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aikido
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Static properties from the DART MetaSkeleton.
More...
#include <MetaSkeletonStateSpace.hpp>
Public Member Functions | |
| Properties (const ::dart::dynamics::MetaSkeleton *metaskeleton) | |
Constructs the MetaSkeleton properties for _metaskeleton. More... | |
| const std::string & | getName () const |
| Return the name of the MetaSkeleton. | |
| std::size_t | getNumJoints () const |
| Return the number of joints in the MetaSkeleton. | |
| std::size_t | getNumDofs () const |
| Return the number of DOFs in the MetaSkeleton. | |
| const std::vector< std::string > & | getDofNames () const |
| Return the names of DOFs in the MetaSkeleton. | |
| std::size_t | getDofIndex (std::size_t ijoint, std::size_t ijointdof) const |
| Return the MetaSkeleton DOF index. | |
| std::size_t | getDofIndex (const std::string &dofName) const |
| Return the MetaSkeleton DOF index. | |
| const Eigen::VectorXd & | getPositionLowerLimits () const |
| Return the vector of position lower limits. | |
| const Eigen::VectorXd & | getPositionUpperLimits () const |
| Return the vector of position upper limits. | |
| const Eigen::VectorXd & | getVelocityLowerLimits () const |
| Return the vector of velocity lower limits. | |
| const Eigen::VectorXd & | getVelocityUpperLimits () const |
| Return the vector of velocity upper limits. | |
| bool | operator== (const Properties &otherProperties) const |
| Return whether two MetaSkeletonStateSpace::Properties are identical. More... | |
| bool | operator!= (const Properties &otherProperties) const |
| Return whether two MetaSkeletonStateSpace::Properties are different. More... | |
Protected Attributes | |
| std::string | mName |
| Name of the MetaSkeleton. | |
| std::size_t | mNumJoints |
| Number of joints in the MetaSkeleton. | |
| std::vector< std::string > | mDofNames |
| Names of DOFs in the MetaSkeleton. | |
| std::unordered_map< std::pair< std::size_t, std::size_t >, std::size_t, aikido::common::PairHash > | mIndexMap |
| Mapping from Joint index and Joint DOF index to MetaSkeleton DOF index. | |
| Eigen::VectorXd | mPositionLowerLimits |
| The metaskeleton's position lower limits. | |
| Eigen::VectorXd | mPositionUpperLimits |
| The metaskeleton's position upper limits. | |
| Eigen::VectorXd | mVelocityLowerLimits |
| The metaskeleton's velocity lower limits. | |
| Eigen::VectorXd | mVelocityUpperLimits |
| The metaskeleton's velocity upper limits. | |
Static properties from the DART MetaSkeleton.
These will not update if the MetaSkeleton is updated.
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explicit |
Constructs the MetaSkeleton properties for _metaskeleton.
| metaskeleton | MetaSkeleton to create properties for |
| bool aikido::statespace::dart::MetaSkeletonStateSpace::Properties::operator!= | ( | const Properties & | otherProperties | ) | const |
Return whether two MetaSkeletonStateSpace::Properties are different.
| otherProperties | Other Properties to compare against |
| bool aikido::statespace::dart::MetaSkeletonStateSpace::Properties::operator== | ( | const Properties & | otherProperties | ) | const |
Return whether two MetaSkeletonStateSpace::Properties are identical.
| otherProperties | Other Properties to compare against |
1.8.12