#include <mc_tvm/PostureFunction.h>

Inheritance diagram for mc_tvm::PostureFunction:

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Collaboration diagram for mc_tvm::PostureFunction:

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Public Member Functions
	PostureFunction (const mc_rbdyn::Robot &robot)

void	reset ()

void	posture (const std::string &j, const std::vector< double > &q)

void	posture (const std::vector< std::vector< double >> &p)

const std::vector< std::vector< double > > &	posture () const noexcept

const Eigen::VectorXd &	refVel () const noexcept

void	refVel (const Eigen::VectorXd &vel) noexcept

const Eigen::VectorXd &	refAccel () const noexcept

void	refAccel (const Eigen::VectorXd &acc) noexcept

Public Member Functions inherited from tvm::function::IdentityFunction
	IdentityFunction (VariablePtr x)

Public Member Functions inherited from tvm::function::BasicLinearFunction
	BasicLinearFunction (const MatrixConstRef &A, VariablePtr x)

	BasicLinearFunction (const std::vector< MatrixConstRef > &A, const std::vector< VariablePtr > &x)

	BasicLinearFunction (const MatrixConstRef &A, VariablePtr x, const VectorConstRef &b)

	BasicLinearFunction (const std::vector< MatrixConstRef > &A, const std::vector< VariablePtr > &x, const VectorConstRef &b)

	BasicLinearFunction (int m, VariablePtr x)

	BasicLinearFunction (int m, const std::vector< VariablePtr > &x)

	BasicLinearFunction (const utils::LinearExpr< Derived > &lin)

	BasicLinearFunction (const utils::AffineExpr< CstDerived, Derived... > &aff)

virtual void	A (const MatrixConstRef &A, const Variable &x, const tvm::internal::MatrixProperties &p={})

virtual void	A (const MatrixConstRef &A, const tvm::internal::MatrixProperties &p={})

virtual void	b (const VectorConstRef &b, const tvm::internal::MatrixProperties &p={})

Public Member Functions inherited from tvm::function::abstract::LinearFunction
void	updateValue ()

void	updateVelocity ()

void	resizeCache () override

const tvm::internal::VectorWithProperties &	b () const

Public Member Functions inherited from tvm::function::abstract::Function
virtual const Eigen::VectorXd &	velocity () const

virtual const Eigen::VectorXd &	normalAcceleration () const

virtual MatrixConstRef	JDot (const Variable &x) const

Public Member Functions inherited from tvm::internal::FirstOrderProvider
virtual const Eigen::VectorXd &	value () const

virtual MatrixConstRefWithProperties	jacobian (const Variable &x) const

bool	linearIn (const Variable &x) const

const Space &	imageSpace () const

int	size () const

int	rSize () const

int	tSize () const

const VariableVector &	variables () const

Public Member Functions inherited from tvm::graph::internal::AbstractNode
bool	isUpdateEnabled (EnumT e) const

virtual bool	isUpdateStaticallyEnabled (int) const

virtual bool	isUpdateCustomEnabled (int) const

virtual	~AbstractNode ()=default

void	update (int i)

Public Member Functions inherited from tvm::graph::internal::Inputs
virtual	~Inputs ()=default

void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)

void	addInput (T &source, EnumI i, Args... args)

void	removeInput (T *source)

void	removeInput (T *source, Args... args)

Iterator	getInput (T *source)

Iterator	getInput (const std::shared_ptr< T > &source)

Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default

bool	isOutputEnabled (EnumT e) const

bool	isOutputEnabled (int i) const

virtual bool	isOutputStaticallyEnabled (int) const

virtual bool	isOutputCustomEnabled (int) const

Protected Member Functions
void	updateValue_ () override

void	updateVelocity_ () override

Protected Member Functions inherited from tvm::function::abstract::LinearFunction
	LinearFunction (int m)

void	setDerivativesToZero ()

Protected Member Functions inherited from tvm::function::abstract::Function
	Function (int m=0)

	Function (Space image)

void	resizeVelocityCache ()

void	resizeNormalAccelerationCache ()

void	resizeJDotCache ()

void	addVariable_ (VariablePtr v) override

void	removeVariable_ (VariablePtr v) override

Protected Member Functions inherited from tvm::internal::FirstOrderProvider
	FirstOrderProvider (int m)

	FirstOrderProvider (Space image)

void	resizeValueCache ()

void	resizeJacobianCache ()

void	addVariable (VariablePtr v, bool linear)

void	removeVariable (VariablePtr v)

void	addVariable (const VariableVector &v, bool linear)

void	splitJacobian (const MatrixConstRef &J, const std::vector< VariablePtr > &vars, bool keepProperties=false)

void	splitJacobian (const MatrixConstRef &J, const VariableVector &vars, bool keepProperties=false)

void	resize (int m)

Protected Member Functions inherited from Node< FirstOrderProvider >
void	registerUpdates (EnumT u, void(U::*fn)(), Args... args)

void	registerUpdates (EnumT u, void(U::*fn)())

void	addOutputDependency (EnumO o, EnumU u)

void	addOutputDependency (std::initializer_list< EnumO > os, EnumU u)

void	addInternalDependency (EnumU1 uDependent, EnumU2 u)

void	addInputDependency (EnumU u, std::shared_ptr< S > source, EnumO i, Args... args)

void	addInputDependency (EnumU u, S &source, EnumO i, Args... args)

void	addDirectDependency (EnumO o, std::shared_ptr< S > source, EnumI i)

void	addDirectDependency (EnumO o, S &source, EnumI i)

Protected Attributes
const mc_rbdyn::Robot &	robot_

std::vector< std::vector< double > >	posture_

int	j0_

Eigen::VectorXd	refVel_

Eigen::VectorXd	refAccel_

Protected Attributes inherited from tvm::function::abstract::LinearFunction
tvm::internal::VectorWithProperties	b_

Protected Attributes inherited from tvm::function::abstract::Function
Eigen::VectorXd	velocity_

Eigen::VectorXd	normalAcceleration_

utils::internal::MapWithVariableAsKey< Eigen::MatrixXd, slice_jdot >	JDot_

Protected Attributes inherited from tvm::internal::FirstOrderProvider
Eigen::VectorXd	value_

utils::internal::MapWithVariableAsKey< MatrixWithProperties, slice_matrix, true >	jacobian_

Space	imageSpace_

VariableVector	variables_

utils::internal::MapWithVariableAsKey< bool, slice_linear >	linear_

Protected Attributes inherited from tvm::graph::internal::AbstractNode
std::map< int, std::function< void(AbstractNode &)> >	updates_

std::map< int, std::vector< int > >	outputDependencies_

std::map< int, std::vector< int > >	internalDependencies_

std::map< int, input_dependency_t >	inputDependencies_

std::map< int, std::pair< Outputs *, int > >	directDependencies_

Protected Attributes inherited from tvm::graph::abstract::Outputs
bool	is_node_

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum	Update_

typedef AbstractNode	UpdateParent

typedef AbstractNode	UpdateBase

Public Types inherited from tvm::graph::internal::Inputs
typedef std::unordered_map< abstract::Outputs *, std::set< int > >	inputs_t

typedef std::unordered_set< std::shared_ptr< abstract::Outputs > >	store_t

Public Types inherited from tvm::graph::abstract::Outputs
enum	Output_

typedef Outputs	OutputParent

typedef Outputs	OutputBase

Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)

static constexpr bool	UpdateStaticallyEnabled (EnumT)

Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)

static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize

static constexpr auto	UpdateBaseName

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize

static constexpr auto	OutputBaseName

Protected Types inherited from tvm::graph::internal::AbstractNode
typedef std::map< Outputs *, std::set< int > >	input_dependency_t

Detailed Description

This class implements a posture function for a given robot

Constructor & Destructor Documentation

◆ PostureFunction()

mc_tvm::PostureFunction::PostureFunction ( const mc_rbdyn::Robot & robot )

Constructor

Set the objective to the current posture of robot

Member Function Documentation

◆ posture() [1/3]

const std::vector<std::vector<double> >& mc_tvm::PostureFunction::posture ( ) const

inlinenoexcept

Access the full target posture

◆ posture() [2/3]

void mc_tvm::PostureFunction::posture	(	const std::string &	j,
		const std::vector< double > &	q
	)

Set the target for a given joint

Parameters

j	Joint name
q	Target configuration

◆ posture() [3/3]

void mc_tvm::PostureFunction::posture ( const std::vector< std::vector< double >> & p )

Set the fully body posture

◆ refAccel() [1/2]

const Eigen::VectorXd& mc_tvm::PostureFunction::refAccel ( ) const

inlinenoexcept

Returns the reference acceleration

◆ refAccel() [2/2]

void mc_tvm::PostureFunction::refAccel ( const Eigen::VectorXd & acc )

inlinenoexcept

Set the reference acceleration

◆ refVel() [1/2]

const Eigen::VectorXd& mc_tvm::PostureFunction::refVel ( ) const

inlinenoexcept

Returns the reference velocity

◆ refVel() [2/2]

void mc_tvm::PostureFunction::refVel ( const Eigen::VectorXd & vel )

inlinenoexcept

Set the reference velocity

◆ reset()

void mc_tvm::PostureFunction::reset ( )

Set the target posture to the current robot's posture

◆ updateValue_()

void mc_tvm::PostureFunction::updateValue_ ( )

overrideprotectedvirtual

Reimplemented from tvm::function::IdentityFunction.

◆ updateVelocity_()

void mc_tvm::PostureFunction::updateVelocity_ ( )

overrideprotectedvirtual

Reimplemented from tvm::function::IdentityFunction.

Member Data Documentation

◆ j0_

int mc_tvm::PostureFunction::j0_

protected

Starting joint

◆ posture_

std::vector<std::vector<double> > mc_tvm::PostureFunction::posture_

protected

Target

◆ refAccel_

Eigen::VectorXd mc_tvm::PostureFunction::refAccel_

protected

Reference acceleration

◆ refVel_

Eigen::VectorXd mc_tvm::PostureFunction::refVel_

protected

Reference velocity

◆ robot_

const mc_rbdyn::Robot& mc_tvm::PostureFunction::robot_

protected

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

include/mc_tvm/PostureFunction.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PostureFunction()

Member Function Documentation

◆ posture() [1/3]

◆ posture() [2/3]

◆ posture() [3/3]

◆ refAccel() [1/2]

◆ refAccel() [2/2]

◆ refVel() [1/2]

◆ refVel() [2/2]

◆ reset()

◆ updateValue_()

◆ updateVelocity_()

Member Data Documentation

◆ j0_

◆ posture_

◆ refAccel_

◆ refVel_

◆ robot_