Class providing methods that realize a JointLimitAvoidance constraint. More...
#include <constraint.h>
Inheritance diagram for JointLimitAvoidance< 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 |
| JointLimitAvoidance (PRIO prio, T_PARAMS constraint_params, CallbackDataMediator &cbdm) | |
| virtual | ~JointLimitAvoidance () |
 Public Member Functions inherited from ConstraintBase< T_PARAMS, uint32_t > | |
| ConstraintBase (uint32_t 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 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 () |
| Public Member Functions inherited from PriorityBase< uint32_t > | |
| uint32_t | 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 (uint32_t prio) | |
| void | setPriority (uint32_t prio) |
| virtual | ~PriorityBase () |
Private Member Functions | |
| void | calcDerivativeValue () |
| Calculate derivative of values. More... | |
| void | calcPartialValues () |
| Calculates values of the gradient of the cost function. More... | |
| void | calcValue () |
| Calculate values of the JLA cost function. More... | |
Private Attributes | |
| double | abs_delta_max_ |
| double | abs_delta_min_ |
| double | rel_max_ |
| double | rel_min_ |
Additional Inherited Members | |
| Protected Member Functions inherited from ConstraintBase< T_PARAMS, uint32_t > | |
| virtual double | getCriticalValue () const |
| Protected Attributes inherited from ConstraintBase< T_PARAMS, uint32_t > | |
| 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< uint32_t > | |
| uint32_t | priority_ |
| Static Protected Attributes inherited from ConstraintBase< T_PARAMS, uint32_t > | |
| static uint32_t | instance_ctr_ |
Detailed Description
template<typename T_PARAMS, typename PRIO = uint32_t>
class JointLimitAvoidance< T_PARAMS, PRIO >
Class providing methods that realize a JointLimitAvoidance constraint.
Definition at line 102 of file constraint.h.
Constructor & Destructor Documentation
◆ JointLimitAvoidance()
template<typename T_PARAMS , typename PRIO = uint32_t>
|
inline |
Definition at line 105 of file constraint.h.
◆ ~JointLimitAvoidance()
template<typename T_PARAMS , typename PRIO = uint32_t>
|
inlinevirtual |
Definition at line 115 of file constraint.h.
Member Function Documentation
◆ calcDerivativeValue()
template<typename T_PARAMS , typename PRIO >
|
private |
Calculate derivative of values.
Definition at line 170 of file constraint_jla_impl.h.
◆ calcPartialValues()
template<typename T_PARAMS , typename PRIO >
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private |
Calculates values of the gradient of the cost function.
Definition at line 177 of file constraint_jla_impl.h.
◆ calculate()
template<typename T_PARAMS , typename PRIO >
|
virtual |
Implements ConstraintBase< T_PARAMS, uint32_t >.
Definition at line 68 of file constraint_jla_impl.h.
◆ calcValue()
template<typename T_PARAMS , typename PRIO >
|
private |
Calculate values of the JLA cost function.
Definition at line 153 of file constraint_jla_impl.h.
◆ getActivationGain()
template<typename T_PARAMS , typename PRIO >
|
virtual |
Definition at line 114 of file constraint_jla_impl.h.
◆ getSelfMotionMagnitude()
template<typename T_PARAMS , typename PRIO >
|
virtual |
Returns a value for k_H to weight the partial values for e.g. GPM.
Implements ConstraintBase< T_PARAMS, uint32_t >.
Definition at line 146 of file constraint_jla_impl.h.
◆ getTaskDerivatives()
template<typename T_PARAMS , typename PRIO >
|
virtual |
Definition at line 62 of file constraint_jla_impl.h.
◆ getTaskId()
template<typename T_PARAMS , typename PRIO >
|
virtual |
Definition at line 43 of file constraint_jla_impl.h.
◆ getTaskJacobian()
template<typename T_PARAMS , typename PRIO >
|
virtual |
Definition at line 56 of file constraint_jla_impl.h.
Member Data Documentation
◆ abs_delta_max_
template<typename T_PARAMS , typename PRIO = uint32_t>
|
private |
Definition at line 132 of file constraint.h.
◆ abs_delta_min_
template<typename T_PARAMS , typename PRIO = uint32_t>
|
private |
Definition at line 133 of file constraint.h.
◆ rel_max_
template<typename T_PARAMS , typename PRIO = uint32_t>
|
private |
Definition at line 134 of file constraint.h.
◆ rel_min_
template<typename T_PARAMS , typename PRIO = uint32_t>
|
private |
Definition at line 135 of file constraint.h.
The documentation for this class was generated from the following files: