wbc_py::RobotModelRBDL Class Reference

#include <robot_model_rbdl.hpp>

Inheritance diagram for wbc_py::RobotModelRBDL:

Public Member Functions
bool	configure (const wbc_py::RobotModelConfig &cfg)
void	update (const base::NamedVector< base::JointState > &joint_state)
void	update2 (const base::NamedVector< base::JointState > &joint_state, const base::samples::RigidBodyStateSE3 &floating_base_state)
base::NamedVector< base::JointState >	jointState2 (const std::vector< std::string > &names)
void	setActiveContacts (const base::NamedVector< wbc::ActiveContact > &active_contacts)
base::NamedVector< wbc::ActiveContact >	getActiveContacts2 ()
base::NamedVector< base::JointLimitRange >	jointLimits2 ()
wbc_py::RobotModelConfig	getRobotModelConfig ()

Detailed Description

Wrapper for wbc::RobotModelRBDL. Unfortunately we have to do this, since base::samples::Joints and other Rock types cannot be easily exposed to python

Member Function Documentation

configure()

bool wbc_py::RobotModelRBDL::configure

(

const wbc_py::RobotModelConfig &

cfg

)

getActiveContacts2()

base::NamedVector< wbc::ActiveContact > wbc_py::RobotModelRBDL::getActiveContacts2

(

)

getRobotModelConfig()

wbc_py::RobotModelConfig wbc_py::RobotModelRBDL::getRobotModelConfig

(

)

jointLimits2()

base::NamedVector< base::JointLimitRange > wbc_py::RobotModelRBDL::jointLimits2

(

)

jointState2()

base::NamedVector< base::JointState > wbc_py::RobotModelRBDL::jointState2

(

const std::vector< std::string > &

names

)

setActiveContacts()

void wbc_py::RobotModelRBDL::setActiveContacts

(

const base::NamedVector< wbc::ActiveContact > &

active_contacts

)

update()

void wbc_py::RobotModelRBDL::update

(

const base::NamedVector< base::JointState > &

joint_state

)

update2()

void wbc_py::RobotModelRBDL::update2	(	const base::NamedVector< base::JointState > &	joint_state,
		const base::samples::RigidBodyStateSE3 &	floating_base_state )

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

• src/robot_models/rbdl/robot_model_rbdl.hpp
• src/robot_models/rbdl/robot_model_rbdl.cpp