Class providing methods that realize a JointLimitAvoidance constraint based on inequalities. More...

#include <constraint.h>

Inheritance diagram for JointLimitAvoidanceIneq< T_PARAMS, PRIO >:

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. More...

virtual Eigen::VectorXd	getTaskDerivatives () const

virtual std::string	getTaskId () const

virtual Eigen::MatrixXd	getTaskJacobian () const

	JointLimitAvoidanceIneq (PRIO prio, T_PARAMS constraint_params, CallbackDataMediator &cbdm)

virtual	~JointLimitAvoidanceIneq ()

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 ()
	Simple first order differential equation for exponential increase (move away from limit!) More...

void	calcPartialValues ()
	Calculates values of the gradient of the cost function. More...

void	calcValue ()
	Calculate values of the JLA cost function. More...

Additional Inherited Members
Protected Member Functions inherited from ConstraintBase< T_PARAMS, PRIO >
virtual double	getCriticalValue () const

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

Class providing methods that realize a JointLimitAvoidance constraint based on inequalities.

Definition at line 171 of file constraint.h.

Constructor & Destructor Documentation

template<typename T_PARAMS , typename PRIO = uint32_t>

JointLimitAvoidanceIneq< T_PARAMS, PRIO >::JointLimitAvoidanceIneq	(	PRIO	prio,
		T_PARAMS	constraint_params,
		CallbackDataMediator &	cbdm
	)

inline

Definition at line 174 of file constraint.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual JointLimitAvoidanceIneq< T_PARAMS, PRIO >::~JointLimitAvoidanceIneq ( )

inlinevirtual

Definition at line 184 of file constraint.h.