tvm::task_dynamics::ProportionalDerivative Class Reference

#include <tvm/task_dynamics/ProportionalDerivative.h>

Inheritance diagram for tvm::task_dynamics::ProportionalDerivative:

Collaboration diagram for tvm::task_dynamics::ProportionalDerivative:

Classes
class	Impl

Public Types
using	Gain = mpark::variant< double, Eigen::VectorXd, Eigen::MatrixXd >

Public Member Functions
	ProportionalDerivative (double kp)
	ProportionalDerivative (const Eigen::VectorXd &kp)
	ProportionalDerivative (const Eigen::MatrixXd &kp)
	~ProportionalDerivative () override=default
	ProportionalDerivative (double kp, double kv)
	ProportionalDerivative (const Eigen::VectorXd &kp, const Eigen::VectorXd &kv)
	ProportionalDerivative (const Eigen::MatrixXd &kp, const Eigen::MatrixXd &kv)
	ProportionalDerivative (double kp, const Eigen::VectorXd &kv)
	ProportionalDerivative (double kp, const Eigen::MatrixXd &kv)
	ProportionalDerivative (const Eigen::VectorXd &kp, double kv)
	ProportionalDerivative (const Eigen::VectorXd &kp, const Eigen::MatrixXd &kv)
	ProportionalDerivative (const Eigen::MatrixXd &kp, double kv)
	ProportionalDerivative (const Eigen::MatrixXd &kp, const Eigen::VectorXd &kv)
Public Member Functions inherited from tvm::task_dynamics::abstract::TaskDynamics
virtual	~TaskDynamics ()=default
std::unique_ptr< TaskDynamicsImpl >	impl (FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs) const
Order	order () const

Protected Member Functions
std::unique_ptr< abstract::TaskDynamicsImpl >	impl_ (FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs) const override
Order	order_ () const override

Detailed Description

Compute \( \ddot{e}^* = -k_v \dot{e} - k_p e\) (dynamic order) where \( k_p \) and \( k_v \) can be (independently) a scalar, a diagonal matrix (given as a vector) or a matrix.

Member Typedef Documentation

Gain

using tvm::task_dynamics::ProportionalDerivative::Gain = mpark::variant<double, Eigen::VectorXd, Eigen::MatrixXd>

Constructor & Destructor Documentation

ProportionalDerivative() [1/12]

tvm::task_dynamics::ProportionalDerivative::ProportionalDerivative	(	double	kp,
		double	kv
	)

General constructor.

Parameters

kp	Stiffness gain, as a scalar, a vector representing a diagonal matrix, or a matrix.
kv	Damping gain, as a scalar, a vector representing a diagonal matrix, or a matrix.

ProportionalDerivative() [2/12]

tvm::task_dynamics::ProportionalDerivative::ProportionalDerivative	(	const Eigen::VectorXd &	kp,
		const Eigen::VectorXd &	kv
	)

General constructor.

Parameters

kp	Stiffness gain, as a scalar, a vector representing a diagonal matrix, or a matrix.
kv	Damping gain, as a scalar, a vector representing a diagonal matrix, or a matrix.

ProportionalDerivative() [3/12]

tvm::task_dynamics::ProportionalDerivative::ProportionalDerivative	(	const Eigen::MatrixXd &	kp,
		const Eigen::MatrixXd &	kv
	)

General constructor.

Parameters

kp	Stiffness gain, as a scalar, a vector representing a diagonal matrix, or a matrix.
kv	Damping gain, as a scalar, a vector representing a diagonal matrix, or a matrix.

ProportionalDerivative() [4/12]

tvm::task_dynamics::ProportionalDerivative::ProportionalDerivative	(	double	kp,
		const Eigen::VectorXd &	kv
	)

General constructor.

Parameters

kp	Stiffness gain, as a scalar, a vector representing a diagonal matrix, or a matrix.
kv	Damping gain, as a scalar, a vector representing a diagonal matrix, or a matrix.

ProportionalDerivative() [5/12]

tvm::task_dynamics::ProportionalDerivative::ProportionalDerivative	(	double	kp,
		const Eigen::MatrixXd &	kv
	)

General constructor.

Parameters

kp	Stiffness gain, as a scalar, a vector representing a diagonal matrix, or a matrix.
kv	Damping gain, as a scalar, a vector representing a diagonal matrix, or a matrix.

ProportionalDerivative() [6/12]

tvm::task_dynamics::ProportionalDerivative::ProportionalDerivative	(	const Eigen::VectorXd &	kp,
		double	kv
	)

General constructor.

Parameters

kp	Stiffness gain, as a scalar, a vector representing a diagonal matrix, or a matrix.
kv	Damping gain, as a scalar, a vector representing a diagonal matrix, or a matrix.

ProportionalDerivative() [7/12]

tvm::task_dynamics::ProportionalDerivative::ProportionalDerivative	(	const Eigen::VectorXd &	kp,
		const Eigen::MatrixXd &	kv
	)

General constructor.

Parameters

kp	Stiffness gain, as a scalar, a vector representing a diagonal matrix, or a matrix.
kv	Damping gain, as a scalar, a vector representing a diagonal matrix, or a matrix.

ProportionalDerivative() [8/12]

tvm::task_dynamics::ProportionalDerivative::ProportionalDerivative	(	const Eigen::MatrixXd &	kp,
		double	kv
	)

General constructor.

Parameters

kp	Stiffness gain, as a scalar, a vector representing a diagonal matrix, or a matrix.
kv	Damping gain, as a scalar, a vector representing a diagonal matrix, or a matrix.

ProportionalDerivative() [9/12]

tvm::task_dynamics::ProportionalDerivative::ProportionalDerivative	(	const Eigen::MatrixXd &	kp,
		const Eigen::VectorXd &	kv
	)

General constructor.

Parameters

kp	Stiffness gain, as a scalar, a vector representing a diagonal matrix, or a matrix.
kv	Damping gain, as a scalar, a vector representing a diagonal matrix, or a matrix.

ProportionalDerivative() [10/12]

tvm::task_dynamics::ProportionalDerivative::ProportionalDerivative

(

double

kp

)

Critically damped version.

Parameters

kp	Stiffness gain. The damping gain is automatically computed to get a critically damped behavior.

ProportionalDerivative() [11/12]

tvm::task_dynamics::ProportionalDerivative::ProportionalDerivative

(

const Eigen::VectorXd &

kp

)

Critically damped version.

Parameters

kp	Diagonal of the stiffness gain matrix. The damping gain is automatically computed to get a critically damped behavior.

ProportionalDerivative() [12/12]

tvm::task_dynamics::ProportionalDerivative::ProportionalDerivative

(

const Eigen::MatrixXd &

kp

)

Critically damped version.

Parameters

kp	Stiffness gain matrix. The damping gain is automatically computed to get a critically damped behavior. For this version, kp is supposed to be symmetric and positive definite.

Note

The automatic damping computation is relatively heavy, involving a Schur decomposition, matrices multiplications and memory allocation.

~ProportionalDerivative()

tvm::task_dynamics::ProportionalDerivative::~ProportionalDerivative ( )

overridedefault

Member Function Documentation

impl_()

std::unique_ptr<abstract::TaskDynamicsImpl> tvm::task_dynamics::ProportionalDerivative::impl_ ( FunctionPtr  f, constraint::Type  t, const Eigen::VectorXd &  rhs  ) const

overrideprotectedvirtual

Implements tvm::task_dynamics::abstract::TaskDynamics.

order_()

Order tvm::task_dynamics::ProportionalDerivative::order_ ( ) const

overrideprotectedvirtual

Implements tvm::task_dynamics::abstract::TaskDynamics.

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

• include/tvm/task_dynamics/ProportionalDerivative.h