mc_tvm::CoMInConvexFunction Struct Reference

#include <mc_tvm/CoMInConvexFunction.h>

Inheritance diagram for mc_tvm::CoMInConvexFunction:

Collaboration diagram for mc_tvm::CoMInConvexFunction:

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

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

Protected Member Functions
void	updateValue ()
void	updateVelocity ()
void	updateJacobian ()
void	updateNormalAcceleration ()

Protected Attributes
mc_tvm::CoM &	com_
std::vector< tvm::geometry::PlanePtr >	planes_
Eigen::VectorXd	selector_

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

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

• include/mc_tvm/CoMInConvexFunction.h