Drake
BodyOfInterest Class Reference

An object that holds important kinematic properties. More...

#include <examples/humanoid_controller/humanoid_status.h>

Public Member Functions

 BodyOfInterest (const std::string &name, const RigidBody< double > &body, const Vector3< double > &off)
 
void Update (const RigidBodyTree< double > &robot, const KinematicsCache< double > &cache)
 Updates pose, velocity, Jacobian, Jacobian_dot_times_v based on robot and cache. More...
 
const std::string & name () const
 
const RigidBody< double > & body () const
 
const Isometry3< double > & pose () const
 
const Vector6< double > & velocity () const
 
const MatrixX< double > & J () const
 
const Vector6< double > & Jdot_times_v () const
 

Detailed Description

An object that holds important kinematic properties.

For all the velocity / acceleration / wrench, the first 3 are always angular, and the last 3 are linear.

Constructor & Destructor Documentation

BodyOfInterest ( const std::string &  name,
const RigidBody< double > &  body,
const Vector3< double > &  off 
)
inline
Parameters
nameName of this object. It does not have to match body's name.
bodyReference to a RigidBody, which must be valid through the lifespan of this obejct.
offOffset expressed in the body frame.

Member Function Documentation

const RigidBody<double>& body ( ) const
inline
const MatrixX<double>& J ( ) const
inline
const Vector6<double>& Jdot_times_v ( ) const
inline
const std::string& name ( ) const
inline
const Isometry3<double>& pose ( ) const
inline

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void Update ( const RigidBodyTree< double > &  robot,
const KinematicsCache< double > &  cache 
)
inline

Updates pose, velocity, Jacobian, Jacobian_dot_times_v based on robot and cache.

Parameters
robotis the robot model.
cacheis the kinematics cache. It needs to be initialized first

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const Vector6<double>& velocity ( ) const
inline

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