rci::JointImpedance Class Reference
[Compliance]

Domain object, representing JointImpedance, consisting of JointStiffness and JointDamping. More...

#include <JointImpedance.h>

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List of all members.

Public Member Functions
	JointImpedance ()
	Empty constructor Initializes JointImpedance with no values.
	JointImpedance (double stiffness, double damping)
	Initializes one-dimensional JointImpedance with given stiffness and damping.
	JointImpedance (const nemo::RealVector &values)
	Constructor from double vector.
	JointImpedance (const nemo::RealVector &stiffness, const nemo::RealVector &damping)
	Constructor from double vector.
	JointImpedance (JointStiffness stiffness, JointDamping damping)
	Constructor from JointStiffness and JointDamping.
JointStiffness	getStiffness () const
	Get JointStiffness of all joints.
unsigned int	getDimension () const
JointStiffness	getStiffness (unsigned int index) const
	Get JointStiffness of a single joint.
JointDamping	getDamping () const
	Get JointDamping of all joints.
JointDamping	getDamping (unsigned int index) const
	Get JointDamping of a single joint.
JointImpedance	operator[] (unsigned int index) const
virtual double	asDouble (unsigned int index) const
	Access impedance values as untyped doubles.
virtual nemo::RealVector	asDoubleVector () const
	Access impedance values as untyped double vector.
virtual void	setValue (unsigned int index, double value)
	Setting value at given index.
template<class DTOType >
void	merge (std::vector< boost::shared_ptr< DTOType > > &inputDTOs)
	Merging several low-dimensional JointImpedance DTOs into one single high-dimensional JointImpedance DTO.
template<class DTOType >
std::vector< JointImpedancePtr >	split () const
	Split this DTO into several one-dimensional DTOs.
Static Public Member Functions
static JointImpedancePtr	copy (const JointImpedance &impedance)
	Copy from JointImpedance.
static JointImpedancePtr	create (const nemo::RealVector &values)
	Crate JointImpedancePtr from values vector.
Protected Member Functions
virtual std::string	print () const
	Print function.
Protected Attributes
JointStiffness	_stiffness
	Stiffness value.
JointDamping	_damping
	Stiffness value.

Detailed Description

Domain object, representing JointImpedance, consisting of JointStiffness and JointDamping.

Definition at line 169 of file JointImpedance.h.

Constructor & Destructor Documentation

rci::JointImpedance::JointImpedance ( )

Empty constructor Initializes JointImpedance with no values.

Definition at line 34 of file JointImpedance.cpp.

Referenced by copy(), operator[](), and split().

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rci::JointImpedance::JointImpedance	(	double	stiffness,
		double	damping
	)

Initializes one-dimensional JointImpedance with given stiffness and damping.

Definition at line 38 of file JointImpedance.cpp.

rci::JointImpedance::JointImpedance ( const nemo::RealVector & values )

Constructor from double vector.

Initializes JointImpedance with given values from double vector. Vector has to be twice the number of joints, stiffness and damping alternating.

Parameters:

values

Double vector with stiffness and damping values (in that order, units are ( $[N*m/rad]$

, ..., ???)

Todo:: what is SI metric unit for rotatory damping?

rci::JointImpedance::JointImpedance	(	const nemo::RealVector &	stiffness,
		const nemo::RealVector &	damping
	)

Constructor from double vector.

Initializes JointImpedance with given values from double vector. Vector has to be twice the number of joints, stiffness and damping alternating.

Parameters:

	stiffness	Double vector with stiffness in
	damping	Double vector with stiffness in ???

rci::JointImpedance::JointImpedance	(	JointStiffness	stiffness,
		JointDamping	damping
	)

Constructor from JointStiffness and JointDamping.

Dimensions if stiffness and damping must agree.

Parameters:

	stiffness	Joint stiffness
	damping	Joint damping

Definition at line 70 of file JointImpedance.cpp.

Member Function Documentation

double rci::JointImpedance::asDouble ( unsigned int index ) const [virtual]

Access impedance values as untyped doubles.

Valid indices are twice the impedance dimension, you get stiffness values for every even indices (including zero) and damping values for all uneven indices.

Parameters:

index

Index of value to get. You get stiffness values for every even indices (including zero), and damping values for every even indices.

Returns:: Stiffness (even index, including zero) or damping (uneven index) value

Definition at line 98 of file JointImpedance.cpp.

References _damping, and _stiffness.

Referenced by merge(), and split().

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nemo::RealVector rci::JointImpedance::asDoubleVector ( ) const [virtual]

Access impedance values as untyped double vector.

Size of the vector is twice the size of the impedance DTO`s dimension. Even indices (including zero) are stiffness value, uneven indices are damping values.

Returns:: Stiffness (even index, including zero) or damping (uneven index) values in a vector.

Definition at line 106 of file JointImpedance.cpp.

References _damping, _stiffness, and getDimension().

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JointImpedancePtr rci::JointImpedance::copy ( const JointImpedance & impedance ) [static]

Copy from JointImpedance.

Parameters:

impedance

JointImpedance to copy

Returns:: Shared pointer to the copy

Definition at line 58 of file JointImpedance.cpp.

References JointImpedance().

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static JointImpedancePtr rci::JointImpedance::create ( const nemo::RealVector & values ) [static]

Crate JointImpedancePtr from values vector.

Parameters:

values

Vector of raw values.

Returns:: Newly created JointImpedancePtr

JointDamping rci::JointImpedance::getDamping ( unsigned int index ) const

Get JointDamping of a single joint.

Parameters:

index

Index of joint

Returns:: Damping of specified joint

Definition at line 86 of file JointImpedance.cpp.

References _damping.

JointDamping rci::JointImpedance::getDamping ( ) const

Get JointDamping of all joints.

Returns:: Damping of all joints

Definition at line 82 of file JointImpedance.cpp.

References _damping.

Referenced by operator[]().

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unsigned int rci::JointImpedance::getDimension ( ) const

Returns:

Definition at line 66 of file JointImpedance.cpp.

References _stiffness.

Referenced by asDoubleVector(), merge(), and split().

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JointStiffness rci::JointImpedance::getStiffness ( unsigned int index ) const

Get JointStiffness of a single joint.

Parameters:

index

Index of joint

Returns:: Stiffness of specified joint

Definition at line 78 of file JointImpedance.cpp.

References _stiffness.

JointStiffness rci::JointImpedance::getStiffness ( ) const

Get JointStiffness of all joints.

Returns:: Stiffness of all joints

Definition at line 74 of file JointImpedance.cpp.

References _stiffness.

Referenced by operator[]().

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template<class DTOType >

void rci::JointImpedance::merge ( std::vector< boost::shared_ptr< DTOType > > & inputDTOs ) [inline]

Merging several low-dimensional JointImpedance DTOs into one single high-dimensional JointImpedance DTO.

Unfortunately this method has to have a template parameter to be compatible to the generic method in ContainingDoubles.

Template Parameters:

DTOType

Type of input DTOs (automatically inferred from inputs if left blank)

Parameters:

inputDTOs

Vector of JointImpedancePtr, that should be merged (in-place)

Definition at line 340 of file JointImpedance.h.

References _damping, _stiffness, asDouble(), and getDimension().

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JointImpedance rci::JointImpedance::operator[] ( unsigned int index ) const

Parameters:

index

Returns:

Definition at line 115 of file JointImpedance.cpp.

References getDamping(), getStiffness(), and JointImpedance().

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std::string rci::JointImpedance::print ( ) const [protected, virtual]

Print function.

Reimplemented from rci::JointValues.

Definition at line 119 of file JointImpedance.cpp.

References _damping, and _stiffness.

void rci::JointImpedance::setValue	(	unsigned int	index,
		double	value
	)			`[virtual]`

Setting value at given index.

Parameters:

	index	Index of the value to set/ change. Even values (including zero) set stiffness values, uneven values set damping values.
	value	Value to set

Definition at line 90 of file JointImpedance.cpp.

References _damping, and _stiffness.

template<class DTOType >

std::vector<JointImpedancePtr> rci::JointImpedance::split ( ) const [inline]

Split this DTO into several one-dimensional DTOs.

Template Parameters:

DTOType

Type of input and return DTOs. Has to be JointImpedance but unfortunately has to be explicit to be compatible to the generic method in ContainingDoubles.