rci::JointTorques Class Reference

Domain object, representing Joint Torques. More...

#include <JointTorques.h>

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List of all members.

Public Member Functions
	JointTorques ()
	Empty constructor Initializes JointTorques with no values.
	JointTorques (const nemo::RealVector &values)
	Constructor from double vector.
	JointTorques (double value)
	Constructor from double vector.
virtual double	Nm (unsigned int index) const
	Getter for the values of this Torques values in $Nm$.
virtual nemo::RealVector	NmVector () const
virtual void	setFromNm (unsigned int index, double value)
	Setter for the values of this Torque values in $Nm$.
virtual void	setFromNm (const nemo::RealVector &values)
Static Public Member Functions
static JointTorquesPtr	fromNm (double value)
	Create JointTorques from value(s) in .
static JointTorquesPtr	fromNm (const nemo::RealVector &values)
static JointTorquesPtr	create (unsigned int dimension, double value=0.0)
	Create blank JointTorquesPtr with given dimension (and optionally fill it with the given value, otherwise filled with zeros).
static JointTorquesPtr	copy (const JointTorques &)
	Create JointTorquesPtr from a JointTorques object (deep copy).
Protected Member Functions
virtual std::string	print () const
	Print function.

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Detailed Description

Domain object, representing Joint Torques.

Default representatin is newton meter, which is the SI measurement unit of torque.

Definition at line 47 of file JointTorques.h.

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Constructor & Destructor Documentation

rci::JointTorques::JointTorques

(

)

Empty constructor Initializes JointTorques with no values.

Definition at line 42 of file JointTorques.cpp.

Referenced by copy(), and fromNm().

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rci::JointTorques::JointTorques

(

const nemo::RealVector &

values

)

Constructor from double vector.

Initializes JointTorques with given values from double vector.

Parameters:

values

Double vector with torque values ()

rci::JointTorques::JointTorques

(

double

value

)

Constructor from double vector.

Initializes JointTorques with given values from double vector.

Parameters:

value

Torque values ()

Definition at line 46 of file JointTorques.cpp.

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Member Function Documentation

JointTorquesPtr rci::JointTorques::copy

(

const JointTorques &

torques

)

[static]

Create JointTorquesPtr from a JointTorques object (deep copy).

Parameters:

JointTorques

object

Definition at line 108 of file JointTorques.cpp.

References JointTorques().

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JointTorquesPtr rci::JointTorques::create	(	unsigned int	dimension,
		double	value = 0.0
	)			[static]

Create blank JointTorquesPtr with given dimension (and optionally fill it with the given value, otherwise filled with zeros).

Parameters:

	dimension	Dimension of the JointTorques DTo to create
	value	Value to fill each end every field of the DTO (value in default representation - $Nm$)

Definition at line 54 of file JointTorques.cpp.

References fromNm().

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JointTorquesPtr rci::JointTorques::fromNm

(

const nemo::RealVector &

values

)

[static]

Definition at line 38 of file JointTorques.cpp.

References JointTorques().

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JointTorquesPtr rci::JointTorques::fromNm

(

double

value

)

[static]

Create JointTorques from value(s) in .

Parameters:

value

Returns:

Joint torques

Definition at line 34 of file JointTorques.cpp.

References JointTorques().

Referenced by create().

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double rci::JointTorques::Nm

(

unsigned int

index

)

const [virtual]

Getter for the values of this Torques values in $Nm$.

Parameters:

index

Index to get in $Nm$

Returns:

Definition at line 59 of file JointTorques.cpp.

nemo::RealVector rci::JointTorques::NmVector

(

)

const [virtual]

Definition at line 69 of file JointTorques.cpp.

std::string rci::JointTorques::print

(

)

const [protected, virtual]

Print function.

Reimplemented from rci::JointValues.

Definition at line 73 of file JointTorques.cpp.

void rci::JointTorques::setFromNm

(

const nemo::RealVector &

values

)

[virtual]

Definition at line 97 of file JointTorques.cpp.

void rci::JointTorques::setFromNm	(	unsigned int	index,
		double	value
	)			[virtual]

Setter for the values of this Torque values in $Nm$.

Parameters:

	index	Index to set
	value	Value to set (in $Nm$)

Definition at line 87 of file JointTorques.cpp.

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

• rci/dto/JointTorques.h
• rci/dto/JointTorques.cpp