Public Types
enum	compare_flags_t { COMPARE_ACQUISITION_TIME = 0x1, COMPARE_POSITION = 0x2, COMPARE_VELOCITY = 0x4, COMPARE_FORCE = 0x8, COMPARE_ALL = 0xf }

Public Member Functions
	State (State const &orig)

	State (size_t npos, size_t nvel, size_t nforce)

void	init (size_t npos, size_t nvel, size_t nforce)

void	resizeAndPadWithZeros (size_t npos, size_t nvel, size_t nforce)

bool	equal (State const &rhs, int flags=COMPARE_POSITION\|COMPARE_VELOCITY, double precision=1e-3) const

State &	operator= (State const &rhs)

Public Attributes
size_t	time_sec_

size_t	time_usec_

Eigen::VectorXd	position_

Eigen::VectorXd	velocity_

Eigen::VectorXd	force_

Member Function Documentation

void jspace::State::init	(	size_t	npos,
		size_t	nvel,
		size_t	nforce
	)

Resizes and zeros-out position_, velocity_, and force_ to the desired lengths. Also sets the timestamp to zero.

void jspace::State::resizeAndPadWithZeros	(	size_t	npos,
		size_t	nvel,
		size_t	nforce
	)

Resize position_, velocity_, and force_ to the desired lengths and, if necessary, pad them with zeros. Neither the existing values nor the timestamp get modified by this method.

Note: This method is intended as a cheap way to avoid segfaults when feeding user-provided data to jspace::Model::update() or similar. In a "real" application, your State and Model should definitely be guaranteed to agree on the dimensions of position_, velocity_, and force_.

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

/home/samir/Code/control/scl.git/src/scl/dynamics/tao/jspace/State.hpp
/home/samir/Code/control/scl.git/src/scl/dynamics/tao/jspace/State.cpp

Public Types

Public Member Functions

Public Attributes

Member Function Documentation