The Configuration struct represents the joint configuration of a Skeleton. More...

#include <Skeleton.hpp>

Public Member Functions
	Configuration (const Eigen::VectorXd &positions=Eigen::VectorXd(), const Eigen::VectorXd &velocities=Eigen::VectorXd(), const Eigen::VectorXd &accelerations=Eigen::VectorXd(), const Eigen::VectorXd &forces=Eigen::VectorXd(), const Eigen::VectorXd &commands=Eigen::VectorXd())

	Configuration (const std::vector< std::size_t > &indices, const Eigen::VectorXd &positions=Eigen::VectorXd(), const Eigen::VectorXd &velocities=Eigen::VectorXd(), const Eigen::VectorXd &accelerations=Eigen::VectorXd(), const Eigen::VectorXd &forces=Eigen::VectorXd(), const Eigen::VectorXd &commands=Eigen::VectorXd())

bool	operator== (const Configuration &other) const
	Equality comparison operator.

bool	operator!= (const Configuration &other) const
	Inequality comparison operator.

Public Attributes
std::vector< std::size_t >	mIndices
	A list of degree of freedom indices that each entry in the Eigen::VectorXd members correspond to.

Eigen::VectorXd	mPositions
	Joint positions.

Eigen::VectorXd	mVelocities
	Joint velocities.

Eigen::VectorXd	mAccelerations
	Joint accelerations.

Eigen::VectorXd	mForces
	Joint forces.

Eigen::VectorXd	mCommands
	Joint commands.

Detailed Description

The Configuration struct represents the joint configuration of a Skeleton.

The size of each Eigen::VectorXd member in this struct must be equal to the number of degrees of freedom in the Skeleton or it must be zero. We assume that any Eigen::VectorXd member with zero entries should be ignored.

Constructor & Destructor Documentation

◆ Configuration() [1/2]

dart::dynamics::Skeleton::Configuration::Configuration	(	const Eigen::VectorXd &	positions = `Eigen::VectorXd()`,
		const Eigen::VectorXd &	velocities = `Eigen::VectorXd()`,
		const Eigen::VectorXd &	accelerations = `Eigen::VectorXd()`,
		const Eigen::VectorXd &	forces = `Eigen::VectorXd()`,
		const Eigen::VectorXd &	commands = `Eigen::VectorXd()`
	)

◆ Configuration() [2/2]

dart::dynamics::Skeleton::Configuration::Configuration	(	const std::vector< std::size_t > &	indices,
		const Eigen::VectorXd &	positions = `Eigen::VectorXd()`,
		const Eigen::VectorXd &	velocities = `Eigen::VectorXd()`,
		const Eigen::VectorXd &	accelerations = `Eigen::VectorXd()`,
		const Eigen::VectorXd &	forces = `Eigen::VectorXd()`,
		const Eigen::VectorXd &	commands = `Eigen::VectorXd()`
	)

Member Function Documentation

◆ operator!=()

bool dart::dynamics::Skeleton::Configuration::operator!= ( const Configuration & other ) const

Inequality comparison operator.

◆ operator==()

bool dart::dynamics::Skeleton::Configuration::operator== ( const Configuration & other ) const

Equality comparison operator.

Member Data Documentation

◆ mAccelerations

Eigen::VectorXd dart::dynamics::Skeleton::Configuration::mAccelerations

Joint accelerations.

◆ mCommands

Eigen::VectorXd dart::dynamics::Skeleton::Configuration::mCommands

Joint commands.

◆ mForces

Eigen::VectorXd dart::dynamics::Skeleton::Configuration::mForces

Joint forces.

◆ mIndices

std::vector<std::size_t> dart::dynamics::Skeleton::Configuration::mIndices

A list of degree of freedom indices that each entry in the Eigen::VectorXd members correspond to.

◆ mPositions

Eigen::VectorXd dart::dynamics::Skeleton::Configuration::mPositions

Joint positions.

◆ mVelocities

Eigen::VectorXd dart::dynamics::Skeleton::Configuration::mVelocities

Joint velocities.

Public Member Functions

Public Attributes