Rcs::OMBodyStateAngular Class Reference

#include <OMBodyStateAngular.h>

Inheritance diagram for Rcs::OMBodyStateAngular:

Collaboration diagram for Rcs::OMBodyStateAngular:

Public Member Functions
	OMBodyStateAngular (RcsGraph *graph, const char *effectorName, const char *refBodyName=NULL, const char *refFrameName=NULL)
Public Member Functions inherited from Rcs::OMTask
	OMTask (Task *task)
virtual	~OMTask ()
	OMTask (const OMTask &)=delete
OMTask &	operator= (const OMTask &)=delete
	OMTask (OMTask &&)=delete
OMTask &	operator= (OMTask &&)=delete
virtual unsigned int	getStateDim () const
virtual void	computeObservation (double *state, double *velocity, const MatNd *currentAction, double dt) const
virtual void	getLimits (double *minState, double *maxState, double *maxVelocity) const
virtual std::vector< std::string >	getStateNames () const
OMTask *	setMinState (double minState)
OMTask *	setMinState (std::vector< double > minState)
OMTask *	setMaxState (double maxState)
OMTask *	setMaxState (std::vector< double > maxState)
OMTask *	setMaxVelocity (double maxVelocity)
OMTask *	setMaxVelocity (std::vector< double > maxVelocity)
Task *	getTask () const
Public Member Functions inherited from Rcs::ObservationModel
virtual	~ObservationModel ()
MatNd *	computeObservation (const MatNd *currentAction, double dt) const
void	computeObservation (MatNd *observation, const MatNd *currentAction, double dt) const
virtual unsigned int	getVelocityDim () const
virtual void	reset ()
virtual std::vector< std::string >	getVelocityNames () const
virtual void	getMinMax (double *min, double *max) const final
virtual unsigned int	getDim () const final
virtual std::vector< std::string >	getNames () const final
template<typename OM >
OM *	findModel ()
template<typename OM >
Offsets	findOffsets ()
virtual std::vector< ObservationModel * >	getNested () const
Public Member Functions inherited from Rcs::BoxSpaceProvider
	BoxSpaceProvider ()
virtual	~BoxSpaceProvider ()
	BoxSpaceProvider (const BoxSpaceProvider &)=delete
BoxSpaceProvider &	operator= (const BoxSpaceProvider &)=delete
	BoxSpaceProvider (BoxSpaceProvider &&)=delete
BoxSpaceProvider &	operator= (BoxSpaceProvider &&)=delete
const BoxSpace *	getSpace () const

Additional Inherited Members
Protected Member Functions inherited from Rcs::OMTask
void	initTaskBodyNames (const char *effectorName, const char *refBodyName, const char *refFrameName)

Detailed Description

Observation model of angular body state. Observes the rotation of the body around all three axis as well as the angular velocity.

Definition at line 44 of file OMBodyStateAngular.h.

Constructor & Destructor Documentation

OMBodyStateAngular()

Rcs::OMBodyStateAngular::OMBodyStateAngular	(	RcsGraph *	graph,
		const char *	effectorName,
		const char *	refBodyName = NULL,
		const char *	refFrameName = NULL
	)

Constructor

Parameters

graph	World to observe
effectorName	Name of effector body, a.k.a. the body controlled by the task
refBodyName	Name of reference body, a.k.a. the body the task coordinates should be relative to. Set to NULL to use the world origin.
refFrameName	Name of the reference frame body. The task coordinates will be expressed in this body's frame if set. If this is NULL, refBodyName will be used.

Definition at line 38 of file OMBodyStateAngular.cpp.

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

• src/cpp/core/observation/OMBodyStateAngular.h
• src/cpp/core/observation/OMBodyStateAngular.cpp