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 (size_t number_of_modules)
	Create a group command with the specified number of modules. More...
	~GroupCommand () noexcept
	Destructor cleans up group command object as necessary. More...
size_t	size () const
	Returns the number of module commands in this group command. More...
Command &	operator[] (size_t index)
	Access the command for an individual module. More...
const Command &	operator[] (size_t index) const
	Access the command for an individual module. More...
void	clear ()
	Clears all data in this GroupCommand object; this returns to the state the GroupCommand was at time of creation. More...
bool	readGains (const std::string &file)
	Import the gains from a file into this GroupCommand object. More...
bool	writeGains (const std::string &file) const
	Export the gains from this GroupCommand object into a file, creating it as necessary. More...
FunctionCallResult	readSafetyParameters (const std::string &file)
	Import the safety parameters from a file into this GroupCommand object. More...
FunctionCallResult	writeSafetyParameters (const std::string &file) const
	Export the safety parameters from this GroupCommand object into a file, creating it as necessary. 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

GroupCommand()

hebi::GroupCommand::GroupCommand

(

size_t

number_of_modules

)

Create a group command with the specified number of modules.

~GroupCommand()

hebi::GroupCommand::~GroupCommand ( )

noexcept

Destructor cleans up group command object as necessary.

Member Function Documentation

size()

size_t hebi::GroupCommand::size

(

)

const

Returns the number of module commands in this group command.

operator[]() [1/2]

Command & hebi::GroupCommand::operator[]

(

size_t

index

)

Access the command for an individual module.

operator[]() [2/2]

const Command & hebi::GroupCommand::operator[]

(

size_t

index

)

const

Access the command for an individual module.

clear()

void hebi::GroupCommand::clear

(

)

Clears all data in this GroupCommand object; this returns to the state the GroupCommand was at time of creation.

readGains()

bool hebi::GroupCommand::readGains

(

const std::string &

file

)

Import the gains from a file into this GroupCommand object.

Parameters

file	The filename (or path + filename) to the file to read from.

writeGains()

bool hebi::GroupCommand::writeGains

(

const std::string &

file

)

const

Export the gains from this GroupCommand object into a file, creating it as necessary.

Parameters

file	The filename (or path + filename) to the file to write to.

readSafetyParameters()

FunctionCallResult hebi::GroupCommand::readSafetyParameters ( const std::string &  file )

inline

Import the safety parameters from a file into this GroupCommand object.

Parameters

file	The filename (or path + filename) to the file to read from.

writeSafetyParameters()

FunctionCallResult hebi::GroupCommand::writeSafetyParameters ( const std::string &  file ) const

inline

Export the safety parameters from this GroupCommand object into a file, creating it as necessary.

Parameters

file	The filename (or path + filename) to the file to write to.

setPosition()

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.

setVelocity()

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.

setEffort()

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.

setSpringConstant()

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.

getPosition() [1/2]

Eigen::VectorXd hebi::GroupCommand::getPosition

(

)

const

Convenience function for returning commanded position values.

getVelocity() [1/2]

Eigen::VectorXd hebi::GroupCommand::getVelocity

(

)

const

Convenience function for returning commanded velocity values.

getEffort() [1/2]

Eigen::VectorXd hebi::GroupCommand::getEffort

(

)

const

Convenience function for returning commanded effort values.

getSpringConstant() [1/2]

Eigen::VectorXd hebi::GroupCommand::getSpringConstant

(

)

const

Convenience function for returning commanded spring constant values.

getPosition() [2/2]

void hebi::GroupCommand::getPosition

(

Eigen::VectorXd &

out

)

const

Convenience function for returning commanded position values.

getVelocity() [2/2]

void hebi::GroupCommand::getVelocity

(

Eigen::VectorXd &

out

)

const

Convenience function for returning commanded velocity values.

getEffort() [2/2]

void hebi::GroupCommand::getEffort

(

Eigen::VectorXd &

out

)

const

Convenience function for returning commanded effort values.

getSpringConstant() [2/2]

void hebi::GroupCommand::getSpringConstant

(

Eigen::VectorXd &

out

)

const

Convenience function for returning commanded spring constant values.

---

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

• group_command.hpp
• group_command.cpp