JointLimitAvoidanceMid< T_PARAMS, PRIO > Class Template Reference

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

#include <constraint.h>

Inheritance diagram for JointLimitAvoidanceMid< T_PARAMS, PRIO >:

List of all members.

Public Member Functions
virtual void	calculate ()
virtual double	getActivationGain () 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.
virtual std::string	getTaskId () const
	JointLimitAvoidanceMid (PRIO prio, T_PARAMS constraint_params, CallbackDataMediator &cbdm)
virtual	~JointLimitAvoidanceMid ()
Private Member Functions
void	calcDerivativeValue ()
	Calculate derivative of values.
void	calcPartialValues ()
	Calculates values of the gradient of the cost function.
void	calcValue ()
	Calculate values of the JLA cost function.

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Detailed Description

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

Class providing methods that realize a JointLimitAvoidanceMid constraint.

Definition at line 142 of file constraint.h.

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Constructor & Destructor Documentation

template<typename T_PARAMS , typename PRIO = uint32_t>

JointLimitAvoidanceMid< T_PARAMS, PRIO >::JointLimitAvoidanceMid	(	PRIO	prio,
		T_PARAMS	constraint_params,
		CallbackDataMediator &	cbdm
	)		[inline]

Definition at line 145 of file constraint.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual JointLimitAvoidanceMid< T_PARAMS, PRIO >::~JointLimitAvoidanceMid

(

)

[inline, virtual]

Definition at line 151 of file constraint.h.

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Member Function Documentation

template<typename T_PARAMS , typename PRIO >

void JointLimitAvoidanceMid< T_PARAMS, PRIO >::calcDerivativeValue

(

)

[private]

Calculate derivative of values.

Definition at line 251 of file constraint_jla_impl.h.

template<typename T_PARAMS , typename PRIO >

void JointLimitAvoidanceMid< T_PARAMS, PRIO >::calcPartialValues

(

)

[private]

Calculates values of the gradient of the cost function.

Definition at line 269 of file constraint_jla_impl.h.

template<typename T_PARAMS , typename PRIO >

void JointLimitAvoidanceMid< T_PARAMS, PRIO >::calculate

(

)

[virtual]

Implements ConstraintBase< T_PARAMS, PRIO >.

Definition at line 209 of file constraint_jla_impl.h.

template<typename T_PARAMS , typename PRIO >

void JointLimitAvoidanceMid< T_PARAMS, PRIO >::calcValue

(

)

[private]

Calculate values of the JLA cost function.

Definition at line 231 of file constraint_jla_impl.h.

template<typename T_PARAMS , typename PRIO >

double JointLimitAvoidanceMid< T_PARAMS, PRIO >::getActivationGain

(

)

const [virtual]

Implements ConstraintBase< T_PARAMS, PRIO >.

Definition at line 217 of file constraint_jla_impl.h.

template<typename T_PARAMS , typename PRIO >

double JointLimitAvoidanceMid< 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 224 of file constraint_jla_impl.h.

template<typename T_PARAMS , typename PRIO >

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

(

)

const [virtual]

Implements ConstraintBase< T_PARAMS, PRIO >.

Definition at line 198 of file constraint_jla_impl.h.

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

• constraint.h
• constraint_jla_impl.h