CollisionAvoidance< T_PARAMS, PRIO > Class Template Reference

Class providing methods that realize a CollisionAvoidance constraint. More...

#include <constraint.h>

Inheritance diagram for CollisionAvoidance< T_PARAMS, PRIO >:

List of all members.

Public Member Functions
virtual void	calculate ()
	CollisionAvoidance (PRIO prio, T_PARAMS constraint_params, CallbackDataMediator &cbdm, KDL::ChainJntToJacSolver &jnt_to_jac, KDL::ChainFkSolverVel_recursive &fk_solver_vel)
virtual double	getActivationGain () const
double	getActivationGain (double current_cost_func_value) const
virtual double	getSelfMotionMagnitude (const Eigen::MatrixXd &particular_solution, const Eigen::MatrixXd &homogeneous_solution) const
	Returns a value for k_H to weight the partial values for e.g. GPM.
double	getSelfMotionMagnitude (double current_cost_func_value) const
	Returns a value for magnitude.
virtual Eigen::VectorXd	getTaskDerivatives () const
virtual std::string	getTaskId () const
virtual Eigen::MatrixXd	getTaskJacobian () const
virtual	~CollisionAvoidance ()
Private Member Functions
void	calcDerivativeValue ()
void	calcPartialValues ()
void	calcPredictionValue ()
void	calcValue ()
double	getActivationThresholdWithBuffer () const
virtual double	getCriticalValue () const
Private Attributes
Eigen::VectorXd	derivative_values_
KDL::ChainFkSolverVel_recursive &	fk_solver_vel_
KDL::ChainJntToJacSolver &	jnt_to_jac_
Eigen::MatrixXd	task_jacobian_
Eigen::VectorXd	values_

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Detailed Description

template<typename T_PARAMS, typename PRIO = uint32_t>
class CollisionAvoidance< T_PARAMS, PRIO >

Class providing methods that realize a CollisionAvoidance constraint.

Definition at line 52 of file constraint.h.

---

Constructor & Destructor Documentation

template<typename T_PARAMS , typename PRIO = uint32_t>

CollisionAvoidance< T_PARAMS, PRIO >::CollisionAvoidance	(	PRIO	prio,
		T_PARAMS	constraint_params,
		CallbackDataMediator &	cbdm,
		KDL::ChainJntToJacSolver &	jnt_to_jac,
		KDL::ChainFkSolverVel_recursive &	fk_solver_vel
	)		[inline]

Definition at line 55 of file constraint.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual CollisionAvoidance< T_PARAMS, PRIO >::~CollisionAvoidance

(

)

[inline, virtual]

Definition at line 65 of file constraint.h.

---

Member Function Documentation

template<typename T_PARAMS , typename PRIO >

void CollisionAvoidance< T_PARAMS, PRIO >::calcDerivativeValue

(

)

[private]

Definition at line 220 of file constraint_ca_impl.h.

template<typename T_PARAMS , typename PRIO >

void CollisionAvoidance< T_PARAMS, PRIO >::calcPartialValues

(

)

[private]

Calculate the partial values for each obstacle with the current link. For GPM the partial values are summed. For task constraint the task Jacobian is created: Each row is the partial value vector of one collision pair. ATTENTION: The magnitude and activation gain are considered only for GPM here.

Definition at line 233 of file constraint_ca_impl.h.

template<typename T_PARAMS , typename PRIO >

void CollisionAvoidance< T_PARAMS, PRIO >::calcPredictionValue

(

)

[private]

Definition at line 344 of file constraint_ca_impl.h.

template<typename T_PARAMS , typename PRIO >

void CollisionAvoidance< T_PARAMS, PRIO >::calculate

(

)

[virtual]

Implements ConstraintBase< T_PARAMS, PRIO >.

Definition at line 79 of file constraint_ca_impl.h.

template<typename T_PARAMS , typename PRIO >

void CollisionAvoidance< T_PARAMS, PRIO >::calcValue

(

)

[private]

Definition at line 191 of file constraint_ca_impl.h.

template<typename T_PARAMS , typename PRIO >

double CollisionAvoidance< T_PARAMS, PRIO >::getActivationGain

(

)

const [virtual]

Implements ConstraintBase< T_PARAMS, PRIO >.

Definition at line 137 of file constraint_ca_impl.h.

template<typename T_PARAMS , typename PRIO >

double CollisionAvoidance< T_PARAMS, PRIO >::getActivationGain

(

double

current_cost_func_value

)

const

Definition at line 113 of file constraint_ca_impl.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

double CollisionAvoidance< T_PARAMS, PRIO >::getActivationThresholdWithBuffer

(

)

const [private]

template<typename T_PARAMS , typename PRIO >

double CollisionAvoidance< T_PARAMS, PRIO >::getCriticalValue

(

)

const [private, virtual]

Reimplemented from ConstraintBase< T_PARAMS, PRIO >.

Definition at line 174 of file constraint_ca_impl.h.

template<typename T_PARAMS , typename PRIO >

double CollisionAvoidance< T_PARAMS, PRIO >::getSelfMotionMagnitude	(	const Eigen::MatrixXd &	particular_solution,
		const Eigen::MatrixXd &	homogeneous_solution
	)		const [virtual]

Returns a value for k_H to weight the partial values for e.g. GPM.

Implements ConstraintBase< T_PARAMS, PRIO >.

Definition at line 168 of file constraint_ca_impl.h.

template<typename T_PARAMS , typename PRIO >

double CollisionAvoidance< T_PARAMS, PRIO >::getSelfMotionMagnitude

(

double

current_cost_func_value

)

const

Returns a value for magnitude.

Definition at line 144 of file constraint_ca_impl.h.

template<typename T_PARAMS , typename PRIO >

Eigen::VectorXd CollisionAvoidance< T_PARAMS, PRIO >::getTaskDerivatives

(

)

const [virtual]

1x1 Vector returning the task derivative of a CA constraint. One row task Jacobian <-> One dim derivative.

Returns:

The derivative value.

Reimplemented from ConstraintBase< T_PARAMS, PRIO >.

Definition at line 73 of file constraint_ca_impl.h.

template<typename T_PARAMS , typename PRIO >

std::string CollisionAvoidance< T_PARAMS, PRIO >::getTaskId

(

)

const [virtual]

Implements ConstraintBase< T_PARAMS, PRIO >.

Definition at line 43 of file constraint_ca_impl.h.

template<typename T_PARAMS , typename PRIO >

Eigen::MatrixXd CollisionAvoidance< T_PARAMS, PRIO >::getTaskJacobian

(

)

const [virtual]

Critical Point Jacobian: Each critical point is represented by one CA constraint. So the partial values represent a one row task Jacobian.

Returns:

Partial values as task Jacobian.

Reimplemented from ConstraintBase< T_PARAMS, PRIO >.

Definition at line 62 of file constraint_ca_impl.h.

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Member Data Documentation

template<typename T_PARAMS , typename PRIO = uint32_t>

Eigen::VectorXd CollisionAvoidance< T_PARAMS, PRIO >::derivative_values_ [private]

Definition at line 94 of file constraint.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

KDL::ChainFkSolverVel_recursive& CollisionAvoidance< T_PARAMS, PRIO >::fk_solver_vel_ [private]

Definition at line 91 of file constraint.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

KDL::ChainJntToJacSolver& CollisionAvoidance< T_PARAMS, PRIO >::jnt_to_jac_ [private]

Definition at line 90 of file constraint.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

Eigen::MatrixXd CollisionAvoidance< T_PARAMS, PRIO >::task_jacobian_ [private]

Definition at line 95 of file constraint.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

Eigen::VectorXd CollisionAvoidance< T_PARAMS, PRIO >::values_ [private]

Definition at line 93 of file constraint.h.

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

• constraint.h
• constraint_ca_impl.h