Joint Velocity Limit taskmap for time-indexed problems. Penalisations of joint velocity limit violation within a specified percentage of the velocity limit. More...

#include <joint_velocity_limit.h>

Inheritance diagram for exotica::JointVelocityLimit:

[legend]

Public Member Functions
void	AssignScene (ScenePtr scene) override

	JointVelocityLimit ()

int	TaskSpaceDim () override

void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override

void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override

virtual	~JointVelocityLimit ()

Public Member Functions inherited from exotica::TaskMap
std::vector< KinematicFrameRequest >	GetFrames () const

virtual std::vector< TaskVectorEntry >	GetLieGroupIndices ()

virtual void	InstantiateBase (const Initializer &init)

virtual void	PreUpdate ()

virtual int	TaskSpaceJacobianDim ()

virtual void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du)

virtual void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi)

virtual void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du, HessianRef ddphi_ddx, HessianRef ddphi_ddu, HessianRef ddphi_dxdu)

virtual void	Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian)

Public Member Functions inherited from exotica::Object
std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

	Object ()

virtual std::string	Print (const std::string &prepend) const

virtual std::string	type () const

virtual	~Object ()

Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

Public Member Functions inherited from exotica::Instantiable< JointVelocityLimitInitializer >
std::vector< Initializer >	GetAllTemplates () const override

Initializer	GetInitializerTemplate () override

const JointVelocityLimitInitializer &	GetParameters () const

virtual void	Instantiate (const JointVelocityLimitInitializer &init)

void	InstantiateInternal (const Initializer &init) override

Private Member Functions
void	Initialize ()

Private Attributes
double	dt_ = 0.1
	Timestep between subsequent time-steps (in s) More...

Eigen::VectorXd	limits_ = Eigen::VectorXd::Zero(1)
	Joint velocity limits (absolute, in rads/s) More...

int	N

Eigen::VectorXd	tau_ = Eigen::VectorXd::Zero(1)
	Joint velocity limits tolerance. More...

Additional Inherited Members
Public Attributes inherited from exotica::TaskMap
int	id

bool	is_used

std::vector< KinematicSolution >	kinematics

int	length

int	length_jacobian

int	start

int	start_jacobian

Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

Protected Attributes inherited from exotica::TaskMap
std::vector< KinematicFrameRequest >	frames_

ScenePtr	scene_

Protected Attributes inherited from exotica::Instantiable< JointVelocityLimitInitializer >
JointVelocityLimitInitializer	parameters_

Detailed Description

Joint Velocity Limit taskmap for time-indexed problems. Penalisations of joint velocity limit violation within a specified percentage of the velocity limit.

Definition at line 41 of file joint_velocity_limit.h.

Constructor & Destructor Documentation

exotica::JointVelocityLimit::JointVelocityLimit ( )

Definition at line 36 of file joint_velocity_limit.cpp.

exotica::JointVelocityLimit::~JointVelocityLimit ( )

virtualdefault

Member Function Documentation

void exotica::JointVelocityLimit::AssignScene ( ScenePtr scene )

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 43 of file joint_velocity_limit.cpp.

void exotica::JointVelocityLimit::Initialize ( )

private

Definition at line 49 of file joint_velocity_limit.cpp.

int exotica::JointVelocityLimit::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 77 of file joint_velocity_limit.cpp.

void exotica::JointVelocityLimit::Update	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRef	phi
	)

overridevirtual

Implements exotica::TaskMap.

Definition at line 82 of file joint_velocity_limit.cpp.

void exotica::JointVelocityLimit::Update	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRef	phi,
		Eigen::MatrixXdRef	jacobian
	)

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 105 of file joint_velocity_limit.cpp.

Member Data Documentation

double exotica::JointVelocityLimit::dt_ = 0.1

private

Timestep between subsequent time-steps (in s)

Definition at line 57 of file joint_velocity_limit.h.

Eigen::VectorXd exotica::JointVelocityLimit::limits_ = Eigen::VectorXd::Zero(1)

private

Joint velocity limits (absolute, in rads/s)

Definition at line 58 of file joint_velocity_limit.h.

int exotica::JointVelocityLimit::N

private

Definition at line 60 of file joint_velocity_limit.h.

Eigen::VectorXd exotica::JointVelocityLimit::tau_ = Eigen::VectorXd::Zero(1)

private

Joint velocity limits tolerance.

Definition at line 59 of file joint_velocity_limit.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

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation