#include <mc_tvm/MomentumFunction.h>

Inheritance diagram for mc_tvm::MomentumFunction:

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Collaboration diagram for mc_tvm::MomentumFunction:

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

void	reset ()

const sva::ForceVecd &	momentum () const noexcept

void	momentum (const sva::ForceVecd &momentum) noexcept

const Eigen::Vector6d &	refVel () const noexcept

void	refVel (const Eigen::Vector6d &refVel) noexcept

const Eigen::Vector6d &	refAccel () const noexcept

void	refAccel (const Eigen::Vector6d &refAccel) noexcept

const mc_tvm::Momentum &	algo () 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

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::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 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 Momentum function for a given robot

You can provide:

a reference Momentum target
a reference Momentum velocity target
a reference Momentum acceleration target

Constructor & Destructor Documentation

◆ MomentumFunction()

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

Constructor

Creates a Momentum function, the objective is the current robot's Momentum

Member Function Documentation

◆ algo()

const mc_tvm::Momentum& mc_tvm::MomentumFunction::algo ( ) const

inlinenoexcept

Get the associated algorithm

◆ momentum() [1/2]

const sva::ForceVecd& mc_tvm::MomentumFunction::momentum ( ) const

inlinenoexcept

Get the current objective

◆ momentum() [2/2]

void mc_tvm::MomentumFunction::momentum ( const sva::ForceVecd & momentum )

inlinenoexcept

Set the objective

◆ refAccel() [1/2]

const Eigen::Vector6d& mc_tvm::MomentumFunction::refAccel ( ) const

inlinenoexcept

Get the current objective

◆ refAccel() [2/2]

void mc_tvm::MomentumFunction::refAccel ( const Eigen::Vector6d & refAccel )

inlinenoexcept

Set the objective

◆ refVel() [1/2]

const Eigen::Vector6d& mc_tvm::MomentumFunction::refVel ( ) const

inlinenoexcept

Get the current objective

◆ refVel() [2/2]

void mc_tvm::MomentumFunction::refVel ( const Eigen::Vector6d & refVel )

inlinenoexcept

Set the objective

◆ reset()

void mc_tvm::MomentumFunction::reset ( )

Reset the objectve to the current momentum and reference speed/acceleration to zero

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

include/mc_tvm/MomentumFunction.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MomentumFunction()

Member Function Documentation

◆ algo()

◆ momentum() [1/2]

◆ momentum() [2/2]

◆ refAccel() [1/2]

◆ refAccel() [2/2]

◆ refVel() [1/2]

◆ refVel() [2/2]

◆ reset()