BipedalLocomotion::System::ConstantWeightProvider class
#include <BipedalLocomotion/System/ConstantWeightProvider.h>

ConstantWeightProvider describes the provider for a constant weight.

Base classes

struct WeightProvider
WeightProvider describes the provider for a weight.

Constructors, destructors, conversion operators

ConstantWeightProvider() defaulted
Default construct.
ConstantWeightProvider(Eigen::Ref<const Eigen::VectorXd> weight)
Constrict from a vector representing the diagonal matrix of a weight.

Public functions

auto advance() -> bool final
Since the weight is constant this will always return true and it does nothing.
auto getOutput() const -> const Eigen::VectorXd& final
Get the weight associated to the provider.
auto isOutputValid() const -> bool final
Determines the validity of the weight.
auto initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) -> bool override
Initialize constant weight provider.

Function documentation

BipedalLocomotion::System::ConstantWeightProvider::ConstantWeightProvider(Eigen::Ref<const Eigen::VectorXd> weight)

Constrict from a vector representing the diagonal matrix of a weight.

Parameters
weight a vector representing the diagonal matrix of a weight

const Eigen::VectorXd& BipedalLocomotion::System::ConstantWeightProvider::getOutput() const final

Get the weight associated to the provider.

Returns A vector representing the diagonal matrix of the weight

bool BipedalLocomotion::System::ConstantWeightProvider::isOutputValid() const final

Determines the validity of the weight.

Returns True if the weight is valid, false otherwise.

bool BipedalLocomotion::System::ConstantWeightProvider::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler) override

Initialize constant weight provider.

Parameters
handler pointer to the parameter handler.
Returns true in case of success/false otherwise.