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ocra::TorqueLimitFunction Class Reference
Constraint

Create a linear function that represents the torque limit function. More...

#include <TorqueLimitConstraint.h>

Inheritance diagram for ocra::TorqueLimitFunction:
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Collaboration diagram for ocra::TorqueLimitFunction:
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Public Types

typedef LinearFunction functionType_t
 
- Public Types inherited from ocra::LinearFunction
typedef Function functionType_t
 

Public Member Functions

 TorqueLimitFunction (const Model &model)
 
 ~TorqueLimitFunction ()
 
void setTorqueLimits (const Eigen::VectorXd &torqueLimits)
 
const Eigen::VectorXd & getTorqueLimits () const
 
- Public Member Functions inherited from ocra::LinearFunction
template<class Derived , class VectorBase >
 LinearFunction (Variable &x, const MatrixBase< Derived > &A, const VectorBase &b)
 
 ~LinearFunction ()
 
void invalidateb (int timestamp)
 
const MatrixXd & getA () const
 
const VectorXd & getb () const
 
void changeA (const MatrixXd &A)
 
void changeb (const VectorXd &b)
 
- Public Member Functions inherited from ocra::Function
virtual ~Function ()
 
int getDimension () const
 
virtual void updateFdot () const
 
virtual void updateFddot () const
 
virtual void updateJdotXdot () const
 
const Variable & getVariable () const
 
Variable & getVariable ()
 
template<eFunctionAbility Ability>
void invalidate ()
 
void invalidateAll (int timestamp)
 
void invalidateAll ()
 
template<eFunctionAbility Ability>
bool isValid () const
 
template<eFunctionAbility Ability>
bool canCompute () const
 
template<eFunctionAbility Ability>
const IFunction< Ability >::return_type & get () const
 
template<eFunctionAbility Ability>
IFunction< Ability >::return_sub_type get (int index) const
 
const VectorXd & getValue () const
 
double getValue (int index) const
 
const MatrixXd & getJacobian () const
 
MatrixXdRow getJacobian (int index) const
 
- Public Member Functions inherited from ocra::ObserverSubject
 ObserverSubject ()
 
virtual ~ObserverSubject ()
 
- Public Member Functions inherited from ocra::Observer
virtual ~Observer ()
 
template<int EVT>
void bind (SubjectBase< EVT > &subject)
 Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...
 
template<int EVT>
void stopPropagation ()
 
- Public Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void bind (subject_type &subject)
 Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...
 
- Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void bind (subject_type &subject)
 Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...
 
- Public Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void bind (subject_type &subject)
 Call this method to automatically propagate observed events to observers connected to the subject given in argument. More...
 
- Public Member Functions inherited from ocra::Subject
virtual ~Subject ()
 
template<int EVT, class Derived , class Base >
void connect (Derived &object, void(Base::*newCallback)(int)) const
 Call this method to register a non-static method as a callback. More...
 
template<int EVT>
void connect (void(*newCallback)(int)) const
 Call this method to register a free function as a callback. More...
 
template<int EVT, class Derived , class Base >
void disconnect (Derived &object, void(Base::*callbackToErase)(int)) const
 Disconnect non-static method. More...
 
template<int EVT>
void disconnect (void(*callbackToErase)(int)) const
 Disconnect free function. More...
 
template<int EVT>
void propagate () const
 
template<int EVT>
void propagate (int timestamp) const
 
- Public Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
void connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
 Call this method to register a non-static method as a callback. More...
 
void connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
 Call this method to register a free function as a callback. More...
 
void disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
 Disconnect non-static method. More...
 
void disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
 Disconnect free function. More...
 
void propagate (int timestamp) const
 
void propagate () const
 
- Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
void connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
 Call this method to register a non-static method as a callback. More...
 
void connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
 Call this method to register a free function as a callback. More...
 
void disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
 Disconnect non-static method. More...
 
void disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
 Disconnect free function. More...
 
void propagate (int timestamp) const
 
void propagate () const
 
- Public Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
void connect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type newCallback) const
 Call this method to register a non-static method as a callback. More...
 
void connect (typename SubjectBaseTraits< EVT, void >::callback_type newCallback) const
 Call this method to register a free function as a callback. More...
 
void disconnect (T &object, typename SubjectBaseTraits< EVT, T >::callback_type callback) const
 Disconnect non-static method. More...
 
void disconnect (typename SubjectBaseTraits< EVT, void >::callback_type callbackToErase) const
 Disconnect free function. More...
 
void propagate (int timestamp) const
 
void propagate () const
 
- Public Member Functions inherited from ocra::IFunctionProperties
bool hasSeparableTimeDependancy (void) const
 
eFunctionLinearity getType (void) const
 
eFunctionConvexity getConvexityProperty (void) const
 
int getContinuityProperty (void) const
 
const std::string & getProperty (int i) const
 
int getNumberOfProperties (void) const
 
bool hasProperty (const std::string &functionProperty) const
 
bool isExplicitlyTimeDependant (void) const
 
- Public Member Functions inherited from ocra::NamedInstance
 NamedInstance (const std::string &name)
 
const std::string & getName () const
 
virtual ~NamedInstance ()
 
- Public Member Functions inherited from ocra::AbilitySet
AbilitySet & add (eFunctionAbility prop)
 
AbilitySet & remove (eFunctionAbility prop)
 

Protected Member Functions

void updateJacobian () const
 
void updateb () const
 
- Protected Member Functions inherited from ocra::LinearFunction
 LinearFunction (Variable &x, int dimension)
 
virtual void doUpdateInputSizeEnd ()
 
virtual void updateValue () const
 
virtual void doChangeA (const MatrixXd &A)
 
virtual void doChangeb (const VectorXd &b)
 
void inhibitPropagationFromb () const
 
void desinhibitPropagationFromb () const
 
- Protected Member Functions inherited from ocra::Function
 Function (Variable &x, int dimension, eFunctionLinearity linearity=LINEARITY_UNDEFINED, eFunctionConvexity convexity=CONVEXITY_UNDEFINED, int continuity=CONTINUITY_UNKNOWN, bool explicitlyTimeDependant=false, bool separableTimeDependancy=true)
 Function Constructor. More...
 
void disconnectVariable ()
 
void changeFunctionDimension (int newDimension)
 
void updateInputSize (int timestamp)
 
void resize ()
 
virtual int computeDimensionFromInputSize () const
 
virtual void doUpdateInputSizeBegin ()
 
virtual void doUpdateDimensionBegin (int newDimension)
 
virtual void doUpdateDimensionEnd (int oldDimension)
 
- Protected Member Functions inherited from ocra::ObserverBase< EVT_RESIZE >
void stopPropagation ()
 Call this method from your callbacks to avoid propagation to the bound subject (if any). More...
 
 ObserverBase ()
 
 ~ObserverBase ()
 
- Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
void stopPropagation ()
 Call this method from your callbacks to avoid propagation to the bound subject (if any). More...
 
 ObserverBase ()
 
 ~ObserverBase ()
 
- Protected Member Functions inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
void stopPropagation ()
 Call this method from your callbacks to avoid propagation to the bound subject (if any). More...
 
 ObserverBase ()
 
 ~ObserverBase ()
 
- Protected Member Functions inherited from ocra::SubjectBase< EVT_RESIZE >
 SubjectBase ()
 
 ~SubjectBase ()
 
- Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_DEPENDENCIES >
 SubjectBase ()
 
 ~SubjectBase ()
 
- Protected Member Functions inherited from ocra::SubjectBase< EVT_CHANGE_VALUE >
 SubjectBase ()
 
 ~SubjectBase ()
 
- Protected Member Functions inherited from ocra::IFunctionProperties
 IFunctionProperties (eFunctionLinearity linearity=LINEARITY_UNDEFINED, eFunctionConvexity convexity=CONVEXITY_UNDEFINED, int continuity=CONTINUITY_UNKNOWN, bool explicitlyTimeDependant=false, bool separableTimeDependancy=true)
 IFunctionProperties Constructor. More...
 
void changeType (eFunctionLinearity newType)
 
void changeConvexityProperty (eFunctionConvexity newProperty)
 
void changeContinuityProperty (int newProperty)
 
void addProperty (const std::string &functionProperty)
 
void removeProperty (const std::string &functionProperty)
 
void changeExplicitTimeDependancy (bool b)
 
void changeSeparableTimeDependancy (bool b)
 
- Protected Member Functions inherited from ocra::AbilitySet
 AbilitySet (const std::vector< bool > &usageSet)
 
const std::vector< bool > & getUsageSet () const
 
 AbilitySet (eFunctionAbility prop0=FUN_VALUE, eFunctionAbility prop1=FUN_VALUE)
 
 AbilitySet (eFunctionAbility prop0, eFunctionAbility prop1, eFunctionAbility prop2, eFunctionAbility prop3=FUN_VALUE, eFunctionAbility prop4=FUN_VALUE)
 
 AbilitySet (eFunctionAbility prop0, eFunctionAbility prop1, eFunctionAbility prop2, eFunctionAbility prop3, eFunctionAbility prop4, eFunctionAbility prop5, eFunctionAbility prop6=FUN_VALUE, eFunctionAbility prop7=FUN_VALUE, eFunctionAbility prop8=FUN_VALUE, eFunctionAbility prop9=FUN_VALUE)
 
- Protected Member Functions inherited from ocra::CoupledInputOutputSize
 CoupledInputOutputSize (bool coupledInputOutputSize)
 
bool inputAndOutputSizesAreCoupled () const
 

Protected Attributes

Eigen::VectorXd _torqueLimits
 
int _torqueDim
 
- Protected Attributes inherited from ocra::LinearFunction
VectorXd _b
 
bool _bIsUpToDate
 
- Protected Attributes inherited from ocra::Function
Variable & x
 
VectorXd & _value
 
MatrixXd & _jacobian
 
const int & _dim
 

Additional Inherited Members

- Protected Types inherited from ocra::ObserverBase< EVT_RESIZE >
typedef SubjectBase< EVT > subject_type
 
typedef InvokerBase< EVT > invoker_type
 
- Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_DEPENDENCIES >
typedef SubjectBase< EVT > subject_type
 
typedef InvokerBase< EVT > invoker_type
 
- Protected Types inherited from ocra::ObserverBase< EVT_CHANGE_VALUE >
typedef SubjectBase< EVT > subject_type
 
typedef InvokerBase< EVT > invoker_type
 

Detailed Description

Create a linear function that represents the torque limit function.

The torque limit inequality is:

\[ - \torque_{max} < \torque < \torque_{max} \]

It returns an equation of the form:

\begin{align*} \A \x + \b &> \vec{0} & &\Leftrightarrow & \begin{bmatrix} - \Id{} \\ \Id{} \end{bmatrix} . \torque + \begin{bmatrix} \torque_{max} \\ \torque_{max} \end{bmatrix} &> \vec{0} \end{align*}

Definition at line 39 of file TorqueLimitConstraint.h.

Member Typedef Documentation

typedef LinearFunction ocra::TorqueLimitFunction::functionType_t

Definition at line 42 of file TorqueLimitConstraint.h.

Constructor & Destructor Documentation

ocra::TorqueLimitFunction::TorqueLimitFunction ( const Model &  model)

Initialize a torque limit inequality function.

Parameters
modelThe Model on which we will get the dynamic parameters

It initializes the Jacobian of the linear function, $ \A $ which is constant.

Definition at line 24 of file TorqueLimitConstraint.cpp.

ocra::TorqueLimitFunction::~TorqueLimitFunction ( )

Destructor

Definition at line 58 of file TorqueLimitConstraint.cpp.

Member Function Documentation

const Eigen::VectorXd & ocra::TorqueLimitFunction::getTorqueLimits ( ) const

Get the torque limit.

Returns
The torque limit $ \torque_{max} $

Definition at line 97 of file TorqueLimitConstraint.cpp.

void ocra::TorqueLimitFunction::setTorqueLimits ( const Eigen::VectorXd &  torqueLimits)

Set the torque limit.

Parameters
torqueLimitsThe torque limit $ \torque_{max} $

Definition at line 87 of file TorqueLimitConstraint.cpp.

void ocra::TorqueLimitFunction::updateb ( ) const
protectedvirtual

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

It computes $ \b = \begin{bmatrix} \torque_{max} \\ \torque_{max} \end{bmatrix} $ .

Reimplemented from ocra::LinearFunction.

Definition at line 76 of file TorqueLimitConstraint.cpp.

void ocra::TorqueLimitFunction::updateJacobian ( ) const
protectedvirtual

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

Nothing to do.

Reimplemented from ocra::LinearFunction.

Definition at line 67 of file TorqueLimitConstraint.cpp.

Member Data Documentation

int ocra::TorqueLimitFunction::_torqueDim
protected

Definition at line 55 of file TorqueLimitConstraint.h.

Eigen::VectorXd ocra::TorqueLimitFunction::_torqueLimits
protected

Definition at line 54 of file TorqueLimitConstraint.h.

The documentation for this class was generated from the following files:
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