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dart::dynamics::Skeleton::Configuration Struct Reference

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. More...
 
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.

Member Data Documentation

◆ 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.


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