#include <mc_tvm/CoMInConvexFunction.h>

Inheritance diagram for mc_tvm::CoMInConvexFunction:

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Collaboration diagram for mc_tvm::CoMInConvexFunction:

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

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

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

void	addPlane (tvm::geometry::PlanePtr plane)

void	reset ()

const mc_rbdyn::Robot &	robot () const noexcept

const std::vector< tvm::geometry::PlanePtr > &	planes () noexcept

tvm::geometry::Plane &	plane (size_t i) noexcept

Eigen::VectorXd &	selector () noexcept

const Eigen::VectorXd &	selector () 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_tvm::CoM &	com_

std::vector< tvm::geometry::PlanePtr >	planes_

Eigen::VectorXd	selector_

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
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 function computes the distance of the CoM to a set of planes.

By providing a consistent set of planes, the function can be used to keep the CoM in a convex region of space.

Member Typedef Documentation

◆ Output

using mc_tvm::CoMInConvexFunction::Output = tvm::function::abstract::Function::Output

Constructor & Destructor Documentation

◆ CoMInConvexFunction()

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

Constructor

By default, this function computes nothing

Member Function Documentation

◆ addPlane()

void mc_tvm::CoMInConvexFunction::addPlane ( tvm::geometry::PlanePtr plane )

Add a plane.

This will add one dimension to the function output. This new value is the distance to that plane.

◆ plane()

tvm::geometry::Plane& mc_tvm::CoMInConvexFunction::plane ( size_t i )

inlinenoexcept

Access a pane at the given index

◆ planes()

const std::vector<tvm::geometry::PlanePtr>& mc_tvm::CoMInConvexFunction::planes ( )

inlinenoexcept

Access the planes used by this function

◆ reset()

void mc_tvm::CoMInConvexFunction::reset ( )

Remove all planes

◆ robot()

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

inlinenoexcept

Access the robot this function uses

◆ selector() [1/2]

const Eigen::VectorXd& mc_tvm::CoMInConvexFunction::selector ( ) const

inlinenoexcept

Access the selector (const)

◆ selector() [2/2]

Eigen::VectorXd& mc_tvm::CoMInConvexFunction::selector ( )

inlinenoexcept

Access the selector

◆ updateJacobian()

void mc_tvm::CoMInConvexFunction::updateJacobian ( )

protected

◆ updateNormalAcceleration()

void mc_tvm::CoMInConvexFunction::updateNormalAcceleration ( )

protected

◆ updateValue()

void mc_tvm::CoMInConvexFunction::updateValue ( )

protected

◆ updateVelocity()

void mc_tvm::CoMInConvexFunction::updateVelocity ( )

protected

Member Data Documentation

◆ com_

mc_tvm::CoM& mc_tvm::CoMInConvexFunction::com_

protected

◆ planes_

std::vector<tvm::geometry::PlanePtr> mc_tvm::CoMInConvexFunction::planes_

protected

Set of planes

◆ selector_

Eigen::VectorXd mc_tvm::CoMInConvexFunction::selector_

protected

Selector

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

include/mc_tvm/CoMInConvexFunction.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Output

Constructor & Destructor Documentation

◆ CoMInConvexFunction()

Member Function Documentation

◆ addPlane()

◆ plane()

◆ planes()

◆ reset()

◆ robot()

◆ selector() [1/2]

◆ selector() [2/2]

◆ updateJacobian()

◆ updateNormalAcceleration()

◆ updateValue()

◆ updateVelocity()

Member Data Documentation

◆ com_

◆ planes_

◆ selector_