Drake
BodyMotionData Class Reference

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

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 drake::trajectories::PiecewisePolynomial< double > & getTrajectory () const
 
drake::trajectories::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
 
drake::trajectories::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

◆ findSegmentIndex()

int findSegmentIndex ( double  t) const

◆ getBodyOrFrameId()

int getBodyOrFrameId ( ) const

◆ getExponentialMapDampingRatioMultiplier()

double getExponentialMapDampingRatioMultiplier ( ) const

◆ getExponentialMapProportionalGainMultiplier()

double getExponentialMapProportionalGainMultiplier ( ) const

◆ getTrajectory() [1/2]

const PiecewisePolynomial< double > & getTrajectory ( ) const

◆ getTrajectory() [2/2]

PiecewisePolynomial< double > & getTrajectory ( )

◆ getTransformTaskToWorld()

const Eigen::Isometry3d & getTransformTaskToWorld ( ) const

◆ getWeightMultiplier()

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

◆ getXyzDampingRatioMultiplier()

const Eigen::Vector3d & getXyzDampingRatioMultiplier ( ) const

◆ getXyzProportionalGainMultiplier()

const Eigen::Vector3d & getXyzProportionalGainMultiplier ( ) const

◆ isInFloatingBaseNullSpace()

bool isInFloatingBaseNullSpace ( int  segment_index) const

◆ isPoseControlledWhenInContact()

bool isPoseControlledWhenInContact ( int  segment_index) const

◆ isToeOffAllowed()

bool isToeOffAllowed ( int  segment_index) const

Member Data Documentation

◆ body_or_frame_id

int body_or_frame_id

◆ control_pose_when_in_contact

std::vector<bool> control_pose_when_in_contact

◆ exponential_map_damping_ratio_multiplier

double exponential_map_damping_ratio_multiplier

◆ exponential_map_proportional_gain_multiplier

double exponential_map_proportional_gain_multiplier

◆ in_floating_base_nullspace

std::vector<bool> in_floating_base_nullspace

◆ toe_off_allowed

std::vector<bool> toe_off_allowed

◆ trajectory

◆ transform_task_to_world

Eigen::Isometry3d transform_task_to_world

◆ weight_multiplier

Eigen::Matrix<double, 6, 1> weight_multiplier

◆ xyz_damping_ratio_multiplier

Eigen::Vector3d xyz_damping_ratio_multiplier

◆ xyz_proportional_gain_multiplier

Eigen::Vector3d xyz_proportional_gain_multiplier

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