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Drake
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Drake
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Specializes BasicVector with specific getters and setters.
#include <drake/examples/compass_gait/compass_gait_params.h>
Public Types | |
| typedef CompassGaitParamsIndices | K |
| An abbreviation for our row index constants. More... | |
Public Member Functions | |
| CompassGaitParams () | |
| Default constructor. More... | |
| template<typename U = T> | |
| std::enable_if_t< std::is_same_v< U, symbolic::Expression > > | SetToNamedVariables () |
| Create a symbolic::Variable for each element with the known variable name. More... | |
| CompassGaitParams< T > * | DoClone () const final |
| Returns a new BasicVector containing a copy of the entire vector. More... | |
| template<typename Archive > | |
| void | Serialize (Archive *a) |
| Visit each field of this named vector, passing them (in order) to the given Archive. More... | |
| drake::boolean< T > | IsValid () const |
| Returns whether the current values of this vector are well-formed. More... | |
| void | GetElementBounds (Eigen::VectorXd *lower, Eigen::VectorXd *upper) const final |
| Get the bounds for the elements. More... | |
Implements CopyConstructible, CopyAssignable, MoveConstructible, | |
MoveAssignable | |
| CompassGaitParams (const CompassGaitParams &other) | |
| CompassGaitParams (CompassGaitParams &&other) noexcept | |
| CompassGaitParams & | operator= (const CompassGaitParams &other) |
| CompassGaitParams & | operator= (CompassGaitParams &&other) noexcept |
Getters and Setters | |
| const T & | mass_hip () const |
| Point mass at the hip. More... | |
| void | set_mass_hip (const T &mass_hip) |
| Setter that matches mass_hip(). More... | |
| CompassGaitParams< T > | with_mass_hip (const T &mass_hip) const |
| Fluent setter that matches mass_hip(). More... | |
| const T & | mass_leg () const |
| Mass of each leg (modeled as a point mass at the center of mass). More... | |
| void | set_mass_leg (const T &mass_leg) |
| Setter that matches mass_leg(). More... | |
| CompassGaitParams< T > | with_mass_leg (const T &mass_leg) const |
| Fluent setter that matches mass_leg(). More... | |
| const T & | length_leg () const |
| The length of each leg. More... | |
| void | set_length_leg (const T &length_leg) |
| Setter that matches length_leg(). More... | |
| CompassGaitParams< T > | with_length_leg (const T &length_leg) const |
| Fluent setter that matches length_leg(). More... | |
| const T & | center_of_mass_leg () const |
| Distance from the hip to the center of mass of each leg. More... | |
| void | set_center_of_mass_leg (const T ¢er_of_mass_leg) |
| Setter that matches center_of_mass_leg(). More... | |
| CompassGaitParams< T > | with_center_of_mass_leg (const T ¢er_of_mass_leg) const |
| Fluent setter that matches center_of_mass_leg(). More... | |
| const T & | gravity () const |
| An approximate value for gravitational acceleration. More... | |
| void | set_gravity (const T &gravity) |
| Setter that matches gravity(). More... | |
| CompassGaitParams< T > | with_gravity (const T &gravity) const |
| Fluent setter that matches gravity(). More... | |
| const T & | slope () const |
| The angle of the ramp on which the compass gait is walking. More... | |
| void | set_slope (const T &slope) |
| Setter that matches slope(). More... | |
| CompassGaitParams< T > | with_slope (const T &slope) const |
| Fluent setter that matches slope(). More... | |
 Public Member Functions inherited from BasicVector< T > | |
| BasicVector ()=default | |
| Constructs an empty BasicVector. More... | |
| BasicVector (int size) | |
Initializes with the given size using the drake::dummy_value<T>, which is NaN when T = double. More... | |
| BasicVector (VectorX< T > vec) | |
Constructs a BasicVector with the specified vec data. More... | |
| BasicVector (const std::initializer_list< T > &init) | |
Constructs a BasicVector whose elements are the elements of init. More... | |
| int | size () const final |
| Returns the number of elements in the vector. More... | |
| void | set_value (const Eigen::Ref< const VectorX< T >> &value) |
| Sets the vector to the given value. More... | |
| const VectorX< T > & | value () const |
Returns a const reference to the contained VectorX<T>. More... | |
| Eigen::VectorBlock< VectorX< T > > | get_mutable_value () |
Returns the entire vector as a mutable Eigen::VectorBlock, which allows mutation of the values, but does not allow resize() to be invoked on the returned object. More... | |
| void | SetFromVector (const Eigen::Ref< const VectorX< T >> &value) final |
Replaces the entire vector with the contents of value. More... | |
| VectorX< T > | CopyToVector () const final |
| Copies this entire VectorBase into a contiguous Eigen Vector. More... | |
| void | ScaleAndAddToVector (const T &scale, EigenPtr< VectorX< T >> vec) const final |
Adds a scaled version of this vector to Eigen vector vec. More... | |
| void | SetZero () final |
| Sets all elements of this vector to zero. More... | |
| std::unique_ptr< BasicVector< T > > | Clone () const |
| Copies the entire vector to a new BasicVector, with the same concrete implementation type. More... | |
| Eigen::VectorBlock< const VectorX< T > > | get_value () const |
| (Don't use this in new code) Returns the entire vector as a const Eigen::VectorBlock. More... | |
| BasicVector (const BasicVector &)=delete | |
| BasicVector & | operator= (const BasicVector &)=delete |
| BasicVector (BasicVector &&)=delete | |
| BasicVector & | operator= (BasicVector &&)=delete |
| Public Member Functions inherited from VectorBase< T > | |
| virtual | ~VectorBase () |
| T & | operator[] (int index) |
| Returns the element at the given index in the vector. More... | |
| const T & | operator[] (int index) const |
| Returns the element at the given index in the vector. More... | |
| const T & | GetAtIndex (int index) const |
| Returns the element at the given index in the vector. More... | |
| T & | GetAtIndex (int index) |
| Returns the element at the given index in the vector. More... | |
| void | SetAtIndex (int index, const T &value) |
| Replaces the state at the given index with the value. More... | |
| virtual void | SetFrom (const VectorBase< T > &value) |
Replaces the entire vector with the contents of value. More... | |
| virtual void | CopyToPreSizedVector (EigenPtr< VectorX< T >> vec) const |
| Copies this entire VectorBase into a pre-sized Eigen Vector. More... | |
| VectorBase & | PlusEqScaled (const T &scale, const VectorBase< T > &rhs) |
Add in scaled vector rhs to this vector. More... | |
| VectorBase & | PlusEqScaled (const std::initializer_list< std::pair< T, const VectorBase< T > & >> &rhs_scale) |
| Add in multiple scaled vectors to this vector. More... | |
| VectorBase & | operator+= (const VectorBase< T > &rhs) |
Add in vector rhs to this vector. More... | |
| VectorBase & | operator-= (const VectorBase< T > &rhs) |
Subtract in vector rhs to this vector. More... | |
| VectorBase (const VectorBase &)=delete | |
| VectorBase & | operator= (const VectorBase &)=delete |
| VectorBase (VectorBase &&)=delete | |
| VectorBase & | operator= (VectorBase &&)=delete |
Static Public Member Functions | |
| static const std::vector< std::string > & | GetCoordinateNames () |
| See CompassGaitParamsIndices::GetCoordinateNames(). More... | |
| Static Public Member Functions inherited from BasicVector< T > | |
| static std::unique_ptr< BasicVector< T > > | Make (const std::initializer_list< T > &init) |
Constructs a BasicVector whose elements are the elements of init. More... | |
| template<typename... Fargs> | |
| static std::unique_ptr< BasicVector< T > > | Make (Fargs &&... args) |
Constructs a BasicVector where each element is constructed using the placewise-corresponding member of args as the sole constructor argument. More... | |
Additional Inherited Members | |
| Protected Member Functions inherited from BasicVector< T > | |
| const T & | DoGetAtIndexUnchecked (int index) const final |
| Implementations should ensure this operation is O(1) and allocates no memory. More... | |
| T & | DoGetAtIndexUnchecked (int index) final |
| Implementations should ensure this operation is O(1) and allocates no memory. More... | |
| const T & | DoGetAtIndexChecked (int index) const final |
| Implementations should ensure this operation is O(1) and allocates no memory. More... | |
| T & | DoGetAtIndexChecked (int index) final |
| Implementations should ensure this operation is O(1) and allocates no memory. More... | |
| const VectorX< T > & | values () const |
| Provides const access to the element storage. More... | |
| VectorX< T > & | values () |
| (Advanced) Provides mutable access to the element storage. More... | |
| Protected Member Functions inherited from VectorBase< T > | |
| VectorBase () | |
| void | ThrowOutOfRange (int index) const |
| void | ThrowMismatchedSize (int other_size) const |
| Static Protected Member Functions inherited from BasicVector< T > | |
| template<typename F , typename... Fargs> | |
| static void | MakeRecursive (BasicVector< T > *data, int index, F constructor_arg, Fargs &&... recursive_args) |
Sets data at index to an object of type T, which must have a single-argument constructor invoked via constructor_arg, and then recursively invokes itself on the next index with recursive args. More... | |
| template<typename F , typename... Fargs> | |
| static void | MakeRecursive (BasicVector< T > *data, int index, F constructor_arg) |
| Base case for the MakeRecursive template recursion. More... | |
| typedef CompassGaitParamsIndices K |
An abbreviation for our row index constants.
Default constructor.
Sets all rows to their default value:
mass_hip defaults to 10.0 kg. mass_leg defaults to 5.0 kg. length_leg defaults to 1.0 m. center_of_mass_leg defaults to 0.5 m. gravity defaults to 9.81 m/s^2. slope defaults to 0.0525 radians. | CompassGaitParams | ( | const CompassGaitParams< T > & | other | ) |
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noexcept |
| const T& center_of_mass_leg | ( | ) | const |
Distance from the hip to the center of mass of each leg.
center_of_mass_leg is expressed in units of m. center_of_mass_leg has a limited domain of [0.0, +Inf].
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finalvirtual |
Returns a new BasicVector containing a copy of the entire vector.
Caller must take ownership, and may rely on the NVI wrapper to initialize the clone elementwise.
Subclasses of BasicVector must override DoClone to return their covariant type.
Reimplemented from BasicVector< T >.
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static |
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finalvirtual |
Get the bounds for the elements.
If lower and upper are both empty size vectors, then there are no bounds. Otherwise, the bounds are (*lower)(i) <= GetAtIndex(i) <= (*upper)(i) The default output is no bounds.
Reimplemented from VectorBase< T >.
| const T& gravity | ( | ) | const |
An approximate value for gravitational acceleration.
gravity is expressed in units of m/s^2. gravity has a limited domain of [0.0, +Inf]. | drake::boolean<T> IsValid | ( | ) | const |
Returns whether the current values of this vector are well-formed.
| const T& length_leg | ( | ) | const |
The length of each leg.
length_leg is expressed in units of m. length_leg has a limited domain of [0.0, +Inf]. | const T& mass_hip | ( | ) | const |
Point mass at the hip.
mass_hip is expressed in units of kg. mass_hip has a limited domain of [0.0, +Inf]. | const T& mass_leg | ( | ) | const |
Mass of each leg (modeled as a point mass at the center of mass).
mass_leg is expressed in units of kg. mass_leg has a limited domain of [0.0, +Inf]. | CompassGaitParams& operator= | ( | const CompassGaitParams< T > & | other | ) |
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noexcept |
| void Serialize | ( | Archive * | a | ) |
Visit each field of this named vector, passing them (in order) to the given Archive.
The archive can read and/or write to the vector values. One common use of Serialize is the //common/yaml tools.
| void set_center_of_mass_leg | ( | const T & | center_of_mass_leg | ) |
Setter that matches center_of_mass_leg().
| void set_gravity | ( | const T & | gravity | ) |
Setter that matches gravity().
| void set_length_leg | ( | const T & | length_leg | ) |
Setter that matches length_leg().
| void set_mass_hip | ( | const T & | mass_hip | ) |
Setter that matches mass_hip().
| void set_mass_leg | ( | const T & | mass_leg | ) |
Setter that matches mass_leg().
| void set_slope | ( | const T & | slope | ) |
Setter that matches slope().
| std::enable_if_t<std::is_same_v<U, symbolic::Expression> > SetToNamedVariables | ( | ) |
Create a symbolic::Variable for each element with the known variable name.
This is only available for T == symbolic::Expression.
| const T& slope | ( | ) | const |
The angle of the ramp on which the compass gait is walking.
Must have 0 <= slope < PI/2 so that forward == downhill (an assumption used in the foot collision witness function).
slope is expressed in units of radians. slope has a limited domain of [0.0, 1.5707]. | CompassGaitParams<T> with_center_of_mass_leg | ( | const T & | center_of_mass_leg | ) | const |
Fluent setter that matches center_of_mass_leg().
Returns a copy of this with center_of_mass_leg set to a new value.
| CompassGaitParams<T> with_gravity | ( | const T & | gravity | ) | const |
Fluent setter that matches gravity().
Returns a copy of this with gravity set to a new value.
| CompassGaitParams<T> with_length_leg | ( | const T & | length_leg | ) | const |
Fluent setter that matches length_leg().
Returns a copy of this with length_leg set to a new value.
| CompassGaitParams<T> with_mass_hip | ( | const T & | mass_hip | ) | const |
Fluent setter that matches mass_hip().
Returns a copy of this with mass_hip set to a new value.
| CompassGaitParams<T> with_mass_leg | ( | const T & | mass_leg | ) | const |
Fluent setter that matches mass_leg().
Returns a copy of this with mass_leg set to a new value.
| CompassGaitParams<T> with_slope | ( | const T & | slope | ) | const |
Fluent setter that matches slope().
Returns a copy of this with slope set to a new value.