Blender
V3.3
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#include <ConstraintSet.hpp>
Public Member Functions | |
ConstraintSet (unsigned int nc, double accuracy, unsigned int maximum_iterations) | |
ConstraintSet () | |
virtual | ~ConstraintSet () |
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool | registerCallback (ConstraintCallback _function, void *_param) |
virtual const e_vector & | getControlOutput () const |
virtual const ConstraintValues * | getControlParameters (unsigned int *_nvalues)=0 |
virtual bool | setControlParameters (ConstraintValues *_values, unsigned int _nvalues, double timestep=0.0)=0 |
bool | setControlParameter (int id, ConstraintAction action, double value, double timestep=0.0) |
virtual const e_matrix6 & | getJf () const |
virtual const KDL::Frame & | getPose () const |
virtual const e_matrix & | getCf () const |
virtual const e_vector & | getWy () const |
virtual void | setWy (const e_vector &Wy_in) |
virtual void | setJointVelocity (const e_vector chidot_in) |
virtual unsigned int | getNrOfConstraints () |
void | substep (bool _substep) |
bool | substep () |
Protected Member Functions | |
virtual void | modelUpdate (KDL::Frame &_external_pose, const Timestamp ×tamp) |
virtual void | updateKinematics (const Timestamp ×tamp)=0 |
virtual void | pushCache (const Timestamp ×tamp)=0 |
virtual void | updateJacobian ()=0 |
virtual void | updateControlOutput (const Timestamp ×tamp)=0 |
virtual void | initCache (Cache *_cache)=0 |
virtual bool | initialise (KDL::Frame &init_pose) |
virtual void | reset (unsigned int nc, double accuracy, unsigned int maximum_iterations) |
virtual bool | closeLoop () |
virtual double | getMaxTimestep (double ×tep) |
Protected Attributes | |
unsigned int | m_nc |
e_scalar | m_maxDeltaChi |
e_matrix | m_Cf |
e_vector | m_Wy |
e_vector | m_y |
e_vector | m_ydot |
e_vector6 | m_chi |
e_vector6 | m_chidot |
e_vector6 | m_S |
e_vector6 | m_temp |
e_vector6 | m_tdelta |
e_matrix6 | m_Jf |
e_matrix6 | m_U |
e_matrix6 | m_V |
e_matrix6 | m_B |
e_matrix6 | m_Jf_inv |
KDL::Frame | m_internalPose |
KDL::Frame | m_externalPose |
ConstraintCallback | m_constraintCallback |
void * | m_constraintParam |
void * | m_poseParam |
bool | m_toggle |
bool | m_substep |
double | m_threshold |
unsigned int | m_maxIter |
Friends | |
class | Scene |
Definition at line 51 of file ConstraintSet.hpp.
iTaSC::ConstraintSet::ConstraintSet | ( | unsigned int | nc, |
double | accuracy, | ||
unsigned int | maximum_iterations | ||
) |
Definition at line 13 of file ConstraintSet.cpp.
References e_scalar, and m_maxDeltaChi.
iTaSC::ConstraintSet::ConstraintSet | ( | ) |
Definition at line 30 of file ConstraintSet.cpp.
References e_scalar, and m_maxDeltaChi.
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virtual |
Definition at line 61 of file ConstraintSet.cpp.
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protectedvirtual |
Reimplemented in iTaSC::Distance.
Definition at line 139 of file ConstraintSet.cpp.
References KDL::diff(), KDL::Equal(), iTaSC::F_identity, KDL::Frame::Inverse(), m_B, m_chi, m_externalPose, m_internalPose, m_Jf, m_Jf_inv, m_S, m_tdelta, m_temp, m_threshold, m_U, m_V, KDL::Frame::p, KDL::Twist::RefPoint(), ret, KDL::svd_eigen_HH(), and updateJacobian().
Referenced by initialise(), and modelUpdate().
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inlinevirtual |
Definition at line 102 of file ConstraintSet.hpp.
References m_Cf.
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inlinevirtual |
Definition at line 95 of file ConstraintSet.hpp.
References m_ydot.
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pure virtual |
Implemented in iTaSC::Distance, and iTaSC::CopyPose.
Referenced by execute_scene().
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inlinevirtual |
Definition at line 100 of file ConstraintSet.hpp.
References m_Jf.
Reimplemented in iTaSC::CopyPose.
Definition at line 78 of file ConstraintSet.cpp.
References e_scalar, m_chidot, and m_maxDeltaChi.
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inlinevirtual |
Definition at line 108 of file ConstraintSet.hpp.
References m_nc.
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inlinevirtual |
Definition at line 101 of file ConstraintSet.hpp.
References m_internalPose.
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inlinevirtual |
Definition at line 104 of file ConstraintSet.hpp.
References m_Wy.
Implemented in iTaSC::Distance, and iTaSC::CopyPose.
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protectedvirtual |
Reimplemented in iTaSC::Distance, and iTaSC::CopyPose.
Definition at line 87 of file ConstraintSet.cpp.
References closeLoop(), m_externalPose, m_maxIter, and updateJacobian().
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protectedvirtual |
Reimplemented in iTaSC::CopyPose.
Definition at line 65 of file ConstraintSet.cpp.
References closeLoop(), m_chi, m_chidot, m_externalPose, iTaSC::Timestamp::realTimestep, and updateJacobian().
Implemented in iTaSC::Distance, and iTaSC::CopyPose.
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inlinevirtual |
Definition at line 88 of file ConstraintSet.hpp.
References m_constraintCallback, and m_constraintParam.
Referenced by convert_tree().
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protectedvirtual |
Definition at line 40 of file ConstraintSet.cpp.
References e_identity_matrix, e_scalar_vector, e_zero_matrix, e_zero_vector, m_B, m_Cf, m_chi, m_chidot, m_Jf, m_Jf_inv, m_maxIter, m_nc, m_S, m_tdelta, m_temp, m_threshold, m_U, m_V, m_Wy, m_y, and m_ydot.
Referenced by iTaSC::CopyPose::CopyPose().
bool iTaSC::ConstraintSet::setControlParameter | ( | int | id, |
ConstraintAction | action, | ||
double | value, | ||
double | timestep = 0.0 |
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) |
Definition at line 102 of file ConstraintSet.cpp.
References iTaSC::ACT_ALPHA, iTaSC::ACT_FEEDBACK, iTaSC::ACT_NONE, iTaSC::ACT_TOLERANCE, iTaSC::ACT_VALUE, iTaSC::ACT_VELOCITY, iTaSC::ConstraintSingleValue::action, iTaSC::ConstraintValues::action, iTaSC::ConstraintValues::alpha, data, iTaSC::ConstraintValues::feedback, iTaSC::ConstraintSingleValue::id, iTaSC::ConstraintValues::id, id, iTaSC::ConstraintValues::number, setControlParameters(), iTaSC::ConstraintValues::tolerance, iTaSC::ConstraintValues::values, iTaSC::ConstraintSingleValue::yd, and iTaSC::ConstraintSingleValue::yddot.
Referenced by convert_tree().
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pure virtual |
Implemented in iTaSC::Distance, and iTaSC::CopyPose.
Referenced by setControlParameter().
Definition at line 106 of file ConstraintSet.hpp.
References m_chidot.
Definition at line 105 of file ConstraintSet.hpp.
References m_Wy.
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inline |
Definition at line 110 of file ConstraintSet.hpp.
References m_substep.
Definition at line 109 of file ConstraintSet.hpp.
References m_substep.
Referenced by convert_tree().
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protectedpure virtual |
Implemented in iTaSC::Distance, and iTaSC::CopyPose.
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protectedpure virtual |
Implemented in iTaSC::Distance, and iTaSC::CopyPose.
Referenced by closeLoop(), initialise(), and modelUpdate().
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protectedpure virtual |
Implemented in iTaSC::Distance, and iTaSC::CopyPose.
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friend |
Definition at line 68 of file ConstraintSet.hpp.
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protected |
Definition at line 58 of file ConstraintSet.hpp.
Referenced by closeLoop(), and reset().
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protected |
Definition at line 55 of file ConstraintSet.hpp.
Referenced by iTaSC::CopyPose::CopyPose(), iTaSC::Distance::Distance(), getCf(), and reset().
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protected |
Definition at line 57 of file ConstraintSet.hpp.
Referenced by closeLoop(), iTaSC::Distance::getControlParameters(), modelUpdate(), reset(), iTaSC::Distance::updateControlOutput(), and iTaSC::Distance::updateJacobian().
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protected |
Definition at line 57 of file ConstraintSet.hpp.
Referenced by getMaxTimestep(), iTaSC::CopyPose::getMaxTimestep(), modelUpdate(), reset(), and setJointVelocity().
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protected |
Definition at line 60 of file ConstraintSet.hpp.
Referenced by registerCallback(), iTaSC::CopyPose::updateControlOutput(), and iTaSC::Distance::updateControlOutput().
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protected |
Definition at line 61 of file ConstraintSet.hpp.
Referenced by registerCallback(), iTaSC::CopyPose::updateControlOutput(), and iTaSC::Distance::updateControlOutput().
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protected |
Definition at line 59 of file ConstraintSet.hpp.
Referenced by closeLoop(), iTaSC::Distance::closeLoop(), iTaSC::CopyPose::initialise(), iTaSC::Distance::initialise(), initialise(), iTaSC::CopyPose::modelUpdate(), and modelUpdate().
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protected |
Definition at line 59 of file ConstraintSet.hpp.
Referenced by closeLoop(), iTaSC::Distance::closeLoop(), iTaSC::CopyPose::getControlParameters(), getPose(), iTaSC::CopyPose::initialise(), iTaSC::CopyPose::modelUpdate(), iTaSC::CopyPose::updateControlOutput(), and iTaSC::Distance::updateJacobian().
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protected |
Definition at line 58 of file ConstraintSet.hpp.
Referenced by closeLoop(), iTaSC::CopyPose::CopyPose(), getJf(), reset(), and iTaSC::Distance::updateJacobian().
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protected |
Definition at line 58 of file ConstraintSet.hpp.
Referenced by closeLoop(), and reset().
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protected |
Definition at line 54 of file ConstraintSet.hpp.
Referenced by ConstraintSet(), getMaxTimestep(), and iTaSC::CopyPose::getMaxTimestep().
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protected |
Definition at line 66 of file ConstraintSet.hpp.
Referenced by initialise(), and reset().
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protected |
Definition at line 53 of file ConstraintSet.hpp.
Referenced by iTaSC::CopyPose::CopyPose(), getNrOfConstraints(), and reset().
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protected |
Definition at line 62 of file ConstraintSet.hpp.
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protected |
Definition at line 57 of file ConstraintSet.hpp.
Referenced by closeLoop(), and reset().
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protected |
Definition at line 64 of file ConstraintSet.hpp.
Referenced by substep(), iTaSC::CopyPose::updateControlOutput(), and iTaSC::Distance::updateControlOutput().
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protected |
Definition at line 57 of file ConstraintSet.hpp.
Referenced by closeLoop(), and reset().
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protected |
Definition at line 57 of file ConstraintSet.hpp.
Referenced by closeLoop(), and reset().
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protected |
Definition at line 65 of file ConstraintSet.hpp.
Referenced by closeLoop(), iTaSC::Distance::closeLoop(), and reset().
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protected |
Definition at line 63 of file ConstraintSet.hpp.
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protected |
Definition at line 58 of file ConstraintSet.hpp.
Referenced by closeLoop(), and reset().
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protected |
Definition at line 58 of file ConstraintSet.hpp.
Referenced by closeLoop(), and reset().
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protected |
Definition at line 56 of file ConstraintSet.hpp.
Referenced by iTaSC::CopyPose::CopyPose(), iTaSC::Distance::Distance(), getWy(), reset(), iTaSC::Distance::setControlParameters(), and setWy().
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protected |
Definition at line 56 of file ConstraintSet.hpp.
Referenced by reset().
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protected |
Definition at line 56 of file ConstraintSet.hpp.
Referenced by getControlOutput(), iTaSC::Distance::getControlParameters(), reset(), and iTaSC::Distance::updateControlOutput().