humoto::rigidbody::RigidBodyPose Class Reference

Detailed Description

Definition at line 16 of file rigid_body_state.h.

#include <rigid_body_state.h>

Inheritance diagram for humoto::rigidbody::RigidBodyPose:

Public Member Functions
	RigidBodyPose ()
	Default constructor. More...
void	log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="rigid_body_pose") 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	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
etools::Vector3	position_
etools::Vector3	rpy_

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 default values. More...

Static Protected Attributes
static const bool	default_crash_on_missing_entry_

Friends
std::ostream &	operator<< (std::ostream &out, const RigidBodyPose &pose)
	Writes a pose to a stream. More...

Constructor & Destructor Documentation

RigidBodyPose()

humoto::rigidbody::RigidBodyPose::RigidBodyPose ( )

inline

Default constructor.

Definition at line 46 of file rigid_body_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::rigidbody::RigidBodyPose::log ( humoto::Logger &  logger, const LogEntryName &  parent = LogEntryName(), const std::string &  name = "rigid_body_pose"  ) const

inline

Log.

Parameters

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

Definition at line 83 of file rigid_body_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.

setDefaults()

void humoto::rigidbody::RigidBodyPose::setDefaults ( )

inlineprotectedvirtual

Set default values.

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

Definition at line 30 of file rigid_body_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.

Friends And Related Function Documentation

operator<<

std::ostream& operator<< ( std::ostream &  out, const RigidBodyPose &  pose  )

friend

Writes a pose to a stream.

Parameters

[in,out]	out	output stream
[in]	pose

Returns

output stream

Attention

No leading or trailing spaces.

Definition at line 62 of file rigid_body_state.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.

position_

etools::Vector3 humoto::rigidbody::RigidBodyPose::position_

Definition at line 38 of file rigid_body_state.h.

rpy_

etools::Vector3 humoto::rigidbody::RigidBodyPose::rpy_

Definition at line 39 of file rigid_body_state.h.

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

• core/include/rigid_body/rigid_body_state.h