Classes
class	ocra::ContactAvoidanceFunction
	Create a linear function that represents the joint limit function. More...

class	ocra::FullContactAvoidanceFunction
	Create a linear function that represents the contact avoidance function for the full formalism. More...

class	ocra::ReducedContactAvoidanceFunction
	Create a linear function that represents the contact avoidance function for the reduced formalism. More...

class	ocra::ContactAvoidanceConstraint

class	ocra::ControlConstraint

class	ocra::FullDynamicEquationFunction
	Create a linear function that represents the dynamic equation of motion. More...

class	ocra::JointLimitFunction
	Create a linear function that represents the joint limit function. More...

class	ocra::FullJointLimitFunction
	Create a linear function that represents the joint limit function for the full formalism. More...

class	ocra::ReducedJointLimitFunction
	Create a linear function that represents the joint limit function for the reduced formalism. More...

class	ocra::JointLimitConstraint

class	ocra::TorqueLimitFunction
	Create a linear function that represents the torque limit function. More...

class	ocra::TorqueLimitConstraint

Typedefs
typedef LinearFunction	ocra::FullDynamicEquationFunction::functionType_t

Functions
	ocra::FullDynamicEquationFunction::FullDynamicEquationFunction (const Model &model)

	ocra::FullDynamicEquationFunction::~FullDynamicEquationFunction ()

void	ocra::FullDynamicEquationFunction::takeIntoAccountGravity (bool useGrav)

const Eigen::MatrixXd &	ocra::FullDynamicEquationFunction::getInertiaMatrixInverseJchiT () const

const Eigen::VectorXd &	ocra::FullDynamicEquationFunction::getInertiaMatrixInverseLinNonLinGrav () const

Variable &	ocra::FullDynamicEquationFunction::getActionVariable () const

void	ocra::FullDynamicEquationFunction::updateJacobian () const

void	ocra::FullDynamicEquationFunction::updateb () const

void	ocra::FullDynamicEquationFunction::buildA ()

virtual void	ocra::FullDynamicEquationFunction::doUpdateInputSizeBegin ()

virtual void	ocra::FullDynamicEquationFunction::doUpdateInputSizeEnd ()

Detailed Description

Typedef Documentation

typedef LinearFunction ocra::FullDynamicEquationFunction::functionType_t

Definition at line 43 of file FullDynamicEquationFunction.h.

Function Documentation

void FullDynamicEquationFunction::buildA ( )

protected

Initialize the Jacobian matrix ( $\A$ ) in the function.

It sets $\A$ to 0 and computes $ S $ that is a constant matrix, So we obtain $\A = \begin{bmatrix} 0 & -S & 0 \end{bmatrix}$ . $\M$ and $\J_c$ are updated in updateJacobian() const .

Definition at line 123 of file FullDynamicEquationFunction.cpp.

void FullDynamicEquationFunction::doUpdateInputSizeBegin ( )

protectedvirtual

Do when input size changes, before.

By overloading this function, it allows linear function modification when input size changes. It does nothing actually.

Reimplemented from ocra::Function.

Definition at line 173 of file FullDynamicEquationFunction.cpp.

void FullDynamicEquationFunction::doUpdateInputSizeEnd ( void )

protectedvirtual

Do when input size changes, after.

By overloading this function, it allows linear function modification when input size changes. It does nothing actually.

Reimplemented from ocra::LinearFunction.

Definition at line 183 of file FullDynamicEquationFunction.cpp.

FullDynamicEquationFunction::FullDynamicEquationFunction ( const Model & model )

Initialize a dynamic equation of motion function.

Parameters

model The Model on which we will update the dynamic parameters

It is connected with the model on "EVT_CHANGE_VALUE", meaning that a,y modification in the model will invalidate this linear function.

Definition at line 62 of file FullDynamicEquationFunction.cpp.

Variable & FullDynamicEquationFunction::getActionVariable ( ) const

Definition at line 208 of file FullDynamicEquationFunction.cpp.

const Eigen::MatrixXd & FullDynamicEquationFunction::getInertiaMatrixInverseJchiT ( ) const

Definition at line 194 of file FullDynamicEquationFunction.cpp.

const Eigen::VectorXd & FullDynamicEquationFunction::getInertiaMatrixInverseLinNonLinGrav ( ) const

Definition at line 201 of file FullDynamicEquationFunction.cpp.

void FullDynamicEquationFunction::takeIntoAccountGravity ( bool useGrav )

Definition at line 88 of file FullDynamicEquationFunction.cpp.

void FullDynamicEquationFunction::updateb ( ) const

protectedvirtual

Update the vector ( $\b$ ) in the function.

It computes $\b = \n + \g$ .

Reimplemented from ocra::LinearFunction.

Definition at line 110 of file FullDynamicEquationFunction.cpp.

void FullDynamicEquationFunction::updateJacobian ( ) const

protectedvirtual

Update the Jacobian matrix ( $\A$ ) in the function.

Actually, it computes $\A = \begin{bmatrix} \M & -S & \J_c\tp \end{bmatrix}$ by updating $\M$ and $\J_c$ . $ S $ is constant and has been initialized in the constructor which calls buildA()

Reimplemented from ocra::LinearFunction.

Definition at line 100 of file FullDynamicEquationFunction.cpp.

FullDynamicEquationFunction::~FullDynamicEquationFunction ( )

Destructor

Definition at line 79 of file FullDynamicEquationFunction.cpp.

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

Function Documentation