Module: MJInterpolators

class SingleActuatorInterpolator : public Interpolator<SingleActuatorMsgPayload, 1>
#include <MJInterpolators.h>

Interpolates a series of user-given data points to publish a message of type SingleActuatorMsg

Protected Functions

inline virtual void setPayloadValues(SingleActuatorMsgPayload &payload, uint64_t CurrentSimNanos, const Eigen::Array<double, 1, 1> &interp) override

Sets the payload values for the SingleActuatorMsgPayload.

This method is called by the UpdateState method of the Interpolator class to set the interpolated values into the payload.

Parameters:

  • payload – The payload object to set values in.

  • CurrentSimNanos – The current simulation time in nanoseconds.

  • interp – The interpolated values.

class ScalarJointStateInterpolator : public Interpolator<ScalarJointStateMsgPayload, 1>
#include <MJInterpolators.h>

Interpolates a series of user-given data points to publish a message of type ScalarJointStateMsg

Protected Functions

inline virtual void setPayloadValues(ScalarJointStateMsgPayload &payload, uint64_t CurrentSimNanos, const Eigen::Array<double, 1, 1> &interp) override

Sets the payload values for the ScalarJointStateMsgPayload.

This method is called by the UpdateState method of the Interpolator class to set the interpolated values into the payload.

Parameters:

  • payload – The payload object to set values in.

  • CurrentSimNanos – The current simulation time in nanoseconds.

  • interp – The interpolated values.