iTaSC::Distance Class Reference

#include <Distance.hpp>

Inherits iTaSC::ConstraintSet.

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)
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_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 &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 bool	closeLoop ()
Protected Member Functions inherited from iTaSC::ConstraintSet
virtual void	modelUpdate (KDL::Frame &_external_pose, const Timestamp &timestamp)
virtual void	reset (unsigned int nc, double accuracy, unsigned int maximum_iterations)
virtual double	getMaxTimestep (double &timestep)

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
void *	m_constraintParam
void *	m_poseParam
bool	m_toggle
bool	m_substep
double	m_threshold
unsigned int	m_maxIter

Detailed Description

Definition at line 20 of file Distance.hpp.

Member Enumeration Documentation

ID

enum iTaSC::Distance::ID

Enumerator
ID_DISTANCE

Definition at line 32 of file Distance.hpp.

Constructor & Destructor Documentation

Distance()

iTaSC::Distance::Distance	(	double	armlength = 1.0,
		double	accuracy = 1e-6,
		unsigned int	maximum_iterations = 100 )

Definition at line 19 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.

~Distance()

iTaSC::Distance::~Distance ( )

virtual

Definition at line 52 of file Distance.cpp.

Member Function Documentation

closeLoop()

bool iTaSC::Distance::closeLoop ( )

protectedvirtual

Reimplemented from iTaSC::ConstraintSet.

Definition at line 107 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().

getControlParameters()

const ConstraintValues * iTaSC::Distance::getControlParameters ( unsigned int * _nvalues )

virtual

Implements iTaSC::ConstraintSet.

Definition at line 279 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.

initCache()

void iTaSC::Distance::initCache ( Cache * _cache )

protectedvirtual

Implements iTaSC::ConstraintSet.

Definition at line 116 of file Distance.cpp.

References iTaSC::Cache::addChannel(), and iTaSC::distanceCacheSize.

initialise()

bool iTaSC::Distance::initialise ( Frame & init_pose )

protectedvirtual

Reimplemented from iTaSC::ConstraintSet.

Definition at line 97 of file Distance.cpp.

References iTaSC::ConstraintSet::m_externalPose, and updateJacobian().

pushCache()

void iTaSC::Distance::pushCache ( const Timestamp & timestamp )

protectedvirtual

Implements iTaSC::ConstraintSet.

Definition at line 164 of file Distance.cpp.

References iTaSC::Timestamp::cache, iTaSC::Timestamp::cacheTimestamp, and iTaSC::Timestamp::substep.

Referenced by updateKinematics().

setControlParameters()

bool iTaSC::Distance::setControlParameters ( struct ConstraintValues * _values, unsigned int _nvalues, double timestep )

virtual

Implements iTaSC::ConstraintSet.

Definition at line 200 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, iTaSC::ConstraintSet::m_Wy, iTaSC::ConstraintValues::number, iTaSC::ConstraintValues::tolerance, iTaSC::ConstraintValues::values, iTaSC::ConstraintSingleValue::yd, and iTaSC::ConstraintSingleValue::yddot.

Referenced by updateControlOutput().

updateControlOutput()

void iTaSC::Distance::updateControlOutput ( const Timestamp & timestamp )

protectedvirtual

Implements iTaSC::ConstraintSet.

Definition at line 292 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.

updateJacobian()

void iTaSC::Distance::updateJacobian ( )

protectedvirtual

Implements iTaSC::ConstraintSet.

Definition at line 187 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().

updateKinematics()

void iTaSC::Distance::updateKinematics ( const Timestamp & timestamp )

protectedvirtual

Implements iTaSC::ConstraintSet.

Definition at line 170 of file Distance.cpp.

References KDL::epsilon, iTaSC::Timestamp::interpolate, pushCache(), iTaSC::Timestamp::realTimestep, and iTaSC::Timestamp::substep.

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

• Distance.hpp
• Distance.cpp