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ORCA: Optimization-based framework for Robotic Control Applications
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ORCA: Optimization-based framework for Robotic Control Applications
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#include <JointAccelerationLimitConstraint.h>
Inheritance diagram for orca::constraint::JointAccelerationLimitConstraint: Collaboration diagram for orca::constraint::JointAccelerationLimitConstraint:Public Member Functions | |
| JointAccelerationLimitConstraint (const std::string &name) | |
| Public Member Functions inherited from orca::constraint::JointLimitConstraint | |
| 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 () |
| Public Member Functions inherited from orca::constraint::GenericConstraint | |
| 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... | |
| Public Member Functions inherited from orca::common::TaskBase | |
| 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) |
| Public Member Functions inherited from orca::common::ConfigurableOrcaObject | |
| 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) |
| Public Member Functions inherited from orca::common::OrcaObject | |
| OrcaObject (const std::string &name) | |
| virtual | ~OrcaObject () |
| const std::string & | getName () const |
| void | setName (const std::string &name) |
Additional Inherited Members | |
| Public Types inherited from orca::constraint::GenericConstraint | |
| using | Ptr = std::shared_ptr< GenericConstraint > |
| Public Types inherited from orca::common::TaskBase | |
| enum | State { Init = 0, Resized, Activating, Activated, Deactivating, Deactivated, Error } |
| Represents the internal state of the task. More... | |
| using | Ptr = std::shared_ptr< TaskBase > |
| Public Types inherited from orca::common::ConfigurableOrcaObject | |
| using | Ptr = std::shared_ptr< ConfigurableOrcaObject > |
| using | ParamMap = std::map< std::string, ParameterBase * > |
| Public Attributes inherited from orca::common::TaskBase | |
| 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... | |
| Protected Member Functions inherited from orca::constraint::JointLimitConstraint | |
| virtual void | onUpdateConstraintFunction (double current_time, double dt) |
| virtual void | onResize () |
| Protected Member Functions inherited from orca::constraint::GenericConstraint | |
| 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... | |
| Protected Member Functions inherited from orca::common::TaskBase | |
| 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 () |
| orca::constraint::JointAccelerationLimitConstraint::JointAccelerationLimitConstraint | ( | const std::string & | name | ) |
1.8.11
