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ORCA: Optimization-based framework for Robotic Control Applications
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#include <JointTorqueLimitConstraint.h>
Public Member Functions | |
JointTorqueLimitConstraint (const std::string &name) | |
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JointLimitConstraint (const std::string &name, optim::ControlVariable control_var) | |
virtual void | setLimits (const Eigen::VectorXd &min, const Eigen::VectorXd &max) |
Eigen::VectorXd & | minLimit () |
Eigen::VectorXd & | maxLimit () |
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GenericConstraint (const std::string &name, optim::ControlVariable control_var) | |
Construct the double bounded function, and set its default state : activated. The lowerBound is set to -inf and the upper bound to +inf C is set to Zero by default. More... | |
virtual | ~GenericConstraint () |
Destructor. Also removes from problem if still active/inserted. More... | |
virtual void | print () const |
math::Size | getSize () const |
Get the size of the constraint matrix (rows,cols) More... | |
int | rows () const |
Get the number of rows of the constraint matrix. More... | |
int | cols () const |
Get the number of column (it should be the size of the control variable chosen) of the constraint matrix. More... | |
virtual const Eigen::VectorXd & | getLowerBound () const |
Returns the lower bound from the constraint function (alias) More... | |
virtual const Eigen::VectorXd & | getUpperBound () const |
Returns the upperbound from the constraint function (alias) More... | |
virtual const Eigen::MatrixXd & | getConstraintMatrix () const |
Returns the constraint matrix from the constraint function (alias) More... | |
const math::ConstraintFunction & | getConstraintFunction () const |
Get the underlying constraint function containing the 2 bound vectors and the constraint matrix. More... | |
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TaskBase (const std::string &name, optim::ControlVariable control_var) | |
virtual | ~TaskBase () |
bool | isActivated () const |
bool | isComputing () const |
bool | setRobotModel (robot::RobotModel::Ptr robot) |
optim::ControlVariable | getControlVariable () const |
virtual bool | activate () |
virtual void | update (double current_time, double dt) |
virtual bool | deactivate () |
virtual bool | setProblem (std::shared_ptr< const orca::optim::Problem > problem) |
bool | hasProblem () const |
bool | hasRobot () const |
bool | dependsOnProblem () const |
bool | dependsOnWrench () const |
bool | dependsOnRobotJoints () const |
bool | dependsOnFloatingBase () const |
bool | hasWrench () const |
bool | isRobotInitialized () const |
State | getState () const |
void | setRampDuration (double ramp_time) |
double | getRampDuration () const |
double | getCurrentRampValue () const |
double | getStartTime () const |
double | getStopTime () const |
std::shared_ptr< const optim::Problem > | getProblem () const |
std::shared_ptr< const common::Wrench > | getWrench () const |
std::shared_ptr< const robot::RobotModel > | getRobot () const |
void | addChild (TaskBase::Ptr e) |
Add a child/slave task that will be updated BEFORE the parent task. More... | |
bool | hasParent () const |
Returns true if the task owned by a parent task. More... | |
bool | hasChildren () const |
Returns true if the task has children. More... | |
const std::string & | getParentName () const |
Returns the parent name if it exists, empty otherwise. More... | |
const std::string & | getPrintableName () const |
Returns the name that include parent name if present. More... | |
void | onResizedCallback (std::function< void(void)> cb) |
void | onActivationCallback (std::function< void(void)> cb) |
void | onActivatedCallback (std::function< void(void)> cb) |
void | onComputeBeginCallback (std::function< void(double, double)> cb) |
void | onComputeEndCallback (std::function< void(double, double)> cb) |
void | onDeactivationCallback (std::function< void(void)> cb) |
void | onDeactivatedCallback (std::function< void(void)> cb) |
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ConfigurableOrcaObject (const std::string &config_name) | |
virtual | ~ConfigurableOrcaObject () |
template<class T > | |
void | addParameter (const std::string ¶m_name, Parameter< T > *param, ParamPolicy policy=ParamPolicy::Required, std::function< void()> on_loading_success=0) |
Returns true if all params added with have been set. More... | |
template<class T > | |
void | addParameter (const std::string ¶m_name, T ¶m, ParamPolicy policy=ParamPolicy::Required, std::function< void()> on_loading_success=0) |
ParameterBase * | getParameter (const std::string ¶m_name) |
Returns a param via its name. More... | |
void | printParameters () const |
Print all parameters to std::cout. More... | |
bool | configureFromFile (const std::string &yaml_url) |
Configure the task from YAML/JSON file. It must contain all the required parameters. More... | |
bool | configureFromString (const std::string &yaml_str) |
Configure the task from YAML/JSON string. It must contain all the required parameters. More... | |
bool | isConfigured () const |
const ParamMap & | getParameters () const |
void | onConfigureSuccess (std::function< void()> f) |
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OrcaObject (const std::string &name) | |
virtual | ~OrcaObject () |
const std::string & | getName () const |
void | setName (const std::string &name) |
Additional Inherited Members | |
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using | Ptr = std::shared_ptr< GenericConstraint > |
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enum | State { Init = 0, Resized, Activating, Activated, Deactivating, Deactivated, Error } |
Represents the internal state of the task. More... | |
using | Ptr = std::shared_ptr< TaskBase > |
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using | Ptr = std::shared_ptr< ConfigurableOrcaObject > |
using | ParamMap = std::map< std::string, ParameterBase *> |
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orca::common::MutexRecursive | mutex |
The recursive mutex that is locked during the update function. It is up to the external user to lock this mutex to protect the task attributes. More... | |
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virtual void | onUpdateConstraintFunction (double current_time, double dt) |
virtual void | onResize () |
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virtual void | onCompute (double current_time, double dt) |
void | setConstraintMatrix (const Eigen::MatrixXd &newC) |
Replace the constraint matrix with a new one. More... | |
void | setLowerBound (const Eigen::VectorXd &low) |
Replace the lower bound with a new one. More... | |
void | setUpperBound (const Eigen::VectorXd &up) |
Replace the upper bound with a new one. More... | |
Eigen::MatrixXd & | constraintMatrix () |
Returns a reference to the constraint matrix from the constraint function (alias) More... | |
Eigen::VectorXd & | upperBound () |
Eigen::VectorXd & | lowerBound () |
math::ConstraintFunction & | constraintFunction () |
Get a reference the underlying constraint function containing the 2 bound vectors and the constraint matrix. More... | |
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virtual void | resize () |
robot::RobotModel::Ptr | robot () |
std::shared_ptr< Wrench > | wrench () |
virtual void | onResized () |
virtual void | onActivation () |
virtual void | onActivated () |
virtual bool | rampUp (double time_since_start) |
void | setRampValue (double new_val) |
virtual bool | rampDown (double time_since_stop) |
virtual void | onDeactivation () |
virtual void | onDeactivated () |
JointTorqueLimitConstraint::JointTorqueLimitConstraint | ( | const std::string & | name | ) |