mc_tvm::JointsSelectorFunction Class Reference

#include <mc_tvm/JointsSelectorFunction.h>

Inheritance diagram for mc_tvm::JointsSelectorFunction:

Collaboration diagram for mc_tvm::JointsSelectorFunction:

Public Types
using	Function = tvm::function::abstract::Function

Public Member Functions
const Eigen::VectorXd &	value () const override
const Eigen::VectorXd &	velocity () const override
const Eigen::VectorXd &	normalAcceleration () const override

Static Public Member Functions
static std::unique_ptr< JointsSelectorFunction >	ActiveJoints (Function *f, const mc_rbdyn::Robot &robot, const std::vector< std::string > &activeJoints)
static std::unique_ptr< JointsSelectorFunction >	InactiveJoints (Function *f, const mc_rbdyn::Robot &robot, const std::vector< std::string > &inactiveJoints)

Protected Member Functions
	JointsSelectorFunction (Function *f, tvm::VariablePtr variable, const std::vector< std::pair< Eigen::DenseIndex, Eigen::DenseIndex >> &activeIndex)
void	updateJacobian ()
void	updateJDot ()

Protected Attributes
Function *	f_
tvm::VariablePtr	variable_
std::vector< std::pair< Eigen::DenseIndex, Eigen::DenseIndex > >	activeIndex_

Detailed Description

This class implements joints' selection on a given fucntion

Member Typedef Documentation

Function

using mc_tvm::JointsSelectorFunction::Function = tvm::function::abstract::Function

Constructor & Destructor Documentation

JointsSelectorFunction()

mc_tvm::JointsSelectorFunction::JointsSelectorFunction ( Function *  f, tvm::VariablePtr  variable, const std::vector< std::pair< Eigen::DenseIndex, Eigen::DenseIndex >> &  activeIndex  )

protected

Constructor

Parameters

f	Function selected by this JointsSelector
robot	Robot controlled by f
fbActive	True if the selected joints include the floating-base
activeIndex	For regular joints selected by this JointsSelector, this iss a list of (start, size) pair corresponding to the list of joints

Member Function Documentation

ActiveJoints()

static std::unique_ptr<JointsSelectorFunction> mc_tvm::JointsSelectorFunction::ActiveJoints ( Function *  f, const mc_rbdyn::Robot &  robot, const std::vector< std::string > &  activeJoints  )

static

Construct a JointsSelector from a vector of active joints

Parameters

f	Function selected by this JointsSelector
robot	Robot controlled by f
activeJoints	Joints active in this selector

Exceptions

If	does not depend on robot or any joint in activeJoints is not part of robot

InactiveJoints()

static std::unique_ptr<JointsSelectorFunction> mc_tvm::JointsSelectorFunction::InactiveJoints ( Function *  f, const mc_rbdyn::Robot &  robot, const std::vector< std::string > &  inactiveJoints  )

static

Construct a JointsSelector from a vector of inactive joints

Parameters

f	Function selected by this JointsSelector
robot	Robot controlled by f
inactiveJoints	Joints not active in this selector

Exceptions

If	does not depend on robot or any joint in activeJoints is not part of robot

normalAcceleration()

const Eigen::VectorXd& mc_tvm::JointsSelectorFunction::normalAcceleration ( ) const

inlineoverride

updateJacobian()

void mc_tvm::JointsSelectorFunction::updateJacobian ( )

protected

updateJDot()

void mc_tvm::JointsSelectorFunction::updateJDot ( )

protected

value()

const Eigen::VectorXd& mc_tvm::JointsSelectorFunction::value ( ) const

inlineoverride

velocity()

const Eigen::VectorXd& mc_tvm::JointsSelectorFunction::velocity ( ) const

inlineoverride

Member Data Documentation

activeIndex_

std::vector<std::pair<Eigen::DenseIndex, Eigen::DenseIndex> > mc_tvm::JointsSelectorFunction::activeIndex_

protected

f_

Function* mc_tvm::JointsSelectorFunction::f_

protected

variable_

tvm::VariablePtr mc_tvm::JointsSelectorFunction::variable_

protected

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

• include/mc_tvm/JointsSelectorFunction.h