PriorityBase< PRIO > Class Template Reference

#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. More...
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 )

inlineexplicit

Definition at line 43 of file constraint_base.h.

template<typename PRIO = uint32_t>

virtual PriorityBase< PRIO >::~PriorityBase ( )

inlinevirtual

Definition at line 46 of file constraint_base.h.

Member Function Documentation

template<typename PRIO = uint32_t>

virtual void PriorityBase< PRIO >::calculate ( )

pure virtual

Implemented in JointLimitAvoidanceIneq< T_PARAMS, PRIO >, ConstraintBase< T_PARAMS, PRIO >, JointLimitAvoidanceMid< T_PARAMS, PRIO >, JointLimitAvoidance< T_PARAMS, PRIO >, and CollisionAvoidance< T_PARAMS, PRIO >.

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

Implemented in ConstraintBase< T_PARAMS, PRIO >, JointLimitAvoidanceIneq< T_PARAMS, PRIO >, JointLimitAvoidanceMid< T_PARAMS, PRIO >, JointLimitAvoidance< T_PARAMS, PRIO >, and CollisionAvoidance< T_PARAMS, PRIO >.

template<typename PRIO = uint32_t>

virtual double PriorityBase< PRIO >::getCriticalValue ( ) const

protectedpure 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

Implemented in ConstraintBase< T_PARAMS, PRIO >, JointLimitAvoidanceIneq< T_PARAMS, PRIO >, JointLimitAvoidanceMid< T_PARAMS, PRIO >, JointLimitAvoidance< T_PARAMS, PRIO >, and CollisionAvoidance< T_PARAMS, PRIO >.

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

Implemented in JointLimitAvoidanceIneq< T_PARAMS, PRIO >, ConstraintBase< T_PARAMS, PRIO >, JointLimitAvoidance< T_PARAMS, PRIO >, and CollisionAvoidance< T_PARAMS, PRIO >.

template<typename PRIO = uint32_t>

virtual std::string PriorityBase< PRIO >::getTaskId ( ) const

pure virtual

Implemented in JointLimitAvoidanceIneq< T_PARAMS, PRIO >, JointLimitAvoidanceMid< T_PARAMS, PRIO >, ConstraintBase< T_PARAMS, PRIO >, JointLimitAvoidance< T_PARAMS, PRIO >, and CollisionAvoidance< T_PARAMS, PRIO >.

template<typename PRIO = uint32_t>

virtual Eigen::MatrixXd PriorityBase< PRIO >::getTaskJacobian ( ) const

pure virtual

Implemented in JointLimitAvoidanceIneq< T_PARAMS, PRIO >, ConstraintBase< T_PARAMS, PRIO >, JointLimitAvoidance< T_PARAMS, PRIO >, and CollisionAvoidance< T_PARAMS, PRIO >.

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.

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

• constraint_base.h