VirtualRobot::Constraint Class Reference

Inheritance diagram for VirtualRobot::Constraint:

Public Member Functions
	Constraint (const RobotNodeSetPtr &nodeSet)
void	initialize ()
virtual bool	getRobotPoseForConstraint (Eigen::Matrix4f &pose)
float	getErrorDifference ()
const std::vector< OptimizationFunctionSetup > &	getEqualityConstraints ()
const std::vector< OptimizationFunctionSetup > &	getInequalityConstraints ()
const std::vector< OptimizationFunctionSetup > &	getOptimizationFunctions ()
void	setOptimizationFunctionFactor (float factor)
float	getOptimizationFunctionFactor ()
virtual double	optimizationFunction (unsigned int id)
virtual Eigen::VectorXf	optimizationGradient (unsigned int id)
Eigen::MatrixXf	getJacobianMatrix () override
Eigen::MatrixXf	getJacobianMatrix (SceneObjectPtr tcp) override
Eigen::VectorXf	getError (float stepSize=1.0f) override
bool	checkTolerances () override
virtual bool	usingCollisionModel ()
Public Member Functions inherited from VirtualRobot::JacobiProvider
	JacobiProvider (RobotNodeSetPtr rns, InverseJacobiMethod invJacMethod=eSVD)
virtual	~JacobiProvider ()
virtual Eigen::MatrixXd	getJacobianMatrixD ()
virtual Eigen::MatrixXd	getJacobianMatrixD (SceneObjectPtr tcp)
virtual Eigen::MatrixXf	computePseudoInverseJacobianMatrix (const Eigen::MatrixXf &m, const Eigen::VectorXf regularization=Eigen::VectorXf()) const
virtual Eigen::MatrixXd	computePseudoInverseJacobianMatrixD (const Eigen::MatrixXd &m, const Eigen::VectorXd regularization=Eigen::VectorXd()) const
virtual Eigen::MatrixXf	computePseudoInverseJacobianMatrix (const Eigen::MatrixXf &m, float invParameter, const Eigen::VectorXf regularization=Eigen::VectorXf()) const
virtual Eigen::MatrixXd	computePseudoInverseJacobianMatrixD (const Eigen::MatrixXd &m, double invParameter, const Eigen::VectorXd regularization=Eigen::VectorXd()) const
virtual void	updatePseudoInverseJacobianMatrix (Eigen::MatrixXf &invJac, const Eigen::MatrixXf &m, float invParameter=0.0f, Eigen::VectorXf regularization=Eigen::VectorXf()) const
virtual void	updatePseudoInverseJacobianMatrixD (Eigen::MatrixXd &invJac, const Eigen::MatrixXd &m, double invParameter=0.0, Eigen::VectorXd regularization=Eigen::VectorXd()) const
virtual Eigen::MatrixXf	getPseudoInverseJacobianMatrix (const Eigen::VectorXf regularization=Eigen::VectorXf())
virtual Eigen::MatrixXd	getPseudoInverseJacobianMatrixD (const Eigen::VectorXd regularization=Eigen::VectorXd())
virtual Eigen::MatrixXf	getPseudoInverseJacobianMatrix (SceneObjectPtr tcp, const Eigen::VectorXf regularization=Eigen::VectorXf())
virtual Eigen::MatrixXd	getPseudoInverseJacobianMatrixD (SceneObjectPtr tcp, const Eigen::VectorXd regularization=Eigen::VectorXd())
virtual Eigen::VectorXf	getJacobiRegularization (IKSolver::CartesianSelection mode=IKSolver::All)
VirtualRobot::RobotNodeSetPtr	getRobotNodeSet ()
bool	isInitialized ()
void	setJointWeights (const Eigen::VectorXf &jointWeights)
virtual void	print ()
	print Print current status of the IK solver More...
float	getDampedSvdLambda () const
void	setDampedSvdLambda (float value)
float	getJacobiMMRegularization () const
void	setJacobiMMRegularization (float value)
float	getJacobiRadianRegularization () const
void	setJacobiRadianRegularization (float value)

Protected Member Functions
void	addEqualityConstraint (unsigned int id, bool soft=false)
void	addInequalityConstraint (unsigned int id, bool soft=false)
void	addOptimizationFunction (unsigned int id, bool soft=false)
Protected Member Functions inherited from VirtualRobot::JacobiProvider
virtual void	updatePseudoInverseJacobianMatrixInternal (Eigen::MatrixXf &invJac, const Eigen::MatrixXf &m, float invParameter=0.0f) const
virtual void	updatePseudoInverseJacobianMatrixDInternal (Eigen::MatrixXd &invJac, const Eigen::MatrixXd &m, double invParameter=0.0) const

Protected Attributes
std::vector< OptimizationFunctionSetup >	equalityConstraints
std::vector< OptimizationFunctionSetup >	inequalityConstraints
std::vector< OptimizationFunctionSetup >	optimizationFunctions
float	lastError
float	lastLastError
float	optimizationFunctionFactor
Protected Attributes inherited from VirtualRobot::JacobiProvider
std::string	name
RobotNodeSetPtr	rns
InverseJacobiMethod	inverseMethod
bool	initialized
Eigen::VectorXf	jointWeights
float	dampedSvdLambda
float	jacobiMMRegularization
float	jacobiRadianRegularization

Additional Inherited Members
Public Types inherited from VirtualRobot::JacobiProvider
enum	InverseJacobiMethod { eSVD, eSVDDamped, eSVDDampedDynamic, eTranspose }
	Several methods are offered for inverting the Jacobi (i.e. building the Pseudoinverse) More...

Constructor & Destructor Documentation

Constraint()

Constraint::Constraint

(

const RobotNodeSetPtr &

nodeSet

)

Member Function Documentation

addEqualityConstraint()

void Constraint::addEqualityConstraint ( unsigned int  id, bool  soft = false  )

protected

addInequalityConstraint()

void Constraint::addInequalityConstraint ( unsigned int  id, bool  soft = false  )

protected

addOptimizationFunction()

void Constraint::addOptimizationFunction ( unsigned int  id, bool  soft = false  )

protected

checkTolerances()

bool Constraint::checkTolerances ( )

overridevirtual

Implements VirtualRobot::JacobiProvider.

getEqualityConstraints()

const std::vector< OptimizationFunctionSetup > & Constraint::getEqualityConstraints

(

)

getError()

Eigen::VectorXf Constraint::getError ( float  stepSize = 1.0f )

overridevirtual

The error vector. the value depends on the implementation.

Implements VirtualRobot::JacobiProvider.

getErrorDifference()

float Constraint::getErrorDifference

(

)

getInequalityConstraints()

const std::vector< OptimizationFunctionSetup > & Constraint::getInequalityConstraints

(

)

getJacobianMatrix() [1/2]

Eigen::MatrixXf Constraint::getJacobianMatrix ( )

overridevirtual

Implements VirtualRobot::JacobiProvider.

getJacobianMatrix() [2/2]

Eigen::MatrixXf Constraint::getJacobianMatrix ( SceneObjectPtr  tcp )

overridevirtual

Implements VirtualRobot::JacobiProvider.

getOptimizationFunctionFactor()

float Constraint::getOptimizationFunctionFactor

(

)

getOptimizationFunctions()

const std::vector< OptimizationFunctionSetup > & Constraint::getOptimizationFunctions

(

)

getRobotPoseForConstraint()

bool Constraint::getRobotPoseForConstraint ( Eigen::Matrix4f &  pose )

virtual

initialize()

void Constraint::initialize

(

)

optimizationFunction()

double Constraint::optimizationFunction ( unsigned int  id )

virtual

optimizationGradient()

Eigen::VectorXf Constraint::optimizationGradient ( unsigned int  id )

virtual

setOptimizationFunctionFactor()

void Constraint::setOptimizationFunctionFactor

(

float

factor

)

Each constraint implements its own optimization function that contributes to a combined optimization function of a constrained IK problem.

The individual optimization function value of a constraint is multiplied by the given factor in order to weigh the contribution of the individual constraint.

The default value of this factor is 1.

usingCollisionModel()

bool Constraint::usingCollisionModel ( )

virtual

Field Documentation

equalityConstraints

std::vector<OptimizationFunctionSetup> VirtualRobot::Constraint::equalityConstraints

protected

inequalityConstraints

std::vector<OptimizationFunctionSetup> VirtualRobot::Constraint::inequalityConstraints

protected

lastError

float VirtualRobot::Constraint::lastError

protected

lastLastError

float VirtualRobot::Constraint::lastLastError

protected

optimizationFunctionFactor

float VirtualRobot::Constraint::optimizationFunctionFactor

protected

optimizationFunctions

std::vector<OptimizationFunctionSetup> VirtualRobot::Constraint::optimizationFunctions

protected