hebi::GroupCommand Class Reference

A list of Command objects appropriate for sending to a Group of modules; the size() must match the number of modules in the group. More...

#include <group_command.hpp>

Public Member Functions
	GroupCommand (int number_of_modules)
	Create a group command with the specified number of modules. More...
virtual	~GroupCommand () noexcept
	Destructor cleans up group command object as necessary. More...
int	size () const
	Returns the number of module commands in this group command. More...
Command &	operator[] (int index)
	Access the command for an individual module. More...
void	setPosition (const Eigen::VectorXd &position)
	Convenience function for setting position commands from Eigen vectors. More...
void	setVelocity (const Eigen::VectorXd &velocity)
	Convenience function for setting velocity commands from Eigen vectors. More...
void	setEffort (const Eigen::VectorXd &effort)
	Convenience function for setting effort commands from Eigen vectors. More...
void	setSpringConstant (const Eigen::VectorXd &springConstant)
	Convenience function for setting spring constant commands from Eigen vectors. More...
Eigen::VectorXd	getPosition () const
	Convenience function for returning commanded position values. More...
Eigen::VectorXd	getVelocity () const
	Convenience function for returning commanded velocity values. More...
Eigen::VectorXd	getEffort () const
	Convenience function for returning commanded effort values. More...
Eigen::VectorXd	getSpringConstant () const
	Convenience function for returning commanded spring constant values. More...
void	getPosition (Eigen::VectorXd &out) const
	Convenience function for returning commanded position values. More...
void	getVelocity (Eigen::VectorXd &out) const
	Convenience function for returning commanded velocity values. More...
void	getEffort (Eigen::VectorXd &out) const
	Convenience function for returning commanded effort values. More...
void	getSpringConstant (Eigen::VectorXd &out) const
	Convenience function for returning commanded spring constant values. More...

Detailed Description

A list of Command objects appropriate for sending to a Group of modules; the size() must match the number of modules in the group.

Constructor & Destructor Documentation

hebi::GroupCommand::GroupCommand

(

int

number_of_modules

)

Create a group command with the specified number of modules.

hebi::GroupCommand::~GroupCommand ( )

virtualnoexcept

Destructor cleans up group command object as necessary.

Member Function Documentation

int hebi::GroupCommand::size

(

)

const

Returns the number of module commands in this group command.

Command & hebi::GroupCommand::operator[]

(

int

index

)

Access the command for an individual module.

void hebi::GroupCommand::setPosition

(

const Eigen::VectorXd &

position

)

Convenience function for setting position commands from Eigen vectors.

Note that if the vector is not the correct link, no action is taken.

void hebi::GroupCommand::setVelocity

(

const Eigen::VectorXd &

velocity

)

Convenience function for setting velocity commands from Eigen vectors.

Note that if the vector is not the correct link, no action is taken.

void hebi::GroupCommand::setEffort

(

const Eigen::VectorXd &

effort

)

Convenience function for setting effort commands from Eigen vectors.

Note that if the vector is not the correct link, no action is taken.

void hebi::GroupCommand::setSpringConstant

(

const Eigen::VectorXd &

springConstant

)

Convenience function for setting spring constant commands from Eigen vectors.

Note that if the vector is not the correct link, no action is taken.

Eigen::VectorXd hebi::GroupCommand::getPosition

(

)

const

Convenience function for returning commanded position values.

Eigen::VectorXd hebi::GroupCommand::getVelocity

(

)

const

Convenience function for returning commanded velocity values.

Eigen::VectorXd hebi::GroupCommand::getEffort

(

)

const

Convenience function for returning commanded effort values.

Eigen::VectorXd hebi::GroupCommand::getSpringConstant

(

)

const

Convenience function for returning commanded spring constant values.

void hebi::GroupCommand::getPosition

(

Eigen::VectorXd &

out

)

const

Convenience function for returning commanded position values.

void hebi::GroupCommand::getVelocity

(

Eigen::VectorXd &

out

)

const

Convenience function for returning commanded velocity values.

void hebi::GroupCommand::getEffort

(

Eigen::VectorXd &

out

)

const

Convenience function for returning commanded effort values.

void hebi::GroupCommand::getSpringConstant

(

Eigen::VectorXd &

out

)

const

Convenience function for returning commanded spring constant values.

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

• src/group_command.hpp
• src/group_command.cpp