Skip to content

Commit

Permalink
deploy: fe08e35
Browse files Browse the repository at this point in the history
  • Loading branch information
@dmronga
dmronga committed Jun 9, 2024
1 parent a8d1015 commit b68324c
Show file tree
Hide file tree
Showing 6 changed files with 66 additions and 48 deletions.
37 changes: 19 additions & 18 deletions JointIntegrator_8hpp_source.html
View file
Original file line number Diff line number Diff line change
Expand Up @@ -86,30 +86,31 @@
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="classwbc_1_1JointIntegrator.html"> 17</a></span><span class="keyword">class </span><a class="code hl_class" href="classwbc_1_1JointIntegrator.html">JointIntegrator</a>{</div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span> <span class="keywordtype">bool</span> initialized;</div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span> base::commands::Joints prev_cmd;</div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="classwbc_1_1JointIntegrator.html#a7b8bd8a31842c23b0b3fa46a3a8be560"> 21</a></span> <a class="code hl_function" href="classwbc_1_1JointIntegrator.html#a7b8bd8a31842c23b0b3fa46a3a8be560">JointIntegrator</a>() : initialized(false){}</div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classwbc_1_1JointIntegrator.html#adc61e69d08b11172a708f91bf5f005c8">integrate</a>(<span class="keyword">const</span> base::samples::Joints&amp; joint_state, base::commands::Joints &amp;cmd, <span class="keywordtype">double</span> cycle_time, <a class="code hl_enumeration" href="JointIntegrator_8hpp.html#a9eca50997f7f604b063d2cb1874f5fef">IntegrationMethod</a> method = <a class="code hl_enumvalue" href="JointIntegrator_8hpp.html#a9eca50997f7f604b063d2cb1874f5fefa492124afa39e48a6ceb6b989957e8e65">TRAPEZOIDAL</a>);</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classwbc_1_1JointIntegrator.html#a098cb96fd2dbe8a1a51d5f6fd6b05d72">integrateRectangular</a>(base::commands::Joints &amp;cmd, <span class="keywordtype">double</span> cycle_time);</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classwbc_1_1JointIntegrator.html#a76b388532735f1b919257f4d9fa2a855">integrateTrapezoidal</a>(base::commands::Joints &amp;cmd, <span class="keywordtype">double</span> cycle_time);</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> base::JointState::MODE <a class="code hl_function" href="classwbc_1_1JointIntegrator.html#ae9b2a5d9a016a8fc5e68ca5ba5b15528">cmdMode</a>(<span class="keyword">const</span> base::JointState &amp;cmd);</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classwbc_1_1JointIntegrator.html#ab01636ae3fedbac1c99dfb33c4e6a8df"> 47</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classwbc_1_1JointIntegrator.html#ab01636ae3fedbac1c99dfb33c4e6a8df">reinit</a>(){initialized = <span class="keyword">false</span>;}</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span>};</div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span> base::samples::Joints cur_joint_state;</div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classwbc_1_1JointIntegrator.html#a7b8bd8a31842c23b0b3fa46a3a8be560"> 22</a></span> <a class="code hl_function" href="classwbc_1_1JointIntegrator.html#a7b8bd8a31842c23b0b3fa46a3a8be560">JointIntegrator</a>() : initialized(false){}</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classwbc_1_1JointIntegrator.html#ab0ee72ed46d22c58cf834cdc36a3e8d5">integrate</a>(<span class="keyword">const</span> base::samples::Joints&amp; joint_state, base::commands::Joints &amp;cmd, <span class="keywordtype">double</span> cycle_time, <a class="code hl_enumeration" href="JointIntegrator_8hpp.html#a9eca50997f7f604b063d2cb1874f5fef">IntegrationMethod</a> method = <a class="code hl_enumvalue" href="JointIntegrator_8hpp.html#a9eca50997f7f604b063d2cb1874f5fefae06caa270566bb68a321d91b7769fcee">RECTANGULAR</a>, <span class="keywordtype">bool</span> use_cur_state = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classwbc_1_1JointIntegrator.html#a6ded7d409d78a9e282e40809624180dc">integrateRectangular</a>(base::commands::Joints &amp;cmd, <span class="keywordtype">double</span> cycle_time, <span class="keywordtype">bool</span> use_cur_state = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classwbc_1_1JointIntegrator.html#a055b704a4694189276148824137562dc">integrateTrapezoidal</a>(base::commands::Joints &amp;cmd, <span class="keywordtype">double</span> cycle_time, <span class="keywordtype">bool</span> use_cur_state = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> base::JointState::MODE <a class="code hl_function" href="classwbc_1_1JointIntegrator.html#ae9b2a5d9a016a8fc5e68ca5ba5b15528">cmdMode</a>(<span class="keyword">const</span> base::JointState &amp;cmd);</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="classwbc_1_1JointIntegrator.html#ab01636ae3fedbac1c99dfb33c4e6a8df"> 52</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classwbc_1_1JointIntegrator.html#ab01636ae3fedbac1c99dfb33c4e6a8df">reinit</a>(){initialized = <span class="keyword">false</span>;}</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span>};</div>
</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span>}</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span>}</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="aJointIntegrator_8hpp_html_a9eca50997f7f604b063d2cb1874f5fef"><div class="ttname"><a href="JointIntegrator_8hpp.html#a9eca50997f7f604b063d2cb1874f5fef">IntegrationMethod</a></div><div class="ttdeci">IntegrationMethod</div><div class="ttdef"><b>Definition</b> JointIntegrator.hpp:6</div></div>
<div class="ttc" id="aJointIntegrator_8hpp_html_a9eca50997f7f604b063d2cb1874f5fefa492124afa39e48a6ceb6b989957e8e65"><div class="ttname"><a href="JointIntegrator_8hpp.html#a9eca50997f7f604b063d2cb1874f5fefa492124afa39e48a6ceb6b989957e8e65">TRAPEZOIDAL</a></div><div class="ttdeci">@ TRAPEZOIDAL</div><div class="ttdef"><b>Definition</b> JointIntegrator.hpp:9</div></div>
<div class="ttc" id="aJointIntegrator_8hpp_html_a9eca50997f7f604b063d2cb1874f5fefac157bdf0b85a40d2619cbc8bc1ae5fe2"><div class="ttname"><a href="JointIntegrator_8hpp.html#a9eca50997f7f604b063d2cb1874f5fefac157bdf0b85a40d2619cbc8bc1ae5fe2">NONE</a></div><div class="ttdeci">@ NONE</div><div class="ttdef"><b>Definition</b> JointIntegrator.hpp:7</div></div>
<div class="ttc" id="aJointIntegrator_8hpp_html_a9eca50997f7f604b063d2cb1874f5fefae06caa270566bb68a321d91b7769fcee"><div class="ttname"><a href="JointIntegrator_8hpp.html#a9eca50997f7f604b063d2cb1874f5fefae06caa270566bb68a321d91b7769fcee">RECTANGULAR</a></div><div class="ttdeci">@ RECTANGULAR</div><div class="ttdef"><b>Definition</b> JointIntegrator.hpp:8</div></div>
<div class="ttc" id="aclasswbc_1_1JointIntegrator_html"><div class="ttname"><a href="classwbc_1_1JointIntegrator.html">wbc::JointIntegrator</a></div><div class="ttdoc">The JointIntegrator class implements different numerical integrators.</div><div class="ttdef"><b>Definition</b> JointIntegrator.hpp:17</div></div>
<div class="ttc" id="aclasswbc_1_1JointIntegrator_html_a098cb96fd2dbe8a1a51d5f6fd6b05d72"><div class="ttname"><a href="classwbc_1_1JointIntegrator.html#a098cb96fd2dbe8a1a51d5f6fd6b05d72">wbc::JointIntegrator::integrateRectangular</a></div><div class="ttdeci">void integrateRectangular(base::commands::Joints &amp;cmd, double cycle_time)</div><div class="ttdoc">Performs numerical from acceleration/velocity to positions using rectangular method.</div><div class="ttdef"><b>Definition</b> JointIntegrator.cpp:46</div></div>
<div class="ttc" id="aclasswbc_1_1JointIntegrator_html_a76b388532735f1b919257f4d9fa2a855"><div class="ttname"><a href="classwbc_1_1JointIntegrator.html#a76b388532735f1b919257f4d9fa2a855">wbc::JointIntegrator::integrateTrapezoidal</a></div><div class="ttdeci">void integrateTrapezoidal(base::commands::Joints &amp;cmd, double cycle_time)</div><div class="ttdoc">Trapezoidal method for numerical integration.</div><div class="ttdef"><b>Definition</b> JointIntegrator.cpp:70</div></div>
<div class="ttc" id="aclasswbc_1_1JointIntegrator_html_a7b8bd8a31842c23b0b3fa46a3a8be560"><div class="ttname"><a href="classwbc_1_1JointIntegrator.html#a7b8bd8a31842c23b0b3fa46a3a8be560">wbc::JointIntegrator::JointIntegrator</a></div><div class="ttdeci">JointIntegrator()</div><div class="ttdef"><b>Definition</b> JointIntegrator.hpp:21</div></div>
<div class="ttc" id="aclasswbc_1_1JointIntegrator_html_ab01636ae3fedbac1c99dfb33c4e6a8df"><div class="ttname"><a href="classwbc_1_1JointIntegrator.html#ab01636ae3fedbac1c99dfb33c4e6a8df">wbc::JointIntegrator::reinit</a></div><div class="ttdeci">void reinit()</div><div class="ttdoc">Reinitialize state of the integrator.</div><div class="ttdef"><b>Definition</b> JointIntegrator.hpp:47</div></div>
<div class="ttc" id="aclasswbc_1_1JointIntegrator_html_adc61e69d08b11172a708f91bf5f005c8"><div class="ttname"><a href="classwbc_1_1JointIntegrator.html#adc61e69d08b11172a708f91bf5f005c8">wbc::JointIntegrator::integrate</a></div><div class="ttdeci">void integrate(const base::samples::Joints &amp;joint_state, base::commands::Joints &amp;cmd, double cycle_time, IntegrationMethod method=TRAPEZOIDAL)</div><div class="ttdoc">Performs numerical from acceleration/velocity to positions.</div><div class="ttdef"><b>Definition</b> JointIntegrator.cpp:6</div></div>
<div class="ttc" id="aclasswbc_1_1JointIntegrator_html_ae9b2a5d9a016a8fc5e68ca5ba5b15528"><div class="ttname"><a href="classwbc_1_1JointIntegrator.html#ae9b2a5d9a016a8fc5e68ca5ba5b15528">wbc::JointIntegrator::cmdMode</a></div><div class="ttdeci">base::JointState::MODE cmdMode(const base::JointState &amp;cmd)</div><div class="ttdoc">cmdType Return the control model type POSITION/VELOCITY/ACCELERATION depending on the valid fields</div><div class="ttdef"><b>Definition</b> JointIntegrator.cpp:95</div></div>
<div class="ttc" id="aclasswbc_1_1JointIntegrator_html_a055b704a4694189276148824137562dc"><div class="ttname"><a href="classwbc_1_1JointIntegrator.html#a055b704a4694189276148824137562dc">wbc::JointIntegrator::integrateTrapezoidal</a></div><div class="ttdeci">void integrateTrapezoidal(base::commands::Joints &amp;cmd, double cycle_time, bool use_cur_state=false)</div><div class="ttdoc">Trapezoidal method for numerical integration.</div><div class="ttdef"><b>Definition</b> JointIntegrator.cpp:77</div></div>
<div class="ttc" id="aclasswbc_1_1JointIntegrator_html_a6ded7d409d78a9e282e40809624180dc"><div class="ttname"><a href="classwbc_1_1JointIntegrator.html#a6ded7d409d78a9e282e40809624180dc">wbc::JointIntegrator::integrateRectangular</a></div><div class="ttdeci">void integrateRectangular(base::commands::Joints &amp;cmd, double cycle_time, bool use_cur_state=false)</div><div class="ttdoc">Performs numerical from acceleration/velocity to positions using rectangular method.</div><div class="ttdef"><b>Definition</b> JointIntegrator.cpp:47</div></div>
<div class="ttc" id="aclasswbc_1_1JointIntegrator_html_a7b8bd8a31842c23b0b3fa46a3a8be560"><div class="ttname"><a href="classwbc_1_1JointIntegrator.html#a7b8bd8a31842c23b0b3fa46a3a8be560">wbc::JointIntegrator::JointIntegrator</a></div><div class="ttdeci">JointIntegrator()</div><div class="ttdef"><b>Definition</b> JointIntegrator.hpp:22</div></div>
<div class="ttc" id="aclasswbc_1_1JointIntegrator_html_ab01636ae3fedbac1c99dfb33c4e6a8df"><div class="ttname"><a href="classwbc_1_1JointIntegrator.html#ab01636ae3fedbac1c99dfb33c4e6a8df">wbc::JointIntegrator::reinit</a></div><div class="ttdeci">void reinit()</div><div class="ttdoc">Reinitialize state of the integrator.</div><div class="ttdef"><b>Definition</b> JointIntegrator.hpp:52</div></div>
<div class="ttc" id="aclasswbc_1_1JointIntegrator_html_ab0ee72ed46d22c58cf834cdc36a3e8d5"><div class="ttname"><a href="classwbc_1_1JointIntegrator.html#ab0ee72ed46d22c58cf834cdc36a3e8d5">wbc::JointIntegrator::integrate</a></div><div class="ttdeci">void integrate(const base::samples::Joints &amp;joint_state, base::commands::Joints &amp;cmd, double cycle_time, IntegrationMethod method=RECTANGULAR, bool use_cur_state=false)</div><div class="ttdoc">Performs numerical from acceleration/velocity to positions.</div><div class="ttdef"><b>Definition</b> JointIntegrator.cpp:6</div></div>
<div class="ttc" id="aclasswbc_1_1JointIntegrator_html_ae9b2a5d9a016a8fc5e68ca5ba5b15528"><div class="ttname"><a href="classwbc_1_1JointIntegrator.html#ae9b2a5d9a016a8fc5e68ca5ba5b15528">wbc::JointIntegrator::cmdMode</a></div><div class="ttdeci">base::JointState::MODE cmdMode(const base::JointState &amp;cmd)</div><div class="ttdoc">cmdType Return the control model type POSITION/VELOCITY/ACCELERATION depending on the valid fields</div><div class="ttdef"><b>Definition</b> JointIntegrator.cpp:107</div></div>
<div class="ttc" id="anamespacewbc_html"><div class="ttname"><a href="namespacewbc.html">wbc</a></div><div class="ttdef"><b>Definition</b> ContactsAccelerationConstraint.cpp:3</div></div>
</div><!-- fragment --></div><!-- contents -->
<!-- start footer part -->
Expand Down
6 changes: 3 additions & 3 deletions classwbc_1_1JointIntegrator-members.html
View file
Original file line number Diff line number Diff line change
Expand Up @@ -71,9 +71,9 @@
<p>This is the complete list of members for <a class="el" href="classwbc_1_1JointIntegrator.html">wbc::JointIntegrator</a>, including all inherited members.</p>
<table class="directory">
<tr class="even"><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html#ae9b2a5d9a016a8fc5e68ca5ba5b15528">cmdMode</a>(const base::JointState &amp;cmd)</td><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html">wbc::JointIntegrator</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html#adc61e69d08b11172a708f91bf5f005c8">integrate</a>(const base::samples::Joints &amp;joint_state, base::commands::Joints &amp;cmd, double cycle_time, IntegrationMethod method=TRAPEZOIDAL)</td><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html">wbc::JointIntegrator</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html#a098cb96fd2dbe8a1a51d5f6fd6b05d72">integrateRectangular</a>(base::commands::Joints &amp;cmd, double cycle_time)</td><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html">wbc::JointIntegrator</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html#a76b388532735f1b919257f4d9fa2a855">integrateTrapezoidal</a>(base::commands::Joints &amp;cmd, double cycle_time)</td><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html">wbc::JointIntegrator</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html#ab0ee72ed46d22c58cf834cdc36a3e8d5">integrate</a>(const base::samples::Joints &amp;joint_state, base::commands::Joints &amp;cmd, double cycle_time, IntegrationMethod method=RECTANGULAR, bool use_cur_state=false)</td><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html">wbc::JointIntegrator</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html#a6ded7d409d78a9e282e40809624180dc">integrateRectangular</a>(base::commands::Joints &amp;cmd, double cycle_time, bool use_cur_state=false)</td><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html">wbc::JointIntegrator</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html#a055b704a4694189276148824137562dc">integrateTrapezoidal</a>(base::commands::Joints &amp;cmd, double cycle_time, bool use_cur_state=false)</td><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html">wbc::JointIntegrator</a></td><td class="entry"></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html#a7b8bd8a31842c23b0b3fa46a3a8be560">JointIntegrator</a>()</td><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html">wbc::JointIntegrator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html#ab01636ae3fedbac1c99dfb33c4e6a8df">reinit</a>()</td><td class="entry"><a class="el" href="classwbc_1_1JointIntegrator.html">wbc::JointIntegrator</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
</table></div><!-- contents -->
Expand Down
Loading

0 comments on commit b68324c

Please sign in to comment.