#include <constraint_base.h>
Inheritance diagram for PriorityBase< PRIO >:
Public Member Functions | |
| virtual void | calculate ()=0 |
| virtual Task_t | createTask ()=0 |
| virtual double | getActivationGain () const =0 |
| virtual double | getDerivativeValue () const =0 |
| virtual Eigen::VectorXd | getPartialValues () const =0 |
| virtual double | getPredictionValue () const =0 |
| PRIO | getPriority () const |
| double | getPriorityAsNum () const |
| Ensure priority class has overwritten double() operator. | |
| virtual double | getSelfMotionMagnitude (const Eigen::MatrixXd &particular_solution, const Eigen::MatrixXd &homogeneous_solution) const =0 |
| virtual ConstraintState | getState () const =0 |
| virtual Eigen::VectorXd | getTaskDerivatives () const =0 |
| virtual std::string | getTaskId () const =0 |
| virtual Eigen::MatrixXd | getTaskJacobian () const =0 |
| virtual double | getValue () const =0 |
| bool | operator< (const PriorityBase &other) const |
| bool | operator== (const PriorityBase &other) const |
| bool | operator> (const PriorityBase &other) const |
| PriorityBase (PRIO prio) | |
| void | setPriority (PRIO prio) |
| virtual void | update (const JointStates &joint_states, const KDL::JntArrayVel &joints_prediction, const Matrix6Xd_t &jacobian_data)=0 |
| virtual | ~PriorityBase () |
Protected Member Functions | |
| virtual double | getCriticalValue () const =0 |
Protected Attributes | |
| PRIO | priority_ |
Detailed Description
template<typename PRIO = uint32_t>
class PriorityBase< PRIO >
Main base class for all derived constraints. Used to create abstract containers that can be filled with concrete constraints.
- Template Parameters:
-
PRIO A priority class that has operators <, > and == for comparison overridden. To return the priority as a computable double it must override "operator double() const"! Default uint comparison.
Definition at line 40 of file constraint_base.h.
Constructor & Destructor Documentation
template<typename PRIO = uint32_t>
| PriorityBase< PRIO >::PriorityBase | ( | PRIO | prio | ) | [inline, explicit] |
Definition at line 43 of file constraint_base.h.
template<typename PRIO = uint32_t>
| virtual PriorityBase< PRIO >::~PriorityBase | ( | ) | [inline, virtual] |
Definition at line 46 of file constraint_base.h.
Member Function Documentation
template<typename PRIO = uint32_t>
| virtual void PriorityBase< PRIO >::calculate | ( | ) | [pure virtual] |
template<typename PRIO = uint32_t>
| virtual Task_t PriorityBase< PRIO >::createTask | ( | ) | [pure virtual] |
Implemented in ConstraintBase< T_PARAMS, PRIO >.
template<typename PRIO = uint32_t>
| virtual double PriorityBase< PRIO >::getActivationGain | ( | ) | const [pure virtual] |
template<typename PRIO = uint32_t>
| virtual double PriorityBase< PRIO >::getCriticalValue | ( | ) | const [protected, pure virtual] |
Implemented in ConstraintBase< T_PARAMS, PRIO >, and CollisionAvoidance< T_PARAMS, PRIO >.
template<typename PRIO = uint32_t>
| virtual double PriorityBase< PRIO >::getDerivativeValue | ( | ) | const [pure virtual] |
Implemented in ConstraintBase< T_PARAMS, PRIO >.
template<typename PRIO = uint32_t>
| virtual Eigen::VectorXd PriorityBase< PRIO >::getPartialValues | ( | ) | const [pure virtual] |
Implemented in ConstraintBase< T_PARAMS, PRIO >.
template<typename PRIO = uint32_t>
| virtual double PriorityBase< PRIO >::getPredictionValue | ( | ) | const [pure virtual] |
Implemented in ConstraintBase< T_PARAMS, PRIO >.
template<typename PRIO = uint32_t>
| PRIO PriorityBase< PRIO >::getPriority | ( | ) | const [inline] |
Definition at line 69 of file constraint_base.h.
template<typename PRIO = uint32_t>
| double PriorityBase< PRIO >::getPriorityAsNum | ( | ) | const [inline] |
Ensure priority class has overwritten double() operator.
Definition at line 75 of file constraint_base.h.
template<typename PRIO = uint32_t>
| virtual double PriorityBase< PRIO >::getSelfMotionMagnitude | ( | const Eigen::MatrixXd & | particular_solution, |
| const Eigen::MatrixXd & | homogeneous_solution | ||
| ) | const [pure virtual] |
template<typename PRIO = uint32_t>
| virtual ConstraintState PriorityBase< PRIO >::getState | ( | ) | const [pure virtual] |
Implemented in ConstraintBase< T_PARAMS, PRIO >.
template<typename PRIO = uint32_t>
| virtual Eigen::VectorXd PriorityBase< PRIO >::getTaskDerivatives | ( | ) | const [pure virtual] |
template<typename PRIO = uint32_t>
| virtual std::string PriorityBase< PRIO >::getTaskId | ( | ) | const [pure virtual] |
template<typename PRIO = uint32_t>
| virtual Eigen::MatrixXd PriorityBase< PRIO >::getTaskJacobian | ( | ) | const [pure virtual] |
template<typename PRIO = uint32_t>
| virtual double PriorityBase< PRIO >::getValue | ( | ) | const [pure virtual] |
Implemented in ConstraintBase< T_PARAMS, PRIO >.
template<typename PRIO = uint32_t>
| bool PriorityBase< PRIO >::operator< | ( | const PriorityBase< PRIO > & | other | ) | const [inline] |
Definition at line 54 of file constraint_base.h.
template<typename PRIO = uint32_t>
| bool PriorityBase< PRIO >::operator== | ( | const PriorityBase< PRIO > & | other | ) | const [inline] |
Definition at line 64 of file constraint_base.h.
template<typename PRIO = uint32_t>
| bool PriorityBase< PRIO >::operator> | ( | const PriorityBase< PRIO > & | other | ) | const [inline] |
Definition at line 59 of file constraint_base.h.
template<typename PRIO = uint32_t>
| void PriorityBase< PRIO >::setPriority | ( | PRIO | prio | ) | [inline] |
Definition at line 49 of file constraint_base.h.
template<typename PRIO = uint32_t>
| virtual void PriorityBase< PRIO >::update | ( | const JointStates & | joint_states, |
| const KDL::JntArrayVel & | joints_prediction, | ||
| const Matrix6Xd_t & | jacobian_data | ||
| ) | [pure virtual] |
Implemented in ConstraintBase< T_PARAMS, PRIO >.
Member Data Documentation
template<typename PRIO = uint32_t>
PRIO PriorityBase< PRIO >::priority_ [protected] |
Definition at line 98 of file constraint_base.h.
The documentation for this class was generated from the following file: