robowflex::darts::TSRConstraint Class Reference

An OMPL constraint for TSRs. Under the hood, creates a TSRSet that is used for all computation. Make sure that the robot state space has all groups setup before creation of this constraint. More...

#include <tsr.h>

Inheritance diagram for robowflex::darts::TSRConstraint:

Public Member Functions
	TSRConstraint (const StateSpacePtr &space, const TSRPtr &tsr)
	Constructor for a single TSR. More...
	TSRConstraint (const StateSpacePtr &space, const std::vector< TSRPtr > &tsrs)
	Constructor for multiple TSRs. More...
	TSRConstraint (const StateSpacePtr &space, const TSRSetPtr &tsr)
	Constructor for a TSRSet. More...
TSRSetPtr	getSet ()
	Get TSR set for this constraint. More...
void	function (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::Ref< Eigen::VectorXd > out) const override
void	jacobian (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::Ref< Eigen::MatrixXd > out) const override
bool	project (Eigen::Ref< Eigen::VectorXd > x) const override

Public Attributes
struct {
bool   use_gradient {false}
}	options
	Public options. More...

Protected Attributes
StateSpacePtr	space_
	Robot state space. More...
TSRSetPtr	tsr_
	Set of TSR constraints. More...

Detailed Description

An OMPL constraint for TSRs. Under the hood, creates a TSRSet that is used for all computation. Make sure that the robot state space has all groups setup before creation of this constraint.

Definition at line 1016 of file tsr.h.

Constructor & Destructor Documentation

TSRConstraint() [1/3]

TSRConstraint::TSRConstraint	(	const StateSpacePtr &	space,
		const TSRPtr &	tsr
	)

Constructor for a single TSR.

Parameters

[in]	space	Robot state space.
[in]	tsr	TSR to use in constraint.

TSRConstraint

Definition at line 1352 of file tsr.cpp.

  : TSRConstraint(space, std::make_shared<TSRSet>(space->getWorld(), tsr))
{
}

TSRConstraint() [2/3]

TSRConstraint::TSRConstraint	(	const StateSpacePtr &	space,
		const std::vector< TSRPtr > &	tsrs
	)

Constructor for multiple TSRs.

Parameters

[in]	space	Robot state space.
[in]	tsrs	TSRs to use in constraint.

Definition at line 1357 of file tsr.cpp.

  : TSRConstraint(space, std::make_shared<TSRSet>(space->getWorld(), tsrs))
{
}

TSRConstraint() [3/3]

TSRConstraint::TSRConstraint	(	const StateSpacePtr &	space,
		const TSRSetPtr &	tsr
	)

Constructor for a TSRSet.

Parameters

[in]	space	Robot state space.
[in]	tsr	TSRs to use in constraint.

Definition at line 1362 of file tsr.cpp.

  : ompl::base::Constraint(space->getDimension(), tsr->getDimension(), tsr->getTolerance())
  , space_(space)
  , tsr_(tsr)
{
    tsr_->useWorldIndices(space->getIndices());
    tsr_->setWorldIndices(space->getIndices());
    tsr_->setWorld(space->getWorld());
 
    tsr_->setWorldLowerLimits(space->getLowerBound());
    tsr_->setWorldUpperLimits(space->getUpperBound());
    tsr_->initialize();
}

Member Function Documentation

function()

void TSRConstraint::function ( const Eigen::Ref< const Eigen::VectorXd > &  x, Eigen::Ref< Eigen::VectorXd >  out  ) const

override

Definition at line 1376 of file tsr.cpp.

{
    tsr_->getErrorWorldState(x, out);
}

getSet()

TSRSetPtr TSRConstraint::getSet

(

)

Get TSR set for this constraint.

Returns

The constraint's TSR set.

Definition at line 1402 of file tsr.cpp.

{
    return tsr_;
}

jacobian()

void TSRConstraint::jacobian ( const Eigen::Ref< const Eigen::VectorXd > &  x, Eigen::Ref< Eigen::MatrixXd >  out  ) const

override

Definition at line 1382 of file tsr.cpp.

{
    tsr_->getJacobianWorldState(x, out);
}

project()

bool TSRConstraint::project ( Eigen::Ref< Eigen::VectorXd >  x ) const

override

Definition at line 1388 of file tsr.cpp.

{
    space_->setWorldState(space_->getWorld(), x);
 
    bool r = false;
    if (tsr_->numTSRs() == 1 or not options.use_gradient)
        r = tsr_->solveWorldState(x);
 
    else if (options.use_gradient)
        r = tsr_->solveGradientWorldState(x);
 
    return r;
}

Member Data Documentation

struct { ... } robowflex::darts::TSRConstraint::options

Public options.

space_

StateSpacePtr robowflex::darts::TSRConstraint::space_

protected

Robot state space.

Definition at line 1058 of file tsr.h.

tsr_

TSRSetPtr robowflex::darts::TSRConstraint::tsr_

protected

Set of TSR constraints.

Definition at line 1059 of file tsr.h.

use_gradient

bool robowflex::darts::TSRConstraint::use_gradient {false}

Definition at line 1054 of file tsr.h.

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

• tsr.h
• tsr.cpp