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, 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 ()
	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...

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 JointLimitAvoidanceIneq< T_PARAMS, PRIO >

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

Definition at line 171 of file constraint.h.

Constructor & Destructor Documentation

◆ JointLimitAvoidanceIneq()

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.

◆ ~JointLimitAvoidanceIneq()

template<typename T_PARAMS , typename PRIO = uint32_t>

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

inlinevirtual

Definition at line 184 of file constraint.h.

Member Function Documentation

◆ calcDerivativeValue()

template<typename T_PARAMS , typename PRIO >

void JointLimitAvoidanceIneq< T_PARAMS, PRIO >::calcDerivativeValue

private

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

Definition at line 460 of file constraint_jla_impl.h.

◆ calcPartialValues()

template<typename T_PARAMS , typename PRIO >

void JointLimitAvoidanceIneq< T_PARAMS, PRIO >::calcPartialValues

private

Calculates values of the gradient of the cost function.

Definition at line 467 of file constraint_jla_impl.h.

◆ calculate()

template<typename T_PARAMS , typename PRIO >

void JointLimitAvoidanceIneq< T_PARAMS, PRIO >::calculate

virtual

Implements ConstraintBase< T_PARAMS, uint32_t >.

Definition at line 325 of file constraint_jla_impl.h.

◆ calcValue()

template<typename T_PARAMS , typename PRIO >

void JointLimitAvoidanceIneq< T_PARAMS, PRIO >::calcValue

private

Calculate values of the JLA cost function.

Definition at line 445 of file constraint_jla_impl.h.

◆ getActivationGain()

template<typename T_PARAMS , typename PRIO >

double JointLimitAvoidanceIneq< T_PARAMS, PRIO >::getActivationGain

virtual

Definition at line 378 of file constraint_jla_impl.h.

◆ getSelfMotionMagnitude()

template<typename T_PARAMS , typename PRIO >

double JointLimitAvoidanceIneq< 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, uint32_t >.

Definition at line 419 of file constraint_jla_impl.h.

◆ getTaskDerivatives()

template<typename T_PARAMS , typename PRIO >

Eigen::VectorXd JointLimitAvoidanceIneq< T_PARAMS, PRIO >::getTaskDerivatives

virtual

Definition at line 319 of file constraint_jla_impl.h.

◆ getTaskId()

template<typename T_PARAMS , typename PRIO >

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

virtual

Definition at line 302 of file constraint_jla_impl.h.

◆ getTaskJacobian()

template<typename T_PARAMS , typename PRIO >

Eigen::MatrixXd JointLimitAvoidanceIneq< T_PARAMS, PRIO >::getTaskJacobian

virtual

Definition at line 313 of file constraint_jla_impl.h.

Member Data Documentation

◆ abs_delta_max_

template<typename T_PARAMS , typename PRIO = uint32_t>

double JointLimitAvoidanceIneq< T_PARAMS, PRIO >::abs_delta_max_

private

Definition at line 201 of file constraint.h.

◆ abs_delta_min_

template<typename T_PARAMS , typename PRIO = uint32_t>

double JointLimitAvoidanceIneq< T_PARAMS, PRIO >::abs_delta_min_

private

Definition at line 202 of file constraint.h.

◆ rel_max_

template<typename T_PARAMS , typename PRIO = uint32_t>

double JointLimitAvoidanceIneq< T_PARAMS, PRIO >::rel_max_

private

Definition at line 203 of file constraint.h.

◆ rel_min_

template<typename T_PARAMS , typename PRIO = uint32_t>

double JointLimitAvoidanceIneq< T_PARAMS, PRIO >::rel_min_

private

Definition at line 204 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 JointLimitAvoidanceIneq< T_PARAMS, PRIO >

Constructor & Destructor Documentation

◆ JointLimitAvoidanceIneq()

◆ ~JointLimitAvoidanceIneq()

Member Function Documentation

◆ calcDerivativeValue()

◆ calcPartialValues()

◆ calculate()

◆ calcValue()

◆ getActivationGain()

◆ getSelfMotionMagnitude()

◆ getTaskDerivatives()

◆ getTaskId()

◆ getTaskJacobian()

Member Data Documentation

◆ abs_delta_max_

◆ abs_delta_min_

◆ rel_max_

◆ rel_min_

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