BodyMotionData Class Reference

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

Collaboration diagram for BodyMotionData:

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< double >	trajectory
std::vector< bool >	toe_off_allowed
std::vector< bool >	in_floating_base_nullspace
std::vector< bool >	control_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

PiecewisePolynomial<double> trajectory

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

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

• drake/systems/robotInterfaces/BodyMotionData.h
• drake/systems/robotInterfaces/BodyMotionData.cpp