#include <mc_tvm/VectorOrientationFunction.h>

Inheritance diagram for mc_tvm::VectorOrientationFunction:

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Collaboration diagram for mc_tvm::VectorOrientationFunction:

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Public Member Functions
	VectorOrientationFunction (const mc_rbdyn::RobotFrame &frame, const Eigen::Vector3d &frameVector)

void	reset ()

const Eigen::Vector3d &	target () const noexcept

void	target (const Eigen::Vector3d &target) noexcept

const Eigen::Vector3d &	frameVector () const noexcept

void	frameVector (const Eigen::Vector3d &frameVector) noexcept

const Eigen::Vector3d &	actual () const noexcept

const Eigen::Vector3d &	refVel () const noexcept

void	refVel (const Eigen::Vector3d &refVel) noexcept

const Eigen::Vector3d &	refAccel () const noexcept

void	refAccel (const Eigen::Vector3d &refAccel) noexcept

const mc_rbdyn::RobotFrame &	frame () const noexcept

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 ()

void	updateVelocity ()

void	updateJacobian ()

void	updateNormalAcceleration ()

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

	Function (Space image)

void	resizeCache () override

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
mc_rbdyn::ConstRobotFramePtr	frame_

mc_tvm::RobotFrame &	body_frame_

Eigen::Vector3d	frameVectorIn_

rbd::Jacobian	jac_

Eigen::Vector3d	actualVector_

Eigen::Vector3d	bodyVector_

Eigen::Matrix3d	bodyVectorHat_

Eigen::MatrixXd	fullJacobian_

Eigen::Matrix3d	E_0_b_

Eigen::Vector3d	w_b_b_

Eigen::Vector3d	target_

Eigen::Vector3d	refVel_

Eigen::Vector3d	refAccel_

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

For a given vector attached to a frame expressed in frame coordinates, computes the difference with a target vector in world coordinates

Constructor & Destructor Documentation

◆ VectorOrientationFunction()

mc_tvm::VectorOrientationFunction::VectorOrientationFunction	(	const mc_rbdyn::RobotFrame &	frame,
		const Eigen::Vector3d &	frameVector
	)

Constructor

Set the objective to the current value of the body vector in world coordinates

Member Function Documentation

◆ actual()

const Eigen::Vector3d& mc_tvm::VectorOrientationFunction::actual ( ) const

inlinenoexcept

Returns the current value of frame vector in world coordinates

◆ frame()

const mc_rbdyn::RobotFrame& mc_tvm::VectorOrientationFunction::frame ( ) const

inlinenoexcept

Access the frame

◆ frameVector() [1/2]

const Eigen::Vector3d& mc_tvm::VectorOrientationFunction::frameVector ( ) const

inlinenoexcept

Get the current frame vector (in frame coordinates)

◆ frameVector() [2/2]

void mc_tvm::VectorOrientationFunction::frameVector ( const Eigen::Vector3d & frameVector )

noexcept

Set the frame vector

◆ refAccel() [1/2]

const Eigen::Vector3d& mc_tvm::VectorOrientationFunction::refAccel ( ) const

inlinenoexcept

Get the current objective

◆ refAccel() [2/2]

void mc_tvm::VectorOrientationFunction::refAccel ( const Eigen::Vector3d & refAccel )

inlinenoexcept

Set the objective

◆ refVel() [1/2]

const Eigen::Vector3d& mc_tvm::VectorOrientationFunction::refVel ( ) const

inlinenoexcept

Get the current objective

◆ refVel() [2/2]

void mc_tvm::VectorOrientationFunction::refVel ( const Eigen::Vector3d & refVel )

inlinenoexcept

Set the objective

◆ reset()

void mc_tvm::VectorOrientationFunction::reset ( )

Reset the target vector to the current frame vector

◆ target() [1/2]

const Eigen::Vector3d& mc_tvm::VectorOrientationFunction::target ( ) const

inlinenoexcept

Get the current objective

◆ target() [2/2]

void mc_tvm::VectorOrientationFunction::target ( const Eigen::Vector3d & target )

inlinenoexcept

Set the objective

◆ updateJacobian()

void mc_tvm::VectorOrientationFunction::updateJacobian ( )

protected

◆ updateNormalAcceleration()

void mc_tvm::VectorOrientationFunction::updateNormalAcceleration ( )

protected

◆ updateValue()

void mc_tvm::VectorOrientationFunction::updateValue ( )

protected

◆ updateVelocity()

void mc_tvm::VectorOrientationFunction::updateVelocity ( )

protected

Member Data Documentation

◆ actualVector_

Eigen::Vector3d mc_tvm::VectorOrientationFunction::actualVector_

protected

◆ body_frame_

mc_tvm::RobotFrame& mc_tvm::VectorOrientationFunction::body_frame_

protected

◆ bodyVector_

Eigen::Vector3d mc_tvm::VectorOrientationFunction::bodyVector_

protected

◆ bodyVectorHat_

Eigen::Matrix3d mc_tvm::VectorOrientationFunction::bodyVectorHat_

protected

◆ E_0_b_

Eigen::Matrix3d mc_tvm::VectorOrientationFunction::E_0_b_

protected

◆ frame_

mc_rbdyn::ConstRobotFramePtr mc_tvm::VectorOrientationFunction::frame_

protected

◆ frameVectorIn_

Eigen::Vector3d mc_tvm::VectorOrientationFunction::frameVectorIn_

protected

Task configuration

◆ fullJacobian_

Eigen::MatrixXd mc_tvm::VectorOrientationFunction::fullJacobian_

protected

◆ jac_

rbd::Jacobian mc_tvm::VectorOrientationFunction::jac_

protected

Computation intermediate

◆ refAccel_

Eigen::Vector3d mc_tvm::VectorOrientationFunction::refAccel_

protected

◆ refVel_

Eigen::Vector3d mc_tvm::VectorOrientationFunction::refVel_

protected

◆ target_

Eigen::Vector3d mc_tvm::VectorOrientationFunction::target_

protected

Target

◆ w_b_b_

Eigen::Vector3d mc_tvm::VectorOrientationFunction::w_b_b_

protected

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

include/mc_tvm/VectorOrientationFunction.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VectorOrientationFunction()

Member Function Documentation

◆ actual()

◆ frame()

◆ frameVector() [1/2]

◆ frameVector() [2/2]

◆ refAccel() [1/2]

◆ refAccel() [2/2]

◆ refVel() [1/2]

◆ refVel() [2/2]

◆ reset()

◆ target() [1/2]

◆ target() [2/2]

◆ updateJacobian()

◆ updateNormalAcceleration()

◆ updateValue()

◆ updateVelocity()

Member Data Documentation

◆ actualVector_

◆ body_frame_

◆ bodyVector_

◆ bodyVectorHat_

◆ E_0_b_

◆ frame_

◆ frameVectorIn_

◆ fullJacobian_

◆ jac_

◆ refAccel_

◆ refVel_

◆ target_

◆ w_b_b_