#include <tvm/task_dynamics/ProportionalDerivative.h>

Inheritance diagram for tvm::task_dynamics::ProportionalDerivative::Impl:

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Collaboration diagram for tvm::task_dynamics::ProportionalDerivative::Impl:

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Public Member Functions
	Impl (FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs, const Gain &kp, const Gain &kv)

void	updateValue () override

	~Impl () override=default

std::pair< const Gain &, const Gain & >	gains () const

void	gains (double kp)

void	gains (const Eigen::VectorXd &kp)

void	gains (const Eigen::MatrixXd &kp)

const Gain &	kp () const

template<typename T >
const T &	kp () const

Gain &	kp ()

template<typename T >
T &	kp ()

const Gain &	kv () const

template<typename T >
const T &	kv () const

Gain &	kv ()

template<typename T >
T &	kv ()


void	gains (double kp, double kv)

void	gains (const Eigen::VectorXd &kp, const Eigen::VectorXd &kv)

void	gains (const Eigen::MatrixXd &kp, const Eigen::MatrixXd &kv)

void	gains (double kp, const Eigen::VectorXd &kv)

void	gains (double kp, const Eigen::MatrixXd &kv)

void	gains (const Eigen::VectorXd &kp, double kv)

void	gains (const Eigen::VectorXd &kp, const Eigen::MatrixXd &kv)

void	gains (const Eigen::MatrixXd &kp, double kv)

void	gains (const Eigen::MatrixXd &kp, const Eigen::VectorXd &kv)

Public Member Functions inherited from tvm::task_dynamics::abstract::TaskDynamicsImpl
virtual	~TaskDynamicsImpl ()=default

const Eigen::VectorXd &	value () const

Order	order () const

template<typename T >
bool	checkType () 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

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 > >

Protected Member Functions inherited from tvm::task_dynamics::abstract::TaskDynamicsImpl
	TaskDynamicsImpl (Order order, FunctionPtr f, constraint::Type t, const Eigen::VectorXd &rhs)

const function::abstract::Function &	function () const

constraint::Type	type () const

const Eigen::VectorXd &	rhs () const

Protected Member Functions inherited from tvm::graph::abstract::Node< TaskDynamicsImpl >
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::task_dynamics::abstract::TaskDynamicsImpl
Eigen::VectorXd	value_

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

Constructor & Destructor Documentation

◆ Impl()

tvm::task_dynamics::ProportionalDerivative::Impl::Impl	(	FunctionPtr	f,
		constraint::Type	t,
		const Eigen::VectorXd &	rhs,
		const Gain &	kp,
		const Gain &	kv
	)

◆ ~Impl()

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

overridedefault

Member Function Documentation

◆ gains() [1/13]

std::pair<const Gain &, const Gain &> tvm::task_dynamics::ProportionalDerivative::Impl::gains ( ) const

Get the current gains as a pair (kp, kv).

◆ gains() [2/13]

void tvm::task_dynamics::ProportionalDerivative::Impl::gains ( 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.

◆ gains() [3/13]

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

Set gains.

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.

◆ gains() [4/13]

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

Set gains.

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.

◆ gains() [5/13]

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

Set gains.

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.

◆ gains() [6/13]

void tvm::task_dynamics::ProportionalDerivative::Impl::gains ( 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.

◆ gains() [7/13]

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

Set gains.

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.

◆ gains() [8/13]

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

Set gains.

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.

◆ gains() [9/13]

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

Set gains.

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.

◆ gains() [10/13]

void tvm::task_dynamics::ProportionalDerivative::Impl::gains ( double kp )

Critically damped version.

Parameters

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

◆ gains() [11/13]

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

Set gains.

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.

◆ gains() [12/13]

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

Set gains.

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.

◆ gains() [13/13]

void tvm::task_dynamics::ProportionalDerivative::Impl::gains	(	double	kp,
		double	kv
	)

Set gains.

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.

◆ kp() [1/4]

Gain& tvm::task_dynamics::ProportionalDerivative::Impl::kp ( )

inline

Get the current kp gain (non-const version).

Warning: No check is made if you change the gain. It is your responsibility to ensure that its values and its size are correct.

◆ kp() [2/4]

template<typename T >

T& tvm::task_dynamics::ProportionalDerivative::Impl::kp ( )

inline

Get the current kp gain cast as T (non-const version).

Template Parameters

T	Type of the gain.

Exceptions

Throws if T has not the type corresponding to the gain actually used.

Warning: No check is made if you change the gain. It is your responsibility to ensure that its values and its size are correct.

◆ kp() [3/4]

const Gain& tvm::task_dynamics::ProportionalDerivative::Impl::kp ( ) const

inline

Get the current kp gain

◆ kp() [4/4]

template<typename T >

const T& tvm::task_dynamics::ProportionalDerivative::Impl::kp ( ) const

inline

Get the current kp gain cast as T.

Template Parameters

T	Type of the gain.

Exceptions

Throws if T has not the type corresponding to the gain actually used.

◆ kv() [1/4]

Gain& tvm::task_dynamics::ProportionalDerivative::Impl::kv ( )

inline

Get the current kv gain (non-const version).

Warning: No check is made if you change the gain. It is your responsibility to ensure that its values and its size are correct.

◆ kv() [2/4]

template<typename T >

T& tvm::task_dynamics::ProportionalDerivative::Impl::kv ( )

inline

Get the current kv gain cast as T (non-const version).

Template Parameters

T	Type of the gain.

Exceptions

Throws if T has not the type corresponding to the gain actually used.

Warning: No check is made if you change the gain. It is your responsibility to ensure that its values and its size are correct.

◆ kv() [3/4]

const Gain& tvm::task_dynamics::ProportionalDerivative::Impl::kv ( ) const

inline

Get the current kv gain

◆ kv() [4/4]

template<typename T >

const T& tvm::task_dynamics::ProportionalDerivative::Impl::kv ( ) const

inline

Get the current kv gain cast as T.

Template Parameters

T	Type of the gain.

Exceptions

Throws if T has not the type corresponding to the gain actually used.

◆ updateValue()

void tvm::task_dynamics::ProportionalDerivative::Impl::updateValue ( )

overridevirtual

Implements tvm::task_dynamics::abstract::TaskDynamicsImpl.

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

include/tvm/task_dynamics/ProportionalDerivative.h

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ Impl()

◆ ~Impl()

Member Function Documentation

◆ gains() [1/13]

◆ gains() [2/13]

◆ gains() [3/13]

◆ gains() [4/13]

◆ gains() [5/13]

◆ gains() [6/13]

◆ gains() [7/13]

◆ gains() [8/13]

◆ gains() [9/13]

◆ gains() [10/13]

◆ gains() [11/13]

◆ gains() [12/13]

◆ gains() [13/13]

◆ kp() [1/4]

◆ kp() [2/4]

◆ kp() [3/4]

◆ kp() [4/4]

◆ kv() [1/4]

◆ kv() [2/4]

◆ kv() [3/4]

◆ kv() [4/4]

◆ updateValue()