class
MultiStateWeightProviderMultiStateWeightProvider describes the provider for a constant weight.
Base classes
- struct BipedalLocomotion::System::WeightProvider
- WeightProvider describes the provider for a weight.
Public functions
- auto getOutput() const -> const Eigen::VectorXd& override
- Get the weight associated to the provider.
-
auto initialize(std::weak_ptr<const ParametersHandler::
IParametersHandler> handler) -> bool override - Initialize constant weight provider.
- auto setState(const std::string& state) -> bool
- Set the state of the provider.
- auto reset(const std::string& state) -> bool
- Reset the internal weight of the provider.
- auto advance() -> bool override
- Update the content of the weight provider.
- auto isOutputValid() const -> bool final
- Determines the validity of the weight.
Function documentation
const Eigen::VectorXd& BipedalLocomotion:: ContinuousDynamicalSystem:: MultiStateWeightProvider:: getOutput() const override
Get the weight associated to the provider.
Returns | A vector representing the diagonal matrix of the weight |
---|
bool BipedalLocomotion:: ContinuousDynamicalSystem:: MultiStateWeightProvider:: 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. |
For each state
defined in states
, you should define a Group called state
that contains the following parameters
Parameter Name | Type | Description | Mandatory |
---|---|---|---|
weight | vector<double> | Vector representing the diagonal matrix of a constant weight | Yes |
name | string | Name of the state | Yes |
bool BipedalLocomotion:: ContinuousDynamicalSystem:: MultiStateWeightProvider:: setState(const std::string& state)
Set the state of the provider.
Parameters | |
---|---|
state | name of the state. Please notice that the name should be the one passed in the initialization |
Returns | true in case of success/false otherwise. |
bool BipedalLocomotion:: ContinuousDynamicalSystem:: MultiStateWeightProvider:: reset(const std::string& state)
Reset the internal weight of the provider.
Parameters | |
---|---|
state | name of the state. Please notice that the name should be the one passed in the initialization. |
Returns | true in case of success/false otherwise. |
This method reset also the value of the dynamical system.
bool BipedalLocomotion:: ContinuousDynamicalSystem:: MultiStateWeightProvider:: advance() override
Update the content of the weight provider.
Returns | True in case of success and false otherwise |
---|
bool BipedalLocomotion:: ContinuousDynamicalSystem:: MultiStateWeightProvider:: isOutputValid() const final
Determines the validity of the weight.
Returns | True if the weight is valid, false otherwise. |
---|