Public Types
enum class	ExitCode : int { kNoError = 0 , kInequalityConstraintViolation , kQPSolverError }

Public Member Functions
	OptimalControl (std::shared_ptr< dyn::Robot< DOF > > robot, const std::vector< unsigned int > &joint_idx, bool nullspace_mapping=true, bool soft_position_boundary=false)

double	GetError () const

ExitCode	GetExitCode () const

std::string	GetExitCodeMessage () const

double	GetManipulability () const

std::optional< Eigen::VectorXd >	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)

std::optional< Eigen::VectorXd >	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)

Protected Member Functions
void	AddCOMTargetCost (const COMTarget &target, const std::shared_ptr< dyn::State< DOF > > &state, double dt, double error_scaling, double &err_sum, double &max_cond)

void	AddJointTargetCost (const JointAngleTarget &target, const std::shared_ptr< dyn::State< DOF > > &state, double dt, double error_scaling, double &err_sum)

void	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)

void	AddNullspaceCost_Projected (double weight, const Eigen::MatrixXd &J_primary)

void	AddNullspaceCostToward_Projected (const Eigen::Vector< double, DOF > &v_des_full, double weight, const Eigen::MatrixXd &J_primary)

void	AddNullspaceCostTowardQTarget_Projected (const NullspaceJointTarget &target, const std::shared_ptr< dyn::State< DOF > > &state, double dt, const Eigen::MatrixXd &J_primary)

template<int N>
double	CalculateConditionNumber (const Eigen::Matrix< double, N, N > &A)

Eigen::MatrixXd	ComputeNullspaceProjection (const Eigen::MatrixXd &J)

bool	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)

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

Classes

Public Types