Exotica
Public Member Functions | Private Attributes | List of all members
exotica::JointJerkBackwardDifference Class Reference

Time-derivative estimation by backward differencing. JointJerkBackwardDifference uses backward differencing to estimate the third time derivative of the joint state. More...

#include <joint_jerk_backward_difference.h>

Inheritance diagram for exotica::JointJerkBackwardDifference:
Inheritance graph
Collaboration diagram for exotica::JointJerkBackwardDifference:
Collaboration graph

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW void AssignScene (ScenePtr scene) override
 
void SetPreviousJointState (Eigen::VectorXdRefConst joint_state)
 Logs previous joint state. SetPreviousJointState must be called after solve is called in a Python/C++ script is called to ensure the time-derivatives are appropriately approximated. Each previous joint state is pushed back by collumn and the given joint_state is placed in q_.col(0). Finally, we compute the new qbd_. More...
 
void Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
 
void Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override
 
int TaskSpaceDim () override
 
- Public Member Functions inherited from exotica::TaskMap
virtual void InstantiateBase (const Initializer &init)
 
virtual void Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian)
 
virtual void Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi)
 
virtual void Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du)
 
virtual void Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du, HessianRef ddphi_ddx, HessianRef ddphi_ddu, HessianRef ddphi_dxdu)
 
virtual int TaskSpaceJacobianDim ()
 
virtual void PreUpdate ()
 
virtual std::vector< TaskVectorEntryGetLieGroupIndices ()
 
std::vector< KinematicFrameRequestGetFrames () const
 
- Public Member Functions inherited from exotica::Object
 Object ()
 
virtual ~Object ()
 
virtual std::string type () const
 Type Information wrapper: must be virtual so that it is polymorphic... More...
 
std::string GetObjectName ()
 
void InstantiateObject (const Initializer &init)
 
virtual std::string Print (const std::string &prepend) const
 
- Public Member Functions inherited from exotica::InstantiableBase
 InstantiableBase ()=default
 
virtual ~InstantiableBase ()=default
 
virtual std::vector< InitializerGetAllTemplates () const =0
 
- Public Member Functions inherited from exotica::Instantiable< JointJerkBackwardDifferenceInitializer >
void InstantiateInternal (const Initializer &init) override
 
Initializer GetInitializerTemplate () override
 
std::vector< InitializerGetAllTemplates () const override
 
virtual void Instantiate (const JointJerkBackwardDifferenceInitializer &init)
 
const JointJerkBackwardDifferenceInitializer & GetParameters () const
 

Private Attributes

int N_
 Number of dofs for robot. More...
 
Eigen::Vector3d backward_difference_params_
 Binomial cooeficient parameters. More...
 
Eigen::MatrixXd q_
 Log of previous three joint states. More...
 
Eigen::VectorXd qbd_
 x+qbd_ is a simplifed estimate of the third time derivative. More...
 
Eigen::MatrixXd I_
 Identity matrix. More...
 

Additional Inherited Members

- Public Attributes inherited from exotica::TaskMap
std::vector< KinematicSolutionkinematics = std::vector<KinematicSolution>(1)
 
int id = -1
 
int start = -1
 
int length = -1
 
int start_jacobian = -1
 
int length_jacobian = -1
 
bool is_used = false
 
- Public Attributes inherited from exotica::Object
std::string ns_
 
std::string object_name_
 
bool debug_
 
- Protected Attributes inherited from exotica::TaskMap
std::vector< KinematicFrameRequestframes_
 
ScenePtr scene_ = nullptr
 
- Protected Attributes inherited from exotica::Instantiable< JointJerkBackwardDifferenceInitializer >
JointJerkBackwardDifferenceInitializer parameters_
 

Detailed Description

Time-derivative estimation by backward differencing. JointJerkBackwardDifference uses backward differencing to estimate the third time derivative of the joint state.

For more information see: http://mathworld.wolfram.com/BackwardDifference.html

Here, x+qbd_ represents the simplified estimate of the third time derivative.

Member Function Documentation

◆ AssignScene()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW void exotica::JointJerkBackwardDifference::AssignScene ( ScenePtr  scene)
overridevirtual

Reimplemented from exotica::TaskMap.

◆ SetPreviousJointState()

void exotica::JointJerkBackwardDifference::SetPreviousJointState ( Eigen::VectorXdRefConst  joint_state)

Logs previous joint state. SetPreviousJointState must be called after solve is called in a Python/C++ script is called to ensure the time-derivatives are appropriately approximated. Each previous joint state is pushed back by collumn and the given joint_state is placed in q_.col(0). Finally, we compute the new qbd_.

◆ TaskSpaceDim()

int exotica::JointJerkBackwardDifference::TaskSpaceDim ( )
overridevirtual

Implements exotica::TaskMap.

◆ Update() [1/2]

void exotica::JointJerkBackwardDifference::Update ( Eigen::VectorXdRefConst  x,
Eigen::VectorXdRef  phi 
)
overridevirtual

Implements exotica::TaskMap.

◆ Update() [2/2]

void exotica::JointJerkBackwardDifference::Update ( Eigen::VectorXdRefConst  x,
Eigen::VectorXdRef  phi,
Eigen::MatrixXdRef  jacobian 
)
overridevirtual

Reimplemented from exotica::TaskMap.

Member Data Documentation

◆ backward_difference_params_

Eigen::Vector3d exotica::JointJerkBackwardDifference::backward_difference_params_
private

Binomial cooeficient parameters.

◆ I_

Eigen::MatrixXd exotica::JointJerkBackwardDifference::I_
private

Identity matrix.

◆ N_

int exotica::JointJerkBackwardDifference::N_
private

Number of dofs for robot.

◆ q_

Eigen::MatrixXd exotica::JointJerkBackwardDifference::q_
private

Log of previous three joint states.

◆ qbd_

Eigen::VectorXd exotica::JointJerkBackwardDifference::qbd_
private

x+qbd_ is a simplifed estimate of the third time derivative.


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