dart
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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. | |
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.
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.