Drake
BodyMotionData Class Reference

#include <drake/systems/robotInterfaces/BodyMotionData.h>

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Public Member Functions

int findSegmentIndex (double t) const
 
int getBodyOrFrameId () const
 
bool isToeOffAllowed (int segment_index) const
 
bool isInFloatingBaseNullSpace (int segment_index) const
 
bool isPoseControlledWhenInContact (int segment_index) const
 
double getExponentialMapDampingRatioMultiplier () const
 
double getExponentialMapProportionalGainMultiplier () const
 
const PiecewisePolynomial< double > & getTrajectory () const
 
PiecewisePolynomial< double > & getTrajectory ()
 
const Eigen::Isometry3d & getTransformTaskToWorld () const
 
const Eigen::Matrix< double, 6, 1 > & getWeightMultiplier () const
 
const Eigen::Vector3d & getXyzDampingRatioMultiplier () const
 
const Eigen::Vector3d & getXyzProportionalGainMultiplier () const
 

Public Attributes

int body_or_frame_id
 
PiecewisePolynomial< doubletrajectory
 
std::vector< booltoe_off_allowed
 
std::vector< boolin_floating_base_nullspace
 
std::vector< boolcontrol_pose_when_in_contact
 
Eigen::Isometry3d transform_task_to_world
 
Eigen::Vector3d xyz_proportional_gain_multiplier
 
Eigen::Vector3d xyz_damping_ratio_multiplier
 
double exponential_map_proportional_gain_multiplier
 
double exponential_map_damping_ratio_multiplier
 
Eigen::Matrix< double, 6, 1 > weight_multiplier
 

Member Function Documentation

int findSegmentIndex ( double  t) const

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int getBodyOrFrameId ( ) const

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double getExponentialMapDampingRatioMultiplier ( ) const

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double getExponentialMapProportionalGainMultiplier ( ) const

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const PiecewisePolynomial< double > & getTrajectory ( ) const

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PiecewisePolynomial< double > & getTrajectory ( )
const Eigen::Isometry3d & getTransformTaskToWorld ( ) const

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const Eigen::Matrix< double, 6, 1 > & getWeightMultiplier ( ) const

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const Eigen::Vector3d & getXyzDampingRatioMultiplier ( ) const

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const Eigen::Vector3d & getXyzProportionalGainMultiplier ( ) const

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bool isInFloatingBaseNullSpace ( int  segment_index) const

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bool isPoseControlledWhenInContact ( int  segment_index) const

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bool isToeOffAllowed ( int  segment_index) const

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Member Data Documentation

int body_or_frame_id
std::vector<bool> control_pose_when_in_contact
double exponential_map_damping_ratio_multiplier
double exponential_map_proportional_gain_multiplier
std::vector<bool> in_floating_base_nullspace
std::vector<bool> toe_off_allowed
Eigen::Isometry3d transform_task_to_world
Eigen::Matrix<double, 6, 1> weight_multiplier
Eigen::Vector3d xyz_damping_ratio_multiplier
Eigen::Vector3d xyz_proportional_gain_multiplier

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