wbt::block::InverseDynamics Class Reference

The wbt::InverseDynamics class. More...

#include <InverseDynamics.h>

Inheritance diagram for wbt::block::InverseDynamics:

Detailed Description

The wbt::InverseDynamics class.

Classes
class	impl

Public Member Functions
	InverseDynamics ()
	~InverseDynamics () override
unsigned	numberOfParameters () override
bool	configureSizeAndPorts (blockfactory::core::BlockInformation *blockInfo) override
bool	initialize (blockfactory::core::BlockInformation *blockInfo) override
bool	terminate (const blockfactory::core::BlockInformation *blockInfo) override
bool	output (const blockfactory::core::BlockInformation *blockInfo) override
Public Member Functions inherited from wbt::base::WBBlock
	WBBlock ()
	~WBBlock () override
unsigned	numberOfParameters () override
bool	parseParameters (blockfactory::core::BlockInformation *blockInfo) override
bool	configureSizeAndPorts (blockfactory::core::BlockInformation *blockInfo) override
bool	initialize (blockfactory::core::BlockInformation *blockInfo) override

Private Attributes
std::unique_ptr< impl >	pImpl

Additional Inherited Members
Static Public Attributes inherited from wbt::base::WBBlock
static constexpr unsigned	NumberOfParameters = Block::NumberOfParameters + 2
	The number of parameters WBBlock requires. More...
Protected Member Functions inherited from wbt::base::WBBlock
std::shared_ptr< iDynTree::KinDynComputations >	getKinDynComputations () const
	Helper for retrieving the iDynTree::KinDynComputations object. More...
const std::shared_ptr< wbt::base::RobotInterface >	getRobotInterface () const
	Helper for retrieving the wbt::RobotInterface object. More...
bool	setRobotState (wbt::base::InputSignalPtr basePose, wbt::base::InputSignalPtr jointsPos, wbt::base::InputSignalPtr baseVelocity, wbt::base::InputSignalPtr jointsVelocity, iDynTree::KinDynComputations *kinDyn)
	Helper for setting the robot state inside the iDynTree::KinDynComputations object. More...
Protected Attributes inherited from wbt::base::WBBlock
std::unique_ptr< iDynTreeRobotState >	m_robotState
std::string	m_confBlockName
std::shared_ptr< wbt::base::RobotInterface >	m_robotInterface

Constructor & Destructor Documentation

InverseDynamics()

InverseDynamics::InverseDynamics

(

)

~InverseDynamics()

InverseDynamics::~InverseDynamics ( )

overridedefault

Member Function Documentation

configureSizeAndPorts()

bool InverseDynamics::configureSizeAndPorts ( blockfactory::core::BlockInformation *  blockInfo )

override

initialize()

bool InverseDynamics::initialize ( blockfactory::core::BlockInformation *  blockInfo )

override

numberOfParameters()

unsigned InverseDynamics::numberOfParameters ( )

override

output()

bool InverseDynamics::output ( const blockfactory::core::BlockInformation *  blockInfo )

override

terminate()

bool InverseDynamics::terminate ( const blockfactory::core::BlockInformation *  blockInfo )

override

Member Data Documentation

pImpl

std::unique_ptr<impl> wbt::block::InverseDynamics::pImpl

private

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

• /home/runner/work/wb-toolbox/wb-toolbox/toolbox/library/include/WBToolbox/Block/InverseDynamics.h
• /home/runner/work/wb-toolbox/wb-toolbox/toolbox/library/src/InverseDynamics.cpp