tr::model::Model< Scalar, nq > Struct Template Reference

A tinyrobotics model. More...

#include <Model.hpp>

Public Member Functions
Link< Scalar >	get_link (const std::string &name) const
	Get a link in the model by name.
Link< Scalar >	get_parent_link (const std::string &name) const
	Get the parent link of a link in the model by name.
Joint< Scalar >	get_joint (const std::string &name) const
	Get the joint in the model by name.
void	show_details ()
	Display details of the model.
Eigen::Matrix< Scalar, nq, 1 >	home_configuration () const
	Get a configuration vector for the model of all zeros.
Eigen::Matrix< Scalar, nq, 1 >	random_configuration () const
	Get a random configuration vector for the model.
template<typename NewScalar >
Model< NewScalar, nq >	cast ()
	Casts the model to a new scalar type.

Public Attributes
std::string	name = ""
	Name of the model.
int	n_links = 0
	Number of links in the model.
int	n_joints = 0
	Number of joints in the model.
int	n_q = 0
	Number of configuration coordinates (degrees of freedom) in the model.
std::vector< Link< Scalar > >	links = {}
	Vector of links in the model.
int	base_link_idx = -1
	Index of the base link in the models links vector.
std::vector< int >	q_idx = {}
	Vector of indices of links in the models link vector that have a non-fixed joint.
std::vector< int >	parent = {}
	Vector of parent link indices of the links which are non-fixed.
std::vector< Joint< Scalar > >	joints = {}
	Vector of joints in the model.
Eigen::Matrix< Scalar, 3, 1 >	gravity = {0, 0, -9.81}
	Gravitational acceleration experienced by model.
Data< Scalar, nq >	data
	Stores the results of the models algorithms.

Detailed Description

template<typename Scalar, int nq>
struct tr::model::Model< Scalar, nq >

A tinyrobotics model.

A tinyrobotics model is a collection of links and joints that represents a robot.

Template Parameters

Scalar	The scalar type for the model.
nq	The number of configuration coordinates (number of degrees of freedom).

Member Function Documentation

cast()

template<typename Scalar , int nq>

template<typename NewScalar >

Model< NewScalar, nq > tr::model::Model< Scalar, nq >::cast ( )

inline

Casts the model to a new scalar type.

Template Parameters

NewScalar

scalar type to cast the model to.

Returns

Model with new scalar type.

get_joint()

template<typename Scalar , int nq>

Joint< Scalar > tr::model::Model< Scalar, nq >::get_joint ( const std::string &  name ) const

inline

Get the joint in the model by name.

Parameters

name	Name of the joint.

Returns

Joint in the model.

get_link()

template<typename Scalar , int nq>

Link< Scalar > tr::model::Model< Scalar, nq >::get_link ( const std::string &  name ) const

inline

Get a link in the model by name.

Parameters

name	Name of the link.

Returns

Link in the model.

get_parent_link()

template<typename Scalar , int nq>

Link< Scalar > tr::model::Model< Scalar, nq >::get_parent_link ( const std::string &  name ) const

inline

Get the parent link of a link in the model by name.

Parameters

link_idx

Index of the link in the model.

Returns

Parent link of the link.

home_configuration()

template<typename Scalar , int nq>

Eigen::Matrix< Scalar, nq, 1 > tr::model::Model< Scalar, nq >::home_configuration ( ) const

inline

Get a configuration vector for the model of all zeros.

Returns

Configuration vector of all zeros.

random_configuration()

template<typename Scalar , int nq>

Eigen::Matrix< Scalar, nq, 1 > tr::model::Model< Scalar, nq >::random_configuration ( ) const

inline

Get a random configuration vector for the model.

Returns

Random configuration vector.

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

• include/Model.hpp