aikido::constraint::Differentiable Class Reference

A differentiable constraint. More...

#include <aikido/constraint/Differentiable.hpp>

Inheritance diagram for aikido::constraint::Differentiable:

Public Member Functions
virtual	~Differentiable ()=default
	Destructor. More...
virtual statespace::ConstStateSpacePtr	getStateSpace () const =0
	Gets the StateSpace that this constraint operates on. More...
virtual std::vector< ConstraintType >	getConstraintTypes () const =0
	Returns a vector of constraints' types, i-th element correspoinding to the type of i-th constraint. More...
virtual std::size_t	getConstraintDimension () const =0
	Size of constraints. More...
virtual void	getValue (const statespace::StateSpace::State *_s, Eigen::VectorXd &_out) const =0
	Get the value of constraints at _s. More...
virtual void	getJacobian (const statespace::StateSpace::State *_s, Eigen::MatrixXd &_out) const =0
	Get the jacobian of constraints evaluated at _s, expressed in the frame each state space is expressed in). More...
virtual void	getValueAndJacobian (const statespace::StateSpace::State *_s, Eigen::VectorXd &_val, Eigen::MatrixXd &_jac) const
	Get both Value and Jacobian. More...

Detailed Description

A differentiable constraint.

Contains n constraints that can be evaluated in real-value.

Constructor & Destructor Documentation

~Differentiable()

virtual aikido::constraint::Differentiable::~Differentiable ( )

virtualdefault

Destructor.

Member Function Documentation

getConstraintDimension()

virtual std::size_t aikido::constraint::Differentiable::getConstraintDimension ( ) const

pure virtual

Size of constraints.

Implemented in aikido::constraint::dart::TSR, aikido::constraint::uniform::RBoxConstraint< N >, aikido::constraint::dart::FramePairDifferentiable, aikido::constraint::dart::FrameDifferentiable, aikido::constraint::DifferentiableSubspace, aikido::constraint::Satisfied, and aikido::constraint::DifferentiableIntersection.

getConstraintTypes()

virtual std::vector<ConstraintType> aikido::constraint::Differentiable::getConstraintTypes ( ) const

pure virtual

Returns a vector of constraints' types, i-th element correspoinding to the type of i-th constraint.

Implemented in aikido::constraint::dart::TSR, aikido::constraint::dart::FrameDifferentiable, aikido::constraint::dart::FramePairDifferentiable, aikido::constraint::uniform::RBoxConstraint< N >, aikido::constraint::DifferentiableIntersection, aikido::constraint::Satisfied, and aikido::constraint::DifferentiableSubspace.

getJacobian()

virtual void aikido::constraint::Differentiable::getJacobian ( const statespace::StateSpace::State *  _s, Eigen::MatrixXd &  _out  ) const

pure virtual

Get the jacobian of constraints evaluated at _s, expressed in the frame each state space is expressed in).

Parameters

	_s	State to be evaluated at.
[out]	_out	Jacobian matrix. The dimension should be the following: SO3 StateSpace : m x 3 SO2 : m x 1 SE2 : m x 3 SE3 : m x 6 Rn : m x n CartesianProduct: m x k (k = sum of all state jacobian cols) If Matrix of incorrect dimension is given, false will be returned.

Implemented in aikido::constraint::dart::TSR, aikido::constraint::uniform::RBoxConstraint< N >, aikido::constraint::Satisfied, aikido::constraint::dart::FramePairDifferentiable, aikido::constraint::dart::FrameDifferentiable, aikido::constraint::DifferentiableSubspace, and aikido::constraint::DifferentiableIntersection.

getStateSpace()

virtual statespace::ConstStateSpacePtr aikido::constraint::Differentiable::getStateSpace ( ) const

pure virtual

Gets the StateSpace that this constraint operates on.

Implemented in aikido::constraint::dart::TSR, aikido::constraint::dart::FrameDifferentiable, aikido::constraint::dart::FramePairDifferentiable, aikido::constraint::uniform::RBoxConstraint< N >, aikido::constraint::DifferentiableIntersection, aikido::constraint::DifferentiableSubspace, and aikido::constraint::Satisfied.

getValue()

virtual void aikido::constraint::Differentiable::getValue ( const statespace::StateSpace::State *  _s, Eigen::VectorXd &  _out  ) const

pure virtual

Get the value of constraints at _s.

Should be 0 to satisfy equality constraints. Should be <=0 to satisfy inequality constraints.

Parameters

	_s	State to be evaluated at.
[out]	_out	Vector to store the value. Length should match the number of constraints.

Implemented in aikido::constraint::dart::TSR, aikido::constraint::uniform::RBoxConstraint< N >, aikido::constraint::Satisfied, aikido::constraint::dart::FramePairDifferentiable, aikido::constraint::dart::FrameDifferentiable, aikido::constraint::DifferentiableSubspace, and aikido::constraint::DifferentiableIntersection.

getValueAndJacobian()

virtual void aikido::constraint::Differentiable::getValueAndJacobian ( const statespace::StateSpace::State *  _s, Eigen::VectorXd &  _val, Eigen::MatrixXd &  _jac  ) const

virtual

Get both Value and Jacobian.

Parameters

	_s	State to be evaluated.
[out]	_val	Value of constraints.
[out]	_jac	Jacoiban of constraints.

Reimplemented in aikido::constraint::dart::FrameDifferentiable, aikido::constraint::dart::FramePairDifferentiable, aikido::constraint::DifferentiableSubspace, and aikido::constraint::DifferentiableIntersection.