jspace::State Class Reference

#include <State.hpp>

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List of all members.

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 (State const &orig)
	State (size_t npos, size_t nvel, size_t nforce)
void	init (size_t npos, size_t nvel, size_t nforce)
	Resizes and zeros-out position_, velocity_, and force_ to the desired lengths.
void	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.
bool	equal (State const &rhs, int flags=COMPARE_POSITION|COMPARE_VELOCITY, double precision=1e-3) const
	Compares two states for equality.
State &	operator= (State const &rhs)
Public Attributes
size_t	time_sec_
size_t	time_usec_
Vector	position_
Vector	velocity_
Vector	force_

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Detailed Description

Definition at line 33 of file State.hpp.

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Member Enumeration Documentation

enum jspace::State::compare_flags_t

Enumerator:

COMPARE_ACQUISITION_TIME
COMPARE_POSITION
COMPARE_VELOCITY
COMPARE_FORCE
COMPARE_ALL

Definition at line 36 of file State.hpp.

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Constructor & Destructor Documentation

jspace::State::State

(

)

Definition at line 35 of file State.cpp.

References init().

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jspace::State::State

(

State const &

orig

)

Definition at line 42 of file State.cpp.

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

Definition at line 49 of file State.cpp.

References init().

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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.

Definition at line 56 of file State.cpp.

References force_, position_, time_sec_, time_usec_, and velocity_.

Referenced by tutsim::run(), and State().

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_.

Definition at line 95 of file State.cpp.

References jspace::_pad(), force_, position_, and velocity_.

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

Compares two states for equality.

You can specify which aspects of the state should be considered relevant, and also a precision for comparing floating point values.

Definition at line 119 of file State.cpp.

References jspace::compare(), COMPARE_ACQUISITION_TIME, COMPARE_FORCE, COMPARE_POSITION, COMPARE_VELOCITY, force_, position_, time_sec_, time_usec_, and velocity_.

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State & jspace::State::operator=

(

State const &

rhs

)

Definition at line 104 of file State.cpp.

References force_, position_, time_sec_, time_usec_, and velocity_.

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Member Data Documentation

size_t jspace::State::time_sec_

Definition at line 78 of file State.hpp.

Referenced by equal(), init(), and operator=().

size_t jspace::State::time_usec_

Definition at line 79 of file State.hpp.

Referenced by equal(), init(), and operator=().

Vector jspace::State::position_

Definition at line 80 of file State.hpp.

Referenced by jspace::JointGoalController::computeCommand(), equal(), init(), jspace::GoalControllerBase::init(), jspace::JointGoalController::latch(), operator=(), read_state_from_tree(), resizeAndPadWithZeros(), servo_cb(), and write_state_to_tree().

Vector jspace::State::velocity_

Definition at line 81 of file State.hpp.

Referenced by jspace::JointGoalController::computeCommand(), equal(), init(), operator=(), read_state_from_tree(), resizeAndPadWithZeros(), servo_cb(), tut05::PTask::updateStateAndJacobian(), and write_state_to_tree().

Vector jspace::State::force_

Definition at line 82 of file State.hpp.

Referenced by equal(), init(), operator=(), read_state_from_tree(), and resizeAndPadWithZeros().

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

• jspace/jspace/State.hpp
• jspace/jspace/State.cpp

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