Blender  V3.3
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iTaSC::CopyPose Class Reference

#include <CopyPose.hpp>

Inheritance diagram for iTaSC::CopyPose:
iTaSC::ConstraintSet

Public Types

enum  ID {
  ID_POSITION =0 , ID_POSITIONX =1 , ID_POSITIONY =2 , ID_POSITIONZ =3 ,
  ID_ROTATION =4 , ID_ROTATIONX =5 , ID_ROTATIONY =6 , ID_ROTATIONZ =7
}
 
enum  CTL {
  CTL_NONE =0x00 , CTL_POSITIONX =0x01 , CTL_POSITIONY =0x02 , CTL_POSITIONZ =0x04 ,
  CTL_POSITION =0x07 , CTL_ROTATIONX =0x08 , CTL_ROTATIONY =0x10 , CTL_ROTATIONZ =0x20 ,
  CTL_ROTATION =0x38 , CTL_ALL =0x3F
}
 

Public Member Functions

 CopyPose (unsigned int control_output=CTL_ALL, unsigned int dynamic_output=CTL_NONE, double armlength=1.0, double accuracy=1e-6, unsigned int maximum_iterations=100)
 
virtual ~CopyPose ()
 
virtual bool setControlParameters (struct ConstraintValues *_values, unsigned int _nvalues, double timestep)
 
virtual const ConstraintValuesgetControlParameters (unsigned int *_nvalues)
 
- Public Member Functions inherited from iTaSC::ConstraintSet
 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_vectorgetControlOutput () const
 
bool setControlParameter (int id, ConstraintAction action, double value, double timestep=0.0)
 
virtual const e_matrix6getJf () const
 
virtual const KDL::FramegetPose () const
 
virtual const e_matrixgetCf () const
 
virtual const e_vectorgetWy () 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 &timestamp)
 
virtual void pushCache (const Timestamp &timestamp)
 
virtual void updateJacobian ()
 
virtual bool initialise (Frame &init_pose)
 
virtual void initCache (Cache *_cache)
 
virtual void updateControlOutput (const Timestamp &timestamp)
 
virtual void modelUpdate (Frame &_external_pose, const Timestamp &timestamp)
 
virtual double getMaxTimestep (double &timestep)
 
- Protected Member Functions inherited from iTaSC::ConstraintSet
virtual void reset (unsigned int nc, double accuracy, unsigned int maximum_iterations)
 
virtual bool closeLoop ()
 

Additional Inherited Members

- Protected Attributes inherited from iTaSC::ConstraintSet
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
 
voidm_constraintParam
 
voidm_poseParam
 
bool m_toggle
 
bool m_substep
 
double m_threshold
 
unsigned int m_maxIter
 

Detailed Description

Definition at line 16 of file CopyPose.hpp.

Member Enumeration Documentation

◆ CTL

Enumerator
CTL_NONE 
CTL_POSITIONX 
CTL_POSITIONY 
CTL_POSITIONZ 
CTL_POSITION 
CTL_ROTATIONX 
CTL_ROTATIONY 
CTL_ROTATIONZ 
CTL_ROTATION 
CTL_ALL 

Definition at line 39 of file CopyPose.hpp.

◆ ID

Enumerator
ID_POSITION 
ID_POSITIONX 
ID_POSITIONY 
ID_POSITIONZ 
ID_ROTATION 
ID_ROTATIONX 
ID_ROTATIONY 
ID_ROTATIONZ 

Definition at line 29 of file CopyPose.hpp.

Constructor & Destructor Documentation

◆ CopyPose()

iTaSC::CopyPose::CopyPose ( unsigned int  control_output = CTL_ALL,
unsigned int  dynamic_output = CTL_NONE,
double  armlength = 1.0,
double  accuracy = 1e-6,
unsigned int  maximum_iterations = 100 
)

◆ ~CopyPose()

iTaSC::CopyPose::~CopyPose ( )
virtual

Definition at line 112 of file CopyPose.cpp.

Member Function Documentation

◆ getControlParameters()

const ConstraintValues * iTaSC::CopyPose::getControlParameters ( unsigned int *  _nvalues)
virtual

◆ getMaxTimestep()

double iTaSC::CopyPose::getMaxTimestep ( double timestep)
protectedvirtual

Reimplemented from iTaSC::ConstraintSet.

Definition at line 468 of file CopyPose.cpp.

References e_scalar, iTaSC::ConstraintSet::m_chidot, and iTaSC::ConstraintSet::m_maxDeltaChi.

◆ initCache()

void iTaSC::CopyPose::initCache ( Cache _cache)
protectedvirtual

Implements iTaSC::ConstraintSet.

Definition at line 129 of file CopyPose.cpp.

References iTaSC::Cache::addChannel().

◆ initialise()

bool iTaSC::CopyPose::initialise ( Frame init_pose)
protectedvirtual

◆ modelUpdate()

void iTaSC::CopyPose::modelUpdate ( Frame _external_pose,
const Timestamp timestamp 
)
protectedvirtual

◆ pushCache()

void iTaSC::CopyPose::pushCache ( const Timestamp timestamp)
protectedvirtual

◆ setControlParameters()

bool iTaSC::CopyPose::setControlParameters ( struct ConstraintValues _values,
unsigned int  _nvalues,
double  timestep 
)
virtual

◆ updateControlOutput()

void iTaSC::CopyPose::updateControlOutput ( const Timestamp timestamp)
protectedvirtual

◆ updateJacobian()

void iTaSC::CopyPose::updateJacobian ( )
protectedvirtual

Implements iTaSC::ConstraintSet.

Definition at line 273 of file CopyPose.cpp.

Referenced by initialise(), and modelUpdate().

◆ updateKinematics()

void iTaSC::CopyPose::updateKinematics ( const Timestamp timestamp)
protectedvirtual

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