aikido::constraint::dart::FrameDifferentiable Class Reference

A pose constraint on _jacobianNode's transform w.r.t. More...

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

Inheritance diagram for aikido::constraint::dart::FrameDifferentiable:

Public Member Functions
	FrameDifferentiable (statespace::dart::MetaSkeletonStateSpacePtr _metaSkeletonStateSpace, ::dart::dynamics::MetaSkeletonPtr _metaskeleton, ::dart::dynamics::ConstJacobianNodePtr _jacobianNode, DifferentiablePtr _poseConstraint)
	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 jacobian of poseConstraint w.r.t. More...
void	getValueAndJacobian (const statespace::StateSpace::State *_s, Eigen::VectorXd &_val, Eigen::MatrixXd &_jac) const override
	Get both Value and Jacobian evaluated at _s. 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	mJacobianNode
DifferentiablePtr	mPoseConstraint

Detailed Description

A pose constraint on _jacobianNode's transform w.r.t.

MetaSkeletonState of _jacobianNode. _poseConstraint is 1) Differentiable 2) in SE3. 2) constrains _jacobianNode's pose in World Frame.

Constructor & Destructor Documentation

FrameDifferentiable()

aikido::constraint::dart::FrameDifferentiable::FrameDifferentiable	(	statespace::dart::MetaSkeletonStateSpacePtr	_metaSkeletonStateSpace,
		::dart::dynamics::MetaSkeletonPtr	_metaskeleton,
		::dart::dynamics::ConstJacobianNodePtr	_jacobianNode,
		DifferentiablePtr	_poseConstraint
	)

Constructor.

Parameters

_metaSkeletonStateSpace	StateSpace whose state defines _jacobianNode's transform.
_metaskeleton	MetaSkeleton to test with
_jacobianNode	The frame being constrained.
_poseConstraint	Constraint on _jacobian. This should be in SE3.

Member Function Documentation

getConstraintDimension()

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

overridevirtual

Size of constraints.

Implements aikido::constraint::Differentiable.

getConstraintTypes()

std::vector<ConstraintType> aikido::constraint::dart::FrameDifferentiable::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::FrameDifferentiable::getJacobian ( const statespace::StateSpace::State *  _s, Eigen::MatrixXd &  _out  ) const

overridevirtual

Get jacobian of poseConstraint w.r.t.

generalized coordinates.

Parameters

	_s	State to be evaluated at.
[out]	_out	_m x numDofs, where m is the number of constraints.

Implements aikido::constraint::Differentiable.

getStateSpace()

statespace::ConstStateSpacePtr aikido::constraint::dart::FrameDifferentiable::getStateSpace ( ) const

overridevirtual

Gets the StateSpace that this constraint operates on.

Implements aikido::constraint::Differentiable.

getValue()

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

overridevirtual

Get both Value and Jacobian evaluated at _s.

This is more efficient than calling getValue and getJacobian separately because this sets MetaSkeleton's position only once.

Parameters

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

Reimplemented from aikido::constraint::Differentiable.

Member Data Documentation

mJacobianNode

::dart::dynamics::ConstJacobianNodePtr aikido::constraint::dart::FrameDifferentiable::mJacobianNode

private

mMetaSkeleton

::dart::dynamics::MetaSkeletonPtr aikido::constraint::dart::FrameDifferentiable::mMetaSkeleton

private

mMetaSkeletonStateSpace

statespace::dart::ConstMetaSkeletonStateSpacePtr aikido::constraint::dart::FrameDifferentiable::mMetaSkeletonStateSpace

private

mPoseConstraint

DifferentiablePtr aikido::constraint::dart::FrameDifferentiable::mPoseConstraint

private