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 |
Member Function Documentation
◆ AssignScene()
|
overridevirtual |
Reimplemented from exotica::TaskMap.
◆ Initialize()
|
private |
◆ TaskSpaceDim()
|
overridevirtual |
Implements exotica::TaskMap.
◆ Update() [1/2]
|
overridevirtual |
Implements exotica::TaskMap.
◆ Update() [2/2]
|
overridevirtual |
Reimplemented from exotica::TaskMap.
Member Data Documentation
◆ dt_
|
private |
Timestep between subsequent time-steps (in s)
◆ limits_
|
private |
Joint velocity limits (absolute, in rads/s)
◆ N
|
private |
◆ tau_
|
private |
Joint velocity limits tolerance.
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
