Blender
V3.3
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#include <CopyPose.hpp>
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 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 void | modelUpdate (Frame &_external_pose, const Timestamp ×tamp) |
virtual double | getMaxTimestep (double ×tep) |
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virtual void | reset (unsigned int nc, double accuracy, unsigned int maximum_iterations) |
virtual bool | closeLoop () |
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 16 of file CopyPose.hpp.
enum iTaSC::CopyPose::CTL |
Enumerator | |
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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.
enum iTaSC::CopyPose::ID |
Enumerator | |
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ID_POSITION | |
ID_POSITIONX | |
ID_POSITIONY | |
ID_POSITIONZ | |
ID_ROTATION | |
ID_ROTATIONX | |
ID_ROTATIONY | |
ID_ROTATIONZ |
Definition at line 29 of file CopyPose.hpp.
iTaSC::CopyPose::CopyPose | ( | unsigned int | control_output = CTL_ALL , |
unsigned int | dynamic_output = CTL_NONE , |
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double | armlength = 1.0 , |
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double | accuracy = 1e-6 , |
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unsigned int | maximum_iterations = 100 |
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) |
Definition at line 17 of file CopyPose.cpp.
References iTaSC::ConstraintValues::alpha, CTL_ALL, CTL_POSITION, CTL_POSITIONX, CTL_POSITIONY, CTL_POSITIONZ, CTL_ROTATION, CTL_ROTATIONX, CTL_ROTATIONY, CTL_ROTATIONZ, e_identity_matrix, iTaSC::ConstraintValues::feedback, iTaSC::ConstraintSingleValue::id, iTaSC::ConstraintValues::id, ID_POSITION, ID_POSITIONX, ID_POSITIONY, ID_POSITIONZ, ID_ROTATION, ID_ROTATIONX, ID_ROTATIONY, ID_ROTATIONZ, iTaSC::ConstraintSet::m_Cf, iTaSC::ConstraintSet::m_Jf, iTaSC::ConstraintSet::m_nc, iTaSC::ConstraintSet::m_Wy, iTaSC::ConstraintValues::number, iTaSC::ConstraintSet::reset(), iTaSC::ConstraintValues::tolerance, and iTaSC::ConstraintValues::values.
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virtual |
Definition at line 112 of file CopyPose.cpp.
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virtual |
Implements iTaSC::ConstraintSet.
Definition at line 453 of file CopyPose.cpp.
References CTL_POSITION, CTL_POSITIONX, CTL_ROTATION, CTL_ROTATIONX, KDL::diff(), iTaSC::F_identity, iTaSC::ConstraintSet::m_internalPose, and y.
Reimplemented from iTaSC::ConstraintSet.
Definition at line 468 of file CopyPose.cpp.
References e_scalar, iTaSC::ConstraintSet::m_chidot, and iTaSC::ConstraintSet::m_maxDeltaChi.
Implements iTaSC::ConstraintSet.
Definition at line 129 of file CopyPose.cpp.
References iTaSC::Cache::addChannel().
Reimplemented from iTaSC::ConstraintSet.
Definition at line 116 of file CopyPose.cpp.
References iTaSC::ConstraintSet::m_externalPose, iTaSC::ConstraintSet::m_internalPose, and updateJacobian().
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protectedvirtual |
Reimplemented from iTaSC::ConstraintSet.
Definition at line 123 of file CopyPose.cpp.
References iTaSC::ConstraintSet::m_externalPose, iTaSC::ConstraintSet::m_internalPose, and updateJacobian().
Implements iTaSC::ConstraintSet.
Definition at line 255 of file CopyPose.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 358 of file CopyPose.cpp.
References CTL_POSITION, CTL_POSITIONX, CTL_ROTATION, CTL_ROTATIONX, iTaSC::ConstraintValues::id, ID_POSITION, ID_POSITIONZ, ID_ROTATION, and ID_ROTATIONZ.
Referenced by updateControlOutput().
Implements iTaSC::ConstraintSet.
Definition at line 422 of file CopyPose.cpp.
References iTaSC::Timestamp::cacheTimestamp, CTL_POSITION, CTL_POSITIONX, CTL_ROTATION, CTL_ROTATIONX, KDL::diff(), iTaSC::F_identity, iTaSC::Timestamp::interpolate, iTaSC::ConstraintSet::m_constraintCallback, iTaSC::ConstraintSet::m_constraintParam, iTaSC::ConstraintSet::m_internalPose, iTaSC::ConstraintSet::m_substep, iTaSC::Timestamp::realTimestep, iTaSC::Timestamp::reiterate, setControlParameters(), iTaSC::Timestamp::substep, and y.
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protectedvirtual |
Implements iTaSC::ConstraintSet.
Definition at line 273 of file CopyPose.cpp.
Referenced by initialise(), and modelUpdate().
Implements iTaSC::ConstraintSet.
Definition at line 262 of file CopyPose.cpp.
References CTL_POSITION, CTL_POSITIONX, CTL_ROTATION, CTL_ROTATIONX, iTaSC::Timestamp::interpolate, and pushCache().