aikido::constraint::DifferentiableSubspace Class Reference

A differentiable constraint applied only on a subspace of a CompoundState. More...

#include <aikido/constraint/DifferentiableSubspace.hpp>

Inheritance diagram for aikido::constraint::DifferentiableSubspace:

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

Private Attributes
std::shared_ptr< const statespace::CartesianProduct >	mStateSpace
DifferentiablePtr	mConstraint
std::size_t	mIndex

Detailed Description

A differentiable constraint applied only on a subspace of a CompoundState.

Constructor & Destructor Documentation

DifferentiableSubspace()

aikido::constraint::DifferentiableSubspace::DifferentiableSubspace	(	std::shared_ptr< const statespace::CartesianProduct >	_stateSpace,
		DifferentiablePtr	_constraint,
		std::size_t	_index
	)

Apply _constraint to the i-th subspace of _stateSpace.

Parameters

_stateSpace	CartesianProduct.
_constraint	Constraint being applied.
_index	Subspace of _stateSpace to apply _constraint.

~DifferentiableSubspace()

virtual aikido::constraint::DifferentiableSubspace::~DifferentiableSubspace ( )

virtualdefault

Member Function Documentation

getConstraintDimension()

std::size_t aikido::constraint::DifferentiableSubspace::getConstraintDimension ( ) const

overridevirtual

Size of constraints.

Implements aikido::constraint::Differentiable.

getConstraintTypes()

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

overridevirtual

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

Implements aikido::constraint::Differentiable.

getJacobian()

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

overridevirtual

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.

Implements aikido::constraint::Differentiable.

getStateSpace()

statespace::ConstStateSpacePtr aikido::constraint::DifferentiableSubspace::getStateSpace ( ) const

overridevirtual

Gets the StateSpace that this constraint operates on.

Implements aikido::constraint::Differentiable.

getValue()

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

overridevirtual

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.

Implements aikido::constraint::Differentiable.

getValueAndJacobian()

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

overridevirtual

Get both Value and Jacobian.

Parameters

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

Reimplemented from aikido::constraint::Differentiable.

Member Data Documentation

mConstraint

DifferentiablePtr aikido::constraint::DifferentiableSubspace::mConstraint

private

mIndex

std::size_t aikido::constraint::DifferentiableSubspace::mIndex

private

mStateSpace

std::shared_ptr<const statespace::CartesianProduct> aikido::constraint::DifferentiableSubspace::mStateSpace

private