Blender  V3.3
Public Types | Public Member Functions | Protected Member Functions | List of all members
iTaSC::Distance Class Reference

#include <Distance.hpp>

Inheritance diagram for iTaSC::Distance:
iTaSC::ConstraintSet

Public Types

enum  ID { ID_DISTANCE =1 }
 

Public Member Functions

 Distance (double armlength=1.0, double accuracy=1e-6, unsigned int maximum_iterations=100)
 
virtual ~Distance ()
 
virtual bool setControlParameters (struct ConstraintValues *_values, unsigned int _nvalues, double timestep)
 
virtual const ConstraintValuesgetControlParameters (unsigned int *_nvalues)
 
- Public Member Functions inherited from iTaSC::ConstraintSet
 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_vectorgetControlOutput () const
 
bool setControlParameter (int id, ConstraintAction action, double value, double timestep=0.0)
 
virtual const e_matrix6getJf () const
 
virtual const KDL::FramegetPose () const
 
virtual const e_matrixgetCf () const
 
virtual const e_vectorgetWy () 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 updateKinematics (const Timestamp &timestamp)
 
virtual void pushCache (const Timestamp &timestamp)
 
virtual void updateJacobian ()
 
virtual bool initialise (Frame &init_pose)
 
virtual void initCache (Cache *_cache)
 
virtual void updateControlOutput (const Timestamp &timestamp)
 
virtual bool closeLoop ()
 
- Protected Member Functions inherited from iTaSC::ConstraintSet
virtual void modelUpdate (KDL::Frame &_external_pose, const Timestamp &timestamp)
 
virtual void reset (unsigned int nc, double accuracy, unsigned int maximum_iterations)
 
virtual double getMaxTimestep (double &timestep)
 

Additional Inherited Members

- Protected Attributes inherited from iTaSC::ConstraintSet
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
 
voidm_constraintParam
 
voidm_poseParam
 
bool m_toggle
 
bool m_substep
 
double m_threshold
 
unsigned int m_maxIter
 

Detailed Description

Definition at line 19 of file Distance.hpp.

Member Enumeration Documentation

◆ ID

Enumerator
ID_DISTANCE 

Definition at line 31 of file Distance.hpp.

Constructor & Destructor Documentation

◆ Distance()

iTaSC::Distance::Distance ( double  armlength = 1.0,
double  accuracy = 1e-6,
unsigned int  maximum_iterations = 100 
)

◆ ~Distance()

iTaSC::Distance::~Distance ( )
virtual

Definition at line 51 of file Distance.cpp.

Member Function Documentation

◆ closeLoop()

bool iTaSC::Distance::closeLoop ( )
protectedvirtual

◆ getControlParameters()

const ConstraintValues * iTaSC::Distance::getControlParameters ( unsigned int *  _nvalues)
virtual

◆ initCache()

void iTaSC::Distance::initCache ( Cache _cache)
protectedvirtual

Implements iTaSC::ConstraintSet.

Definition at line 115 of file Distance.cpp.

References iTaSC::Cache::addChannel(), and iTaSC::distanceCacheSize.

◆ initialise()

bool iTaSC::Distance::initialise ( Frame init_pose)
protectedvirtual

Reimplemented from iTaSC::ConstraintSet.

Definition at line 96 of file Distance.cpp.

References iTaSC::ConstraintSet::m_externalPose, and updateJacobian().

◆ pushCache()

void iTaSC::Distance::pushCache ( const Timestamp timestamp)
protectedvirtual

◆ setControlParameters()

bool iTaSC::Distance::setControlParameters ( struct ConstraintValues _values,
unsigned int  _nvalues,
double  timestep 
)
virtual

◆ updateControlOutput()

void iTaSC::Distance::updateControlOutput ( const Timestamp timestamp)
protectedvirtual

◆ updateJacobian()

void iTaSC::Distance::updateJacobian ( )
protectedvirtual

◆ updateKinematics()

void iTaSC::Distance::updateKinematics ( const Timestamp timestamp)
protectedvirtual

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