scl::SActuatorSetBase Class Reference

#include <SActuatorSetBase.hpp>

Inheritance diagram for scl::SActuatorSetBase:

Collaboration diagram for scl::SActuatorSetBase:

Public Member Functions
	SActuatorSetBase (const std::string &subclass_type_name)
	SActuatorSetBase (const char *subclass_type_name)
virtual const std::string &	getType () const
virtual const std::string &	getName () const
virtual bool	hasBeenInit () const

Public Attributes
Eigen::VectorXd	force_actuator_
Eigen::MatrixXd	J_
std::string	name_
sBool	has_been_init_

Protected Attributes
std::string	type_

Private Member Functions
	SActuatorSetBase ()

Detailed Description

A base class for different actuator sets

Constructor & Destructor Documentation

scl::SActuatorSetBase::SActuatorSetBase ( )

private

This is private to force subclasses to expose their type

Member Function Documentation

virtual const std::string& scl::SObject::getName ( ) const

inlinevirtualinherited

Get the object's type

virtual const std::string& scl::SObject::getType ( ) const

inlinevirtualinherited

Get the object's type

virtual bool scl::SObject::hasBeenInit ( ) const

inlinevirtualinherited

Get the object's type

Member Data Documentation

Eigen::VectorXd scl::SActuatorSetBase::force_actuator_

The actuator set forces in the actuator coordinates

sBool scl::SObject::has_been_init_

inherited

Whether the object is ready for use

Eigen::MatrixXd scl::SActuatorSetBase::J_

The Jacobian that maps actuator forces into gc forces => force_gc_ = J_ * force_actuator_;

std::string scl::SObject::name_

inherited

The object's name

std::string scl::SObject::type_

protectedinherited

The object's type. Should only be set by the constructor

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

• /home/samir/Code/control/scl.git/src/scl/actuation/data_structs/SActuatorSetBase.hpp