exotica::JointVelocityLimit Class Reference

Joint Velocity Limit taskmap for time-indexed problems. Penalisations of joint velocity limit violation within a specified percentage of the velocity limit. More...

#include <joint_velocity_limit.h>

Inheritance diagram for exotica::JointVelocityLimit:

Collaboration diagram for exotica::JointVelocityLimit:

Public Member Functions
	JointVelocityLimit ()
virtual	~JointVelocityLimit ()
void	AssignScene (ScenePtr scene) override
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< TaskVectorEntry >	GetLieGroupIndices ()
std::vector< KinematicFrameRequest >	GetFrames () 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< Initializer >	GetAllTemplates () const =0
Public Member Functions inherited from exotica::Instantiable< JointVelocityLimitInitializer >
void	InstantiateInternal (const Initializer &init) override
Initializer	GetInitializerTemplate () override
std::vector< Initializer >	GetAllTemplates () const override
virtual void	Instantiate (const JointVelocityLimitInitializer &init)
const JointVelocityLimitInitializer &	GetParameters () const

Private Member Functions
void	Initialize ()

Private Attributes
double	dt_ = 0.1
	Timestep between subsequent time-steps (in s) More...
Eigen::VectorXd	limits_ = Eigen::VectorXd::Zero(1)
	Joint velocity limits (absolute, in rads/s) More...
Eigen::VectorXd	tau_ = Eigen::VectorXd::Zero(1)
	Joint velocity limits tolerance. More...
int	N

Additional Inherited Members
Public Attributes inherited from exotica::TaskMap
std::vector< KinematicSolution >	kinematics = 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< KinematicFrameRequest >	frames_
ScenePtr	scene_ = nullptr
Protected Attributes inherited from exotica::Instantiable< JointVelocityLimitInitializer >
JointVelocityLimitInitializer	parameters_

Detailed Description

Joint Velocity Limit taskmap for time-indexed problems. Penalisations of joint velocity limit violation within a specified percentage of the velocity limit.

Constructor & Destructor Documentation

JointVelocityLimit()

exotica::JointVelocityLimit::JointVelocityLimit

(

)

~JointVelocityLimit()

virtual exotica::JointVelocityLimit::~JointVelocityLimit ( )

virtual

Member Function Documentation

AssignScene()

void exotica::JointVelocityLimit::AssignScene ( ScenePtr  scene )

overridevirtual

Reimplemented from exotica::TaskMap.

Initialize()

void exotica::JointVelocityLimit::Initialize ( )

private

TaskSpaceDim()

int exotica::JointVelocityLimit::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Update() [1/2]

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

overridevirtual

Implements exotica::TaskMap.

Update() [2/2]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Member Data Documentation

dt_

double exotica::JointVelocityLimit::dt_ = 0.1

private

Timestep between subsequent time-steps (in s)

limits_

Eigen::VectorXd exotica::JointVelocityLimit::limits_ = Eigen::VectorXd::Zero(1)

private

Joint velocity limits (absolute, in rads/s)

N

int exotica::JointVelocityLimit::N

private

tau_

Eigen::VectorXd exotica::JointVelocityLimit::tau_ = Eigen::VectorXd::Zero(1)

private

Joint velocity limits tolerance.

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

• /tmp/exotica/exotations/exotica_core_task_maps/include/exotica_core_task_maps/joint_velocity_limit.h