mc_tvm::CompoundJointFunction Struct Reference
#include <mc_tvm/CompoundJointFunction.h>
Inheritance diagram for mc_tvm::CompoundJointFunction:
Collaboration diagram for mc_tvm::CompoundJointFunction:
Public Member Functions | |
| CompoundJointFunction (const mc_rbdyn::Robot &robot, const mc_rbdyn::CompoundJointConstraintDescription &desc) | |
| void | dt (double dt) |
 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 |
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 |
| Protected Member Functions inherited from tvm::function::abstract::LinearFunction | |
| LinearFunction (int m) | |
| virtual void | updateValue_ () |
| virtual void | updateVelocity_ () |
| 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 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_ |
Detailed Description
This class implements a compound joint linear function
For a given compound joint description it computes the distance to the compound line
Constructor & Destructor Documentation
◆ CompoundJointFunction()
| mc_tvm::CompoundJointFunction::CompoundJointFunction | ( | const mc_rbdyn::Robot & | robot, |
| const mc_rbdyn::CompoundJointConstraintDescription & | desc | ||
| ) |
Constructor
Creates a compound joint function
Member Function Documentation
◆ dt()
| void mc_tvm::CompoundJointFunction::dt | ( | double | dt | ) |
Sets the timestep
The documentation for this struct was generated from the following file:
- include/mc_tvm/CompoundJointFunction.h
