Blender
V3.3
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#include <Distance.hpp>
Public Types | |
enum | ID { ID_DISTANCE =1 } |
Public Member Functions | |
Distance (double armlength=1.0, double accuracy=1e-6, unsigned int maximum_iterations=100) | |
virtual | ~Distance () |
virtual bool | setControlParameters (struct ConstraintValues *_values, unsigned int _nvalues, double timestep) |
virtual const ConstraintValues * | getControlParameters (unsigned int *_nvalues) |
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ConstraintSet (unsigned int nc, double accuracy, unsigned int maximum_iterations) | |
ConstraintSet () | |
virtual | ~ConstraintSet () |
virtual EIGEN_MAKE_ALIGNED_OPERATOR_NEW bool | registerCallback (ConstraintCallback _function, void *_param) |
virtual const e_vector & | getControlOutput () const |
bool | setControlParameter (int id, ConstraintAction action, double value, double timestep=0.0) |
virtual const e_matrix6 & | getJf () const |
virtual const KDL::Frame & | getPose () const |
virtual const e_matrix & | getCf () const |
virtual const e_vector & | getWy () const |
virtual void | setWy (const e_vector &Wy_in) |
virtual void | setJointVelocity (const e_vector chidot_in) |
virtual unsigned int | getNrOfConstraints () |
void | substep (bool _substep) |
bool | substep () |
Protected Member Functions | |
virtual void | updateKinematics (const Timestamp ×tamp) |
virtual void | pushCache (const Timestamp ×tamp) |
virtual void | updateJacobian () |
virtual bool | initialise (Frame &init_pose) |
virtual void | initCache (Cache *_cache) |
virtual void | updateControlOutput (const Timestamp ×tamp) |
virtual bool | closeLoop () |
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virtual void | modelUpdate (KDL::Frame &_external_pose, const Timestamp ×tamp) |
virtual void | reset (unsigned int nc, double accuracy, unsigned int maximum_iterations) |
virtual double | getMaxTimestep (double ×tep) |
Additional Inherited Members | |
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unsigned int | m_nc |
e_scalar | m_maxDeltaChi |
e_matrix | m_Cf |
e_vector | m_Wy |
e_vector | m_y |
e_vector | m_ydot |
e_vector6 | m_chi |
e_vector6 | m_chidot |
e_vector6 | m_S |
e_vector6 | m_temp |
e_vector6 | m_tdelta |
e_matrix6 | m_Jf |
e_matrix6 | m_U |
e_matrix6 | m_V |
e_matrix6 | m_B |
e_matrix6 | m_Jf_inv |
KDL::Frame | m_internalPose |
KDL::Frame | m_externalPose |
ConstraintCallback | m_constraintCallback |
void * | m_constraintParam |
void * | m_poseParam |
bool | m_toggle |
bool | m_substep |
double | m_threshold |
unsigned int | m_maxIter |
Definition at line 19 of file Distance.hpp.
enum iTaSC::Distance::ID |
Enumerator | |
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ID_DISTANCE |
Definition at line 31 of file Distance.hpp.
iTaSC::Distance::Distance | ( | double | armlength = 1.0 , |
double | accuracy = 1e-6 , |
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unsigned int | maximum_iterations = 100 |
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Definition at line 18 of file Distance.cpp.
References KDL::Chain::addSegment(), iTaSC::ConstraintValues::alpha, KDL::epsilon, iTaSC::ConstraintValues::feedback, iTaSC::ConstraintSingleValue::id, iTaSC::ConstraintValues::id, ID_DISTANCE, iTaSC::ConstraintSet::m_Cf, iTaSC::ConstraintSet::m_Wy, iTaSC::ConstraintValues::number, KDL::Joint::RotX, KDL::Joint::RotY, KDL::Joint::RotZ, iTaSC::ConstraintValues::tolerance, KDL::Joint::TransY, and iTaSC::ConstraintValues::values.
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virtual |
Definition at line 51 of file Distance.cpp.
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protectedvirtual |
Reimplemented from iTaSC::ConstraintSet.
Definition at line 106 of file Distance.cpp.
References KDL::Equal(), iTaSC::F_identity, KDL::Frame::Inverse(), iTaSC::ConstraintSet::m_externalPose, iTaSC::ConstraintSet::m_internalPose, iTaSC::ConstraintSet::m_threshold, and updateJacobian().
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virtual |
Implements iTaSC::ConstraintSet.
Definition at line 278 of file Distance.cpp.
References iTaSC::ConstraintSingleValue::action, iTaSC::ConstraintValues::action, iTaSC::ConstraintSet::m_chi, iTaSC::ConstraintSet::m_ydot, iTaSC::ConstraintSingleValue::y, iTaSC::ConstraintSingleValue::yd, iTaSC::ConstraintSingleValue::yddot, and iTaSC::ConstraintSingleValue::ydot.
Implements iTaSC::ConstraintSet.
Definition at line 115 of file Distance.cpp.
References iTaSC::Cache::addChannel(), and iTaSC::distanceCacheSize.
Reimplemented from iTaSC::ConstraintSet.
Definition at line 96 of file Distance.cpp.
References iTaSC::ConstraintSet::m_externalPose, and updateJacobian().
Implements iTaSC::ConstraintSet.
Definition at line 163 of file Distance.cpp.
References iTaSC::Timestamp::cache, iTaSC::Timestamp::cacheTimestamp, and iTaSC::Timestamp::substep.
Referenced by updateKinematics().
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virtual |
Implements iTaSC::ConstraintSet.
Definition at line 199 of file Distance.cpp.
References iTaSC::ACT_ALPHA, iTaSC::ACT_FEEDBACK, iTaSC::ACT_TOLERANCE, iTaSC::ACT_VALUE, iTaSC::ACT_VELOCITY, iTaSC::ConstraintSingleValue::action, iTaSC::ConstraintValues::action, iTaSC::ConstraintValues::alpha, KDL::epsilon, iTaSC::ConstraintValues::feedback, iTaSC::ConstraintSingleValue::id, iTaSC::ConstraintValues::id, ID_DISTANCE, if(), iTaSC::ConstraintSet::m_Wy, iTaSC::ConstraintValues::tolerance, iTaSC::ConstraintValues::values, iTaSC::ConstraintSingleValue::yd, and iTaSC::ConstraintSingleValue::yddot.
Referenced by updateControlOutput().
Implements iTaSC::ConstraintSet.
Definition at line 291 of file Distance.cpp.
References iTaSC::ConstraintSingleValue::action, iTaSC::ConstraintValues::action, iTaSC::Timestamp::cacheTimestamp, error(), iTaSC::Timestamp::interpolate, iTaSC::ConstraintSet::m_chi, iTaSC::ConstraintSet::m_constraintCallback, iTaSC::ConstraintSet::m_constraintParam, iTaSC::ConstraintSet::m_substep, iTaSC::ConstraintSet::m_ydot, KDL::Norm(), iTaSC::Timestamp::realTimestep, iTaSC::Timestamp::reiterate, setControlParameters(), KDL::sign(), iTaSC::Timestamp::substep, iTaSC::ConstraintSingleValue::y, iTaSC::ConstraintSingleValue::yd, iTaSC::ConstraintSingleValue::yddot, and iTaSC::ConstraintSingleValue::ydot.
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protectedvirtual |
Implements iTaSC::ConstraintSet.
Definition at line 186 of file Distance.cpp.
References KDL::changeRefPoint(), KDL::ChainFkSolverPos_recursive::JntToCart(), KDL::ChainJntToJacSolver::JntToJac(), iTaSC::ConstraintSet::m_chi, iTaSC::ConstraintSet::m_internalPose, iTaSC::ConstraintSet::m_Jf, and KDL::Frame::p.
Referenced by closeLoop(), and initialise().
Implements iTaSC::ConstraintSet.
Definition at line 169 of file Distance.cpp.
References KDL::epsilon, iTaSC::Timestamp::interpolate, pushCache(), iTaSC::Timestamp::realTimestep, and iTaSC::Timestamp::substep.