aikido::constraint::dart::FramePairDifferentiable Class Reference

A differentiable constraint which constrains relative transform of jacobianNodeTarget w.r.t. More...

#include <aikido/constraint/dart/FramePairDifferentiable.hpp>

Inheritance diagram for aikido::constraint::dart::FramePairDifferentiable:

Public Member Functions
	FramePairDifferentiable (statespace::dart::MetaSkeletonStateSpacePtr _metaSkeletonStateSpace, ::dart::dynamics::MetaSkeletonPtr _metaskeleton, ::dart::dynamics::ConstJacobianNodePtr _jacobianNodeTarget, ::dart::dynamics::ConstJacobianNodePtr _jacobianNodeBase, DifferentiablePtr _relPoseConstraint)
	Constructor. 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...
std::vector< ConstraintType >	getConstraintTypes () const override
	Returns a vector of constraints' types, i-th element correspoinding to the type of i-th constraint. More...
statespace::ConstStateSpacePtr	getStateSpace () const override
	Gets the StateSpace that this constraint operates on. More...
Public Member Functions inherited from aikido::constraint::Differentiable
virtual	~Differentiable ()=default
	Destructor. More...

Private Attributes
statespace::dart::ConstMetaSkeletonStateSpacePtr	mMetaSkeletonStateSpace
::dart::dynamics::MetaSkeletonPtr	mMetaSkeleton
::dart::dynamics::ConstJacobianNodePtr	mJacobianNode1
::dart::dynamics::ConstJacobianNodePtr	mJacobianNode2
DifferentiablePtr	mRelPoseConstraint

Detailed Description

A differentiable constraint which constrains relative transform of jacobianNodeTarget w.r.t.

jacobianNodeBase. _relPoseConstraint is 1) Differentiable 2) in SE3. 2) constrains _jacobianNodeTarget's pose in jacobianNodeBase's frame.

Constructor & Destructor Documentation

FramePairDifferentiable()

aikido::constraint::dart::FramePairDifferentiable::FramePairDifferentiable	(	statespace::dart::MetaSkeletonStateSpacePtr	_metaSkeletonStateSpace,
		::dart::dynamics::MetaSkeletonPtr	_metaskeleton,
		::dart::dynamics::ConstJacobianNodePtr	_jacobianNodeTarget,
		::dart::dynamics::ConstJacobianNodePtr	_jacobianNodeBase,
		DifferentiablePtr	_relPoseConstraint
	)

Constructor.

Parameters

_metaSkeletonStateSpace	StateSpace whose states define _jacobianNodeTarget and _jacobianNodeBase's relative transform.
_metaskeleton	MetaSkeleton to test with
_jacobianNodeTarget	The frame whose relative transform w.r.t. _jacobianNodeBase is being constrained.
_jacobianNodeBase	The base frame for this constraint.
_relPoseConstraint	Relative pose constraint on _jacobianNodeTarget w.r.t. _jacobianNodeBase.

Member Function Documentation

getConstraintDimension()

std::size_t aikido::constraint::dart::FramePairDifferentiable::getConstraintDimension ( ) const

overridevirtual

Size of constraints.

Implements aikido::constraint::Differentiable.

getConstraintTypes()

std::vector<ConstraintType> aikido::constraint::dart::FramePairDifferentiable::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::dart::FramePairDifferentiable::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::dart::FramePairDifferentiable::getStateSpace ( ) const

overridevirtual

Gets the StateSpace that this constraint operates on.

Implements aikido::constraint::Differentiable.

getValue()

void aikido::constraint::dart::FramePairDifferentiable::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::dart::FramePairDifferentiable::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

mJacobianNode1

::dart::dynamics::ConstJacobianNodePtr aikido::constraint::dart::FramePairDifferentiable::mJacobianNode1

private

mJacobianNode2

::dart::dynamics::ConstJacobianNodePtr aikido::constraint::dart::FramePairDifferentiable::mJacobianNode2

private

mMetaSkeleton

::dart::dynamics::MetaSkeletonPtr aikido::constraint::dart::FramePairDifferentiable::mMetaSkeleton

private

mMetaSkeletonStateSpace

statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::constraint::dart::FramePairDifferentiable::mMetaSkeletonStateSpace

private

mRelPoseConstraint

DifferentiablePtr aikido::constraint::dart::FramePairDifferentiable::mRelPoseConstraint

private