ConstraintBase< T_PARAMS, PRIO > Class Template Reference

#include <constraint_base.h>

Inheritance diagram for ConstraintBase< T_PARAMS, PRIO >:

List of all members.

Public Member Functions
virtual void	calculate ()=0
	ConstraintBase (PRIO prio, T_PARAMS params, CallbackDataMediator &cbdm)
virtual Task_t	createTask ()
virtual double	getActivationGain () const =0
virtual double	getDerivativeValue () const
virtual Eigen::VectorXd	getPartialValues () const
virtual double	getPredictionValue () const
virtual double	getSelfMotionMagnitude (const Eigen::MatrixXd &particular_solution, const Eigen::MatrixXd &homogeneous_solution) const =0
virtual ConstraintState	getState () const
virtual Eigen::VectorXd	getTaskDerivatives () const
virtual std::string	getTaskId () const =0
virtual Eigen::MatrixXd	getTaskJacobian () const
virtual double	getValue () const
virtual void	update (const JointStates &joint_states, const KDL::JntArrayVel &joints_prediction, const Matrix6Xd_t &jacobian_data)
virtual	~ConstraintBase ()
Protected Member Functions
virtual double	getCriticalValue () const
Protected Attributes
CallbackDataMediator &	callback_data_mediator_
T_PARAMS	constraint_params_
double	derivative_value_
Matrix6Xd_t	jacobian_data_
KDL::JntArrayVel	jnts_prediction_
JointStates	joint_states_
ros::Time	last_pred_time_
ros::Time	last_time_
double	last_value_
uint32_t	member_inst_cnt_
Eigen::VectorXd	partial_values_
double	prediction_value_
ConstraintState	state_
double	value_
Static Protected Attributes
static uint32_t	instance_ctr_ = 0

---

Detailed Description

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

Base class for all derived constraints. Used to represent a common data structure for all concrete constraints.

Template Parameters:

T_PARAMS	A specific constraint parameter class.
PRIO	See base class.

Definition at line 111 of file constraint_base.h.

---

Constructor & Destructor Documentation

template<typename T_PARAMS , typename PRIO = uint32_t>

ConstraintBase< T_PARAMS, PRIO >::ConstraintBase	(	PRIO	prio,
		T_PARAMS	params,
		CallbackDataMediator &	cbdm
	)		[inline]

Parameters:

prio	A priority value / object.
q	The joint states.
params	The parameters for the constraint to parameterize the calculation of the cost function values.

Definition at line 119 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual ConstraintBase< T_PARAMS, PRIO >::~ConstraintBase

(

)

[inline, virtual]

Definition at line 135 of file constraint_base.h.

---

Member Function Documentation

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual void ConstraintBase< T_PARAMS, PRIO >::calculate

(

)

[pure virtual]

Implements PriorityBase< PRIO >.

Implemented in JointLimitAvoidanceIneq< T_PARAMS, PRIO >, JointLimitAvoidanceMid< T_PARAMS, PRIO >, JointLimitAvoidance< T_PARAMS, PRIO >, and CollisionAvoidance< T_PARAMS, PRIO >.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual Task_t ConstraintBase< T_PARAMS, PRIO >::createTask

(

)

[inline, virtual]

Implements PriorityBase< PRIO >.

Definition at line 138 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual double ConstraintBase< T_PARAMS, PRIO >::getActivationGain

(

)

const [pure virtual]

Implements PriorityBase< PRIO >.

Implemented in JointLimitAvoidanceIneq< T_PARAMS, PRIO >, JointLimitAvoidanceMid< T_PARAMS, PRIO >, JointLimitAvoidance< T_PARAMS, PRIO >, and CollisionAvoidance< T_PARAMS, PRIO >.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual double ConstraintBase< T_PARAMS, PRIO >::getCriticalValue

(

)

const [inline, protected, virtual]

Implements PriorityBase< PRIO >.

Reimplemented in CollisionAvoidance< T_PARAMS, PRIO >.

Definition at line 223 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual double ConstraintBase< T_PARAMS, PRIO >::getDerivativeValue

(

)

const [inline, virtual]

Implements PriorityBase< PRIO >.

Definition at line 184 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual Eigen::VectorXd ConstraintBase< T_PARAMS, PRIO >::getPartialValues

(

)

const [inline, virtual]

Implements PriorityBase< PRIO >.

Definition at line 189 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual double ConstraintBase< T_PARAMS, PRIO >::getPredictionValue

(

)

const [inline, virtual]

Implements PriorityBase< PRIO >.

Definition at line 194 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

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

Implements PriorityBase< PRIO >.

Implemented in JointLimitAvoidanceIneq< T_PARAMS, PRIO >, JointLimitAvoidanceMid< T_PARAMS, PRIO >, JointLimitAvoidance< T_PARAMS, PRIO >, and CollisionAvoidance< T_PARAMS, PRIO >.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual ConstraintState ConstraintBase< T_PARAMS, PRIO >::getState

(

)

const [inline, virtual]

Implements PriorityBase< PRIO >.

Definition at line 149 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual Eigen::VectorXd ConstraintBase< T_PARAMS, PRIO >::getTaskDerivatives

(

)

const [inline, virtual]

Implements PriorityBase< PRIO >.

Reimplemented in JointLimitAvoidanceIneq< T_PARAMS, PRIO >, JointLimitAvoidance< T_PARAMS, PRIO >, and CollisionAvoidance< T_PARAMS, PRIO >.

Definition at line 159 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual std::string ConstraintBase< T_PARAMS, PRIO >::getTaskId

(

)

const [pure virtual]

Implements PriorityBase< PRIO >.

Implemented in JointLimitAvoidanceIneq< T_PARAMS, PRIO >, JointLimitAvoidanceMid< T_PARAMS, PRIO >, JointLimitAvoidance< T_PARAMS, PRIO >, and CollisionAvoidance< T_PARAMS, PRIO >.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual Eigen::MatrixXd ConstraintBase< T_PARAMS, PRIO >::getTaskJacobian

(

)

const [inline, virtual]

Implements PriorityBase< PRIO >.

Reimplemented in JointLimitAvoidanceIneq< T_PARAMS, PRIO >, JointLimitAvoidance< T_PARAMS, PRIO >, and CollisionAvoidance< T_PARAMS, PRIO >.

Definition at line 154 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual double ConstraintBase< T_PARAMS, PRIO >::getValue

(

)

const [inline, virtual]

Implements PriorityBase< PRIO >.

Definition at line 179 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual void ConstraintBase< T_PARAMS, PRIO >::update	(	const JointStates &	joint_states,
		const KDL::JntArrayVel &	joints_prediction,
		const Matrix6Xd_t &	jacobian_data
	)		[inline, virtual]

Implements PriorityBase< PRIO >.

Definition at line 164 of file constraint_base.h.

---

Member Data Documentation

template<typename T_PARAMS , typename PRIO = uint32_t>

CallbackDataMediator& ConstraintBase< T_PARAMS, PRIO >::callback_data_mediator_ [protected]

Definition at line 206 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

T_PARAMS ConstraintBase< T_PARAMS, PRIO >::constraint_params_ [protected]

Definition at line 205 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

double ConstraintBase< T_PARAMS, PRIO >::derivative_value_ [protected]

Definition at line 213 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

uint32_t ConstraintBase< T_PARAMS, PRIO >::instance_ctr_ = 0 [static, protected]

Definition at line 221 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

Matrix6Xd_t ConstraintBase< T_PARAMS, PRIO >::jacobian_data_ [protected]

Definition at line 210 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

KDL::JntArrayVel ConstraintBase< T_PARAMS, PRIO >::jnts_prediction_ [protected]

Definition at line 209 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

JointStates ConstraintBase< T_PARAMS, PRIO >::joint_states_ [protected]

Definition at line 208 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

ros::Time ConstraintBase< T_PARAMS, PRIO >::last_pred_time_ [protected]

Definition at line 218 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

ros::Time ConstraintBase< T_PARAMS, PRIO >::last_time_ [protected]

Definition at line 217 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

double ConstraintBase< T_PARAMS, PRIO >::last_value_ [protected]

Definition at line 216 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

uint32_t ConstraintBase< T_PARAMS, PRIO >::member_inst_cnt_ [protected]

Definition at line 220 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

Eigen::VectorXd ConstraintBase< T_PARAMS, PRIO >::partial_values_ [protected]

Definition at line 214 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

double ConstraintBase< T_PARAMS, PRIO >::prediction_value_ [protected]

Definition at line 215 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

ConstraintState ConstraintBase< T_PARAMS, PRIO >::state_ [protected]

Definition at line 204 of file constraint_base.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

double ConstraintBase< T_PARAMS, PRIO >::value_ [protected]

Definition at line 212 of file constraint_base.h.

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

• constraint_base.h