#include <tvm/robot/internal/DynamicFunction.h>

Inheritance diagram for tvm::robot::internal::DynamicFunction:

[legend]

Collaboration diagram for tvm::robot::internal::DynamicFunction:

[legend]

Classes
struct	ForceContact

Public Types
using	Output = function::abstract::LinearFunction::Output

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

Public Member Functions
	DynamicFunction (RobotPtr robot)

bool	addContact (ContactPtr contact, bool linearize, double mu, unsigned int nrGen)

void	removeContact (const Contact::Id &id)

sva::ForceVecd	contactForce (const Contact::Id &id) const

void	addPositiveLambdaToProblem (ControlProblem &problem)

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
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	updateb ()

void	updateJacobian ()

void	addContact_ (const Contact::View &contact, bool linearize, double mu, unsigned int nrGen, double dir)

std::vector< ForceContact >::iterator	getContact (const Contact::Id &id)

std::vector< ForceContact >::const_iterator	getContact (const Contact::Id &id) const

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 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< ForceContact >	contacts_

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_ = false

Additional Inherited Members
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

Implement the equation of motion for a given robot.

It can be given contacts that will be integrated into the equation of motion (

See also: DynamicFunction::addContact) or contacts that will be removed from the equation (; DynamicFunction::removeContact).

It manages the force variables related to these contacts.

It also takes care of linearizing the contacts, either by having them in a linearized form in the solver (lambdas) or as forces. The related constraint (mu*f_n >= ||f_t||) can be added to the problem through this function.

Notably, it does not take care of enforcing Newton 3rd law of motion when two actuated robots are in contact.

Member Typedef Documentation

◆ Output

using tvm::robot::internal::DynamicFunction::Output = function::abstract::LinearFunction::Output

Constructor & Destructor Documentation

◆ DynamicFunction()

tvm::robot::internal::DynamicFunction::DynamicFunction ( RobotPtr robot )

Construct the equation of motion for a given robot

Member Function Documentation

◆ addContact()

bool tvm::robot::internal::DynamicFunction::addContact	(	ContactPtr	contact,
		bool	linearize,
		double	mu,
		unsigned int	nrGen
	)

Add a contact to the function

This adds forces variables for every contact point belonging to the robot of this dynamic function.

Parameters

contact	Contact that will be added
linearize	If true, linearize the friction cone using generators
mu	Friction coefficient
nrGen	Number of generators for the cone (only applicable when linearize is true)

Returns true if a contact has been added

◆ addContact_()

void tvm::robot::internal::DynamicFunction::addContact_	(	const Contact::View &	contact,
		bool	linearize,
		double	mu,
		unsigned int	nrGen,
		double	dir
	)

protected

◆ addPositiveLambdaToProblem()

void tvm::robot::internal::DynamicFunction::addPositiveLambdaToProblem ( ControlProblem & problem )

Add constraints to the given problem

The constraints express that the contact should not slip, i.e. mu*f_n > ||f_t||, where mu was set when the contact was added.

◆ contactForce()

sva::ForceVecd tvm::robot::internal::DynamicFunction::contactForce ( const Contact::Id & id ) const

Return the contact force at the contact.

The force is null if this contact has not been added or does not concern the related robot.

◆ getContact() [1/2]

std::vector<ForceContact>::iterator tvm::robot::internal::DynamicFunction::getContact ( const Contact::Id & id )

protected

◆ getContact() [2/2]

std::vector<ForceContact>::const_iterator tvm::robot::internal::DynamicFunction::getContact ( const Contact::Id & id ) const

protected

◆ removeContact()

void tvm::robot::internal::DynamicFunction::removeContact ( const Contact::Id & id )

Remove a contact

This has no effect if this contact was not added before

◆ updateb()

void tvm::robot::internal::DynamicFunction::updateb ( )

protected

◆ updateJacobian()

void tvm::robot::internal::DynamicFunction::updateJacobian ( )

protected

Member Data Documentation

◆ contacts_

std::vector<ForceContact> tvm::robot::internal::DynamicFunction::contacts_

protected

◆ robot_

RobotPtr tvm::robot::internal::DynamicFunction::robot_

protected

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

include/tvm/robot/internal/DynamicFunction.h

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Output

Constructor & Destructor Documentation

◆ DynamicFunction()

Member Function Documentation

◆ addContact()

◆ addContact_()

◆ addPositiveLambdaToProblem()

◆ contactForce()

◆ getContact() [1/2]

◆ getContact() [2/2]

◆ removeContact()

◆ updateb()

◆ updateJacobian()

Member Data Documentation

◆ contacts_

◆ robot_