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

#include <constraint.h>

Inheritance diagram for CollisionAvoidance< T_PARAMS, PRIO >:

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. More...

double	getSelfMotionMagnitude (double current_cost_func_value) const
	Returns a value for magnitude. More...

virtual Eigen::VectorXd	getTaskDerivatives () const

virtual std::string	getTaskId () const

virtual Eigen::MatrixXd	getTaskJacobian () const

virtual	~CollisionAvoidance ()

Public Member Functions inherited from ConstraintBase< T_PARAMS, PRIO >
	ConstraintBase (PRIO prio, T_PARAMS params, CallbackDataMediator &cbdm)

virtual Task_t	createTask ()

virtual double	getDerivativeValue () const

virtual Eigen::VectorXd	getPartialValues () const

virtual double	getPredictionValue () const

virtual ConstraintState	getState () const

virtual double	getValue () const

virtual void	update (const JointStates &joint_states, const KDL::JntArrayVel &joints_prediction, const Matrix6Xd_t &jacobian_data)

virtual	~ConstraintBase ()

Public Member Functions inherited from PriorityBase< PRIO >
PRIO	getPriority () const

double	getPriorityAsNum () const
	Ensure priority class has overwritten double() operator. More...

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	~PriorityBase ()

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_

Additional Inherited Members
Protected Attributes inherited from ConstraintBase< T_PARAMS, PRIO >
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_

Protected Attributes inherited from PriorityBase< PRIO >
PRIO	priority_

Static Protected Attributes inherited from ConstraintBase< T_PARAMS, PRIO >
static uint32_t	instance_ctr_ = 0

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 ( )

inlinevirtual

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

privatevirtual

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.

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.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

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

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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