getNominalBaseAccelerationBounds()

etools::Matrix2 humoto::pepper_mpc::RobotParameters::getNominalBaseAccelerationBounds ( ) const

inline

Get respective bounds.

Returns: [lb, ub] 2x2 matrix

Definition at line 147 of file common.h.

◆ getNominalBaseVelocityBounds()

etools::Matrix2 humoto::pepper_mpc::RobotParameters::getNominalBaseVelocityBounds ( ) const

inline

Get respective bounds.

Returns: [lb, ub] 2x2 matrix

Definition at line 141 of file common.h.

◆ 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_mpc::RobotParameters::setDefaults ( )

inlinevirtual

Set members to their default values.

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

Definition at line 107 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

◆ base_acceleration_bounds_

etools::Matrix2 humoto::pepper_mpc::RobotParameters::base_acceleration_bounds_

private

Definition at line 48 of file common.h.

◆ base_radius_

double humoto::pepper_mpc::RobotParameters::base_radius_

Definition at line 92 of file common.h.

◆ base_velocity_bounds_

etools::Matrix2 humoto::pepper_mpc::RobotParameters::base_velocity_bounds_

private

Definition at line 46 of file common.h.

◆ body_bounds_

etools::Matrix2 humoto::pepper_mpc::RobotParameters::body_bounds_

Definition at line 103 of file common.h.

◆ cop_bounds_

etools::Matrix2 humoto::pepper_mpc::RobotParameters::cop_bounds_

private

Definition at line 40 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.

◆ max_base_acceleration_

double humoto::pepper_mpc::RobotParameters::max_base_acceleration_

Definition at line 100 of file common.h.

◆ max_base_velocity_

double humoto::pepper_mpc::RobotParameters::max_base_velocity_

Definition at line 98 of file common.h.

◆ max_nominal_base_acceleration_

double humoto::pepper_mpc::RobotParameters::max_nominal_base_acceleration_

Definition at line 96 of file common.h.

◆ max_nominal_base_velocity_

double humoto::pepper_mpc::RobotParameters::max_nominal_base_velocity_

Definition at line 94 of file common.h.

◆ nominal_base_acceleration_bounds_

etools::Matrix2 humoto::pepper_mpc::RobotParameters::nominal_base_acceleration_bounds_

private

Definition at line 44 of file common.h.

◆ nominal_base_velocity_bounds_

etools::Matrix2 humoto::pepper_mpc::RobotParameters::nominal_base_velocity_bounds_

private

Definition at line 42 of file common.h.

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

modules/pepper_mpc/include/pepper_mpc/common.h

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Attributes

Private Attributes

Constructor & Destructor Documentation

◆ RobotParameters()

Member Function Documentation

◆ finalize()

◆ getBodyBounds()

◆ getConfigSectionID()

◆ getCoPBounds()

◆ getNominalBaseAccelerationBounds()

◆ getNominalBaseVelocityBounds()

◆ 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

◆ base_acceleration_bounds_

◆ base_radius_

◆ base_velocity_bounds_

◆ body_bounds_

◆ cop_bounds_

◆ default_crash_on_missing_entry_

◆ max_base_acceleration_

◆ max_base_velocity_

◆ max_nominal_base_acceleration_

◆ max_nominal_base_velocity_

◆ nominal_base_acceleration_bounds_

◆ nominal_base_velocity_bounds_