HEBI C++ API  2.0.1
hebi::GroupCommand Class Referencefinal

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...
 
Commandoperator[] (size_t index)
 Access the command for an individual module. More...
 
const Commandoperator[] (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...
 
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
fileThe 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
fileThe 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: