#include <tvm/robot/CoMInConvexFunction.h>

Inheritance diagram for tvm::robot::CoMInConvexFunction:

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Collaboration diagram for tvm::robot::CoMInConvexFunction:

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Public Member Functions
	CoMInConvexFunction (RobotPtr robot)

void	addPlane (geometry::PlanePtr plane)

void	reset ()

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
template<typename EnumT >
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

template<typename T , typename EnumI , typename... Args>
void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)

template<typename T , typename EnumI , typename... Args, typename std::enable_if< std::is_base_of< abstract::Outputs, T >::value, int >::type = 0>
void	addInput (T &source, EnumI i, Args... args)

template<typename T >
void	removeInput (T *source)

template<typename T , typename... Args>
void	removeInput (T *source, Args... args)

template<typename T >
Iterator	getInput (T *source)

template<typename T >
Iterator	getInput (const std::shared_ptr< T > &source)

Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default

template<typename EnumT >
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 tvm::graph::abstract::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
RobotPtr	robot_

std::vector< geometry::PlanePtr >	planes_

rbd::CoMJacobian	jac_

Eigen::Vector3d	comSpeed_

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_ = false

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum class	Update_

using	UpdateParent = AbstractNode

using	UpdateBase = AbstractNode

Public Types inherited from tvm::graph::internal::Inputs
using	inputs_t = std::unordered_map< abstract::Outputs *, std::set< int > >

using	store_t = std::unordered_set< std::shared_ptr< abstract::Outputs > >

Public Types inherited from tvm::graph::abstract::Outputs
enum class	Output_

using	OutputParent = Outputs

using	OutputBase = Outputs

Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)

template<typename EnumT >
static constexpr bool	UpdateStaticallyEnabled (EnumT)

Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)

template<typename EnumT >
static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize = 0

static constexpr auto	UpdateBaseName = "AbstractNode"

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize = 0

static constexpr auto	OutputBaseName = "Outputs"

Protected Types inherited from tvm::graph::internal::AbstractNode
using	input_dependency_t = std::map< Outputs *, std::set< int > >

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.

Constructor & Destructor Documentation

◆ CoMInConvexFunction()

tvm::robot::CoMInConvexFunction::CoMInConvexFunction ( RobotPtr robot )

Constructor

By default, this function computes nothing

Member Function Documentation

◆ addPlane()

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

Add a plane.

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

This function does not check whether this is consistent with planes that were added previously.

◆ reset()

void tvm::robot::CoMInConvexFunction::reset ( )

Remove all planes

◆ updateJacobian()

void tvm::robot::CoMInConvexFunction::updateJacobian ( )

protected

◆ updateNormalAcceleration()

void tvm::robot::CoMInConvexFunction::updateNormalAcceleration ( )

protected

◆ updateValue()

void tvm::robot::CoMInConvexFunction::updateValue ( )

protected

◆ updateVelocity()

void tvm::robot::CoMInConvexFunction::updateVelocity ( )

protected

Member Data Documentation

◆ comSpeed_

Eigen::Vector3d tvm::robot::CoMInConvexFunction::comSpeed_

protected

◆ jac_

rbd::CoMJacobian tvm::robot::CoMInConvexFunction::jac_

protected

CoM jacobian

◆ planes_

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

protected

Set of planes

◆ robot_

RobotPtr tvm::robot::CoMInConvexFunction::robot_

protected

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

include/tvm/robot/CoMInConvexFunction.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CoMInConvexFunction()

Member Function Documentation

◆ addPlane()

◆ reset()

◆ updateJacobian()

◆ updateNormalAcceleration()

◆ updateValue()

◆ updateVelocity()

Member Data Documentation

◆ comSpeed_

◆ jac_

◆ planes_

◆ robot_