momentumopt
Public Member Functions | Private Member Functions | Private Attributes | Friends | List of all members
momentumopt::KinematicsInterface Class Referenceabstract
Inheritance diagram for momentumopt::KinematicsInterface:
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Public Member Functions

virtual void initialize (PlannerSetting &planner_setting)=0
 
virtual Eigen::Vector3d logarithmicMap (const Eigen::Vector4d quat_wxyz)=0
 
virtual KinematicsState integratePosture (KinematicsState &kin_state, double dt)=0
 
virtual void displayPosture (const KinematicsState &kin_state, double time_step)=0
 
virtual KinematicsState updateJacobiansAndState (KinematicsState &kin_state, double dt)=0
 
virtual KinematicsState differentiatePostures (KinematicsState &start_state, KinematicsState &end_state, double timestep)=0
 
Eigen::MatrixXd & centerOfMassJacobian ()
 
Eigen::MatrixXd & centroidalMomentumMatrix ()
 
const Eigen::MatrixXd & centerOfMassJacobian () const
 
const Eigen::MatrixXd & centroidalMomentumMatrix () const
 
void centerOfMassJacobian (const Eigen::MatrixXd &center_of_mass_jacobian)
 
void centroidalMomentumMatrix (const Eigen::MatrixXd &centroidal_mometum_matrix)
 
Eigen::MatrixXd & centroidalMomentumMatrixVariation ()
 
const Eigen::MatrixXd & centroidalMomentumMatrixVariation () const
 
void centroidalMomentumMatrixVariation (const Eigen::MatrixXd &centroidal_momentum_matrix_variation)
 
Eigen::MatrixXd & endeffectorJacobian (int eff_id)
 
const std::vector< Eigen::MatrixXd > & endeffectorJacobians () const
 
const Eigen::MatrixXd & endeffectorJacobian (int eff_id) const
 
void endeffectorJacobians (const std::vector< Eigen::MatrixXd > &endeffector_jacobians)
 
const Eigen::VectorXd & constraintsVector () const
 
const Eigen::MatrixXd & constraintsMatrix () const
 
void constraintsVector (const Eigen::VectorXd &constraints_vector)
 
void constraintsMatrix (const Eigen::MatrixXd &constraints_matrix)
 

Private Member Functions

void internalInitialization (PlannerSetting &planner_setting)
 
PlannerSetting & getSetting ()
 
const PlannerSetting & getSetting () const
 

Private Attributes

PlannerSetting * planner_setting_
 
Eigen::VectorXd constraints_vector_
 
std::vector< Eigen::MatrixXd > endeffector_jacobians_
 
Eigen::MatrixXd centroidal_momentum_matrix_
 
Eigen::MatrixXd centroidal_momentum_matrix_variation_
 
Eigen::MatrixXd center_of_mass_jacobian_
 
Eigen::MatrixXd constraints_matrix_
 

Friends

class KinematicsOptimizer
 

Member Function Documentation

PlannerSetting& momentumopt::KinematicsInterface::getSetting ( )
inlineprivate

Getter and setter methods for getting the planner variables

void momentumopt::KinematicsInterface::internalInitialization ( PlannerSetting &  planner_setting)
private

internal initialization function

Member Data Documentation

Eigen::VectorXd momentumopt::KinematicsInterface::constraints_vector_
private

Jacobians and problem matrices

PlannerSetting* momentumopt::KinematicsInterface::planner_setting_
private

Variables required for optimization

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