iTaSC::CopyPose Class Reference

#include <CopyPose.hpp>

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

Detailed Description

Definition at line 17 of file CopyPose.hpp.

Member Enumeration Documentation

CTL

enum iTaSC::CopyPose::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 40 of file CopyPose.hpp.

ID

enum iTaSC::CopyPose::ID

Enumerator
ID_POSITION
ID_POSITIONX
ID_POSITIONY
ID_POSITIONZ
ID_ROTATION
ID_ROTATIONX
ID_ROTATIONY
ID_ROTATIONZ

Definition at line 30 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 )

Definition at line 18 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, reset(), iTaSC::ConstraintValues::tolerance, and iTaSC::ConstraintValues::values.

~CopyPose()

iTaSC::CopyPose::~CopyPose ( )

virtual

Definition at line 113 of file CopyPose.cpp.

Member Function Documentation

getControlParameters()

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

virtual

Implements iTaSC::ConstraintSet.

Definition at line 454 of file CopyPose.cpp.

References CTL_POSITION, CTL_POSITIONX, CTL_ROTATION, CTL_ROTATIONX, KDL::diff(), iTaSC::F_identity, and iTaSC::ConstraintSet::m_internalPose.

getMaxTimestep()

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

protectedvirtual

Reimplemented from iTaSC::ConstraintSet.

Definition at line 469 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 130 of file CopyPose.cpp.

References iTaSC::Cache::addChannel().

initialise()

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

protectedvirtual

Reimplemented from iTaSC::ConstraintSet.

Definition at line 117 of file CopyPose.cpp.

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

modelUpdate()

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

protectedvirtual

Reimplemented from iTaSC::ConstraintSet.

Definition at line 124 of file CopyPose.cpp.

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

pushCache()

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

protectedvirtual

Implements iTaSC::ConstraintSet.

Definition at line 256 of file CopyPose.cpp.

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

Referenced by updateKinematics().

setControlParameters()

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

virtual

Implements iTaSC::ConstraintSet.

Definition at line 359 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().

updateControlOutput()

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

protectedvirtual

Implements iTaSC::ConstraintSet.

Definition at line 423 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(), and iTaSC::Timestamp::substep.

updateJacobian()

void iTaSC::CopyPose::updateJacobian ( )

protectedvirtual

Implements iTaSC::ConstraintSet.

Definition at line 274 of file CopyPose.cpp.

Referenced by initialise(), and modelUpdate().

updateKinematics()

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

protectedvirtual

Implements iTaSC::ConstraintSet.

Definition at line 263 of file CopyPose.cpp.

References CTL_POSITION, CTL_POSITIONX, CTL_ROTATION, CTL_ROTATIONX, iTaSC::Timestamp::interpolate, and pushCache().

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

• CopyPose.hpp
• CopyPose.cpp