rb::OptimalControl< DOF > Member List
This is the complete list of members for rb::OptimalControl< DOF >, including all inherited members.
| AddCOMTargetCost(const COMTarget &target, const std::shared_ptr< dyn::State< DOF > > &state, double dt, double error_scaling, double &err_sum, double &max_cond) (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inlineprotected |
| AddJointTargetCost(const JointAngleTarget &target, const std::shared_ptr< dyn::State< DOF > > &state, double dt, double error_scaling, double &err_sum) (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inlineprotected |
| AddLinkTargetCosts(const std::vector< LinkTarget > &link_targets, const std::shared_ptr< dyn::State< DOF > > &state, double dt, double error_scaling, double &err_sum, double &max_cond) (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inlineprotected |
| AddNullspaceCost_Projected(double weight, const Eigen::MatrixXd &J_primary) (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inlineprotected |
| AddNullspaceCostToward_Projected(const Eigen::Vector< double, DOF > &v_des_full, double weight, const Eigen::MatrixXd &J_primary) (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inlineprotected |
| AddNullspaceCostTowardQTarget_Projected(const NullspaceJointTarget &target, const std::shared_ptr< dyn::State< DOF > > &state, double dt, const Eigen::MatrixXd &J_primary) (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inlineprotected |
| CalculateConditionNumber(const Eigen::Matrix< double, N, N > &A) (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inlineprotected |
| ComputeNullspaceProjection(const Eigen::MatrixXd &J) (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inlineprotected |
| ExitCode enum name (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | |
| GetError() const (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inline |
| GetExitCode() const (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inline |
| GetExitCodeMessage() const (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inline |
| GetManipulability() const (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inline |
| OptimalControl(std::shared_ptr< dyn::Robot< DOF > > robot, const std::vector< unsigned int > &joint_idx, bool nullspace_mapping=true, bool soft_position_boundary=false) (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inlineexplicit |
| SetInequalityConstraints(const Eigen::VectorXd &q, const Eigen::VectorXd &qdot, const Eigen::VectorXd &q_lb, const Eigen::VectorXd &q_ub, const Eigen::VectorXd &velocity_limit, const Eigen::VectorXd &acceleration_limit, double dt) (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inlineprotected |
| Solve(Input in, std::shared_ptr< dyn::State< DOF > > state, double dt, double error_scaling, const Eigen::Vector< double, DOF > &position_lower_limit, const Eigen::Vector< double, DOF > &position_upper_limit, const Eigen::Vector< double, DOF > &velocity_limit, const Eigen::Vector< double, DOF > &acceleration_limit, bool need_forward_kinematics=false) (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inline |
| Solve(Input in, std::shared_ptr< dyn::State< DOF > > state, double dt, double error_scaling, const Eigen::Vector< double, DOF > &velocity_limit, const Eigen::Vector< double, DOF > &acceleration_limit, bool need_forward_kinematics=false) (defined in rb::OptimalControl< DOF >) | rb::OptimalControl< DOF > | inline |
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