JointLimitAvoidance< T_PARAMS, PRIO > Class Template Reference

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

#include <constraint.h>

Inheritance diagram for JointLimitAvoidance< T_PARAMS, PRIO >:

List of all members.

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.
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 ()
Private Member Functions
void	calcDerivativeValue ()
	Calculate derivative of values.
void	calcPartialValues ()
	Calculates values of the gradient of the cost function.
void	calcValue ()
	Calculate values of the JLA cost function.
Private Attributes
double	abs_delta_max_
double	abs_delta_min_
double	rel_max_
double	rel_min_

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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.

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Constructor & Destructor Documentation

template<typename T_PARAMS , typename PRIO = uint32_t>

JointLimitAvoidance< T_PARAMS, PRIO >::JointLimitAvoidance	(	PRIO	prio,
		T_PARAMS	constraint_params,
		CallbackDataMediator &	cbdm
	)		[inline]

Definition at line 105 of file constraint.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

virtual JointLimitAvoidance< T_PARAMS, PRIO >::~JointLimitAvoidance

(

)

[inline, virtual]

Definition at line 115 of file constraint.h.

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Member Function Documentation

template<typename T_PARAMS , typename PRIO >

void JointLimitAvoidance< T_PARAMS, PRIO >::calcDerivativeValue

(

)

[private]

Calculate derivative of values.

Definition at line 170 of file constraint_jla_impl.h.

template<typename T_PARAMS , typename PRIO >

void JointLimitAvoidance< T_PARAMS, PRIO >::calcPartialValues

(

)

[private]

Calculates values of the gradient of the cost function.

Definition at line 177 of file constraint_jla_impl.h.

template<typename T_PARAMS , typename PRIO >

void JointLimitAvoidance< T_PARAMS, PRIO >::calculate

(

)

[virtual]

Implements ConstraintBase< T_PARAMS, PRIO >.

Definition at line 68 of file constraint_jla_impl.h.

template<typename T_PARAMS , typename PRIO >

void JointLimitAvoidance< T_PARAMS, PRIO >::calcValue

(

)

[private]

Calculate values of the JLA cost function.

Definition at line 153 of file constraint_jla_impl.h.

template<typename T_PARAMS , typename PRIO >

double JointLimitAvoidance< T_PARAMS, PRIO >::getActivationGain

(

)

const [virtual]

Implements ConstraintBase< T_PARAMS, PRIO >.

Definition at line 114 of file constraint_jla_impl.h.

template<typename T_PARAMS , typename PRIO >

double JointLimitAvoidance< 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 146 of file constraint_jla_impl.h.

template<typename T_PARAMS , typename PRIO >

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

(

)

const [virtual]

Reimplemented from ConstraintBase< T_PARAMS, PRIO >.

Definition at line 62 of file constraint_jla_impl.h.

template<typename T_PARAMS , typename PRIO >

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

(

)

const [virtual]

Implements ConstraintBase< T_PARAMS, PRIO >.

Definition at line 43 of file constraint_jla_impl.h.

template<typename T_PARAMS , typename PRIO >

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

(

)

const [virtual]

Reimplemented from ConstraintBase< T_PARAMS, PRIO >.

Definition at line 56 of file constraint_jla_impl.h.

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Member Data Documentation

template<typename T_PARAMS , typename PRIO = uint32_t>

double JointLimitAvoidance< T_PARAMS, PRIO >::abs_delta_max_ [private]

Definition at line 132 of file constraint.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

double JointLimitAvoidance< T_PARAMS, PRIO >::abs_delta_min_ [private]

Definition at line 133 of file constraint.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

double JointLimitAvoidance< T_PARAMS, PRIO >::rel_max_ [private]

Definition at line 134 of file constraint.h.

template<typename T_PARAMS , typename PRIO = uint32_t>

double JointLimitAvoidance< T_PARAMS, PRIO >::rel_min_ [private]

Definition at line 135 of file constraint.h.

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

• constraint.h
• constraint_jla_impl.h