#include <tvm/robot/JointsSelector.h>

Inheritance diagram for tvm::robot::JointsSelector:

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Collaboration diagram for tvm::robot::JointsSelector:

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Public Member Functions
const Eigen::VectorXd &	value () const override

const Eigen::VectorXd &	velocity () const override

const Eigen::VectorXd &	normalAcceleration () const override

Public Member Functions inherited from tvm::function::abstract::Function
virtual MatrixConstRef	JDot (const Variable &x) const

Public Member Functions inherited from tvm::internal::FirstOrderProvider
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

Static Public Member Functions
static std::unique_ptr< JointsSelector >	ActiveJoints (FunctionPtr f, RobotPtr robot, const std::vector< std::string > &activeJoints)

static std::unique_ptr< JointsSelector >	InactiveJoints (FunctionPtr f, RobotPtr robot, const std::vector< std::string > &inactiveJoints)

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)

Protected Member Functions
	JointsSelector (FunctionPtr f, RobotPtr robot, bool ffActive, const std::vector< std::pair< Eigen::DenseIndex, Eigen::DenseIndex >> &activeIndex)

void	updateJacobian ()

void	updateJDot ()

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
FunctionPtr	f_

RobotPtr	robot_

bool	ffActive_

std::vector< std::pair< Eigen::DenseIndex, Eigen::DenseIndex > >	activeIndex_

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 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 class implements joints' selection on a given function

Constructor & Destructor Documentation

◆ JointsSelector()

tvm::robot::JointsSelector::JointsSelector	(	FunctionPtr	f,
		RobotPtr	robot,
		bool	ffActive,
		const std::vector< std::pair< Eigen::DenseIndex, Eigen::DenseIndex >> &	activeIndex
	)

protected

Constructor

Parameters

f	Function selected by this JointsSelector
robot	Robot controlled by `f`
ffActive	True if the selected joints include the free-flyer
activeIndex	For regular joints selected by this JointsSelector, this iss a list of (start, size) pair corresponding to the list of joints

Member Function Documentation

◆ ActiveJoints()

static std::unique_ptr<JointsSelector> tvm::robot::JointsSelector::ActiveJoints	(	FunctionPtr	f,
		RobotPtr	robot,
		const std::vector< std::string > &	activeJoints
	)

static

Construct a JointsSelector from a vector of active joints

Parameters

f	Function selected by this JointsSelector
robot	Robot controlled by `f`
activeJoints	Joints active in this selector

Exceptions

If	`does` not depend on `robot` or any joint in activeJoints is not part of `robot`

◆ InactiveJoints()

static std::unique_ptr<JointsSelector> tvm::robot::JointsSelector::InactiveJoints	(	FunctionPtr	f,
		RobotPtr	robot,
		const std::vector< std::string > &	inactiveJoints
	)

static

Construct a JointsSelector from a vector of inactive joints

Parameters

f	Function selected by this JointsSelector
robot	Robot controlled by `f`
inactiveJoints	Joints not active in this selector

Exceptions

If	`does` not depend on `robot` or any joint in activeJoints is not part of `robot`

◆ normalAcceleration()

const Eigen::VectorXd& tvm::robot::JointsSelector::normalAcceleration ( ) const

inlineoverridevirtual

Reimplemented from tvm::function::abstract::Function.

◆ updateJacobian()

void tvm::robot::JointsSelector::updateJacobian ( )

protected

◆ updateJDot()

void tvm::robot::JointsSelector::updateJDot ( )

protected

◆ value()

const Eigen::VectorXd& tvm::robot::JointsSelector::value ( ) const

inlineoverridevirtual

Return the value of this entity

Reimplemented from tvm::internal::FirstOrderProvider.

◆ velocity()

const Eigen::VectorXd& tvm::robot::JointsSelector::velocity ( ) const

inlineoverridevirtual

Note: by default, these methods return the cached value. However, they are virtual in case the user might want to bypass the cache. This would be typically the case if he/she wants to directly return the output of another method, e.g. return the jacobian of an other Function.

Reimplemented from tvm::function::abstract::Function.

Member Data Documentation

◆ activeIndex_

std::vector<std::pair<Eigen::DenseIndex, Eigen::DenseIndex> > tvm::robot::JointsSelector::activeIndex_

protected

◆ f_

FunctionPtr tvm::robot::JointsSelector::f_

protected

◆ ffActive_

bool tvm::robot::JointsSelector::ffActive_

protected

◆ robot_

RobotPtr tvm::robot::JointsSelector::robot_

protected

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

include/tvm/robot/JointsSelector.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ JointsSelector()

Member Function Documentation

◆ ActiveJoints()

◆ InactiveJoints()

◆ normalAcceleration()

◆ updateJacobian()

◆ updateJDot()

◆ value()

◆ velocity()

Member Data Documentation

◆ activeIndex_

◆ f_

◆ ffActive_

◆ robot_