A costfunction term that defines a cost on a task-space pose, for fix-base robots only. More...

#include <TermTaskspaceGeometricJacobian.hpp>

Inheritance diagram for ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >:

Public Types
using	BASE = optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double >

using	RBDState = ct::rbd::RBDState< KINEMATICS::NJOINTS >

using	state_matrix_t = Eigen::Matrix< double, STATE_DIM, STATE_DIM >

using	control_matrix_t = Eigen::Matrix< double, CONTROL_DIM, CONTROL_DIM >

using	control_state_matrix_t = Eigen::Matrix< double, CONTROL_DIM, STATE_DIM >

Public Types inherited from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double >
typedef Eigen::Matrix< double, STATE_DIM, STATE_DIM >	state_matrix_t

typedef Eigen::Matrix< double, CONTROL_DIM, CONTROL_DIM >	control_matrix_t

typedef Eigen::Matrix< double, CONTROL_DIM, STATE_DIM >	control_state_matrix_t

typedef Eigen::Matrix< double, STATE_DIM, STATE_DIM >	state_matrix_double_t

typedef Eigen::Matrix< double, CONTROL_DIM, CONTROL_DIM >	control_matrix_double_t

typedef Eigen::Matrix< double, CONTROL_DIM, STATE_DIM >	control_state_matrix_double_t

Public Member Functions
	TermTaskspaceGeometricJacobian ()=default
	default constructor More...

	TermTaskspaceGeometricJacobian (size_t eeInd, const Eigen::Matrix3d &Qpos, const Eigen::Matrix3d &Qrot, const core::StateVector< 3 > &w_pos_des, const Eigen::Quaterniond &w_q_des, const std::string &name="TermTaskSpace")
	constructor using a quaternion for orientation More...

	TermTaskspaceGeometricJacobian (size_t eeInd, const Eigen::Matrix3d &Qpos, const Eigen::Matrix3d &Qrot, const ct::rbd::RigidBodyPose &rbdPose, const std::string &name="TermTaskSpace")
	constructor taking a full RigidBodyPose More...

	TermTaskspaceGeometricJacobian (size_t eeInd, const Eigen::Matrix3d &Qpos, const Eigen::Matrix3d &Qrot, const core::StateVector< 3 > &w_pos_des, const Eigen::Matrix3d &eulerXyz, const std::string &name="TermTaskSpace")
	constructor using Euler angles for orientation More...

	TermTaskspaceGeometricJacobian (size_t eeInd, const Eigen::Matrix3d &Qpos, const Eigen::Matrix3d &Qrot, const std::string &name="TermTaskSpace")
	constructor which sets the target pose to dummy values More...

	TermTaskspaceGeometricJacobian (const std::string &configFile, const std::string &termName, bool verbose=false)
	construct this term with info loaded from a configuration file More...

	TermTaskspaceGeometricJacobian (const TermTaskspaceGeometricJacobian &arg)
	copy constructor More...

virtual	~TermTaskspaceGeometricJacobian ()=default
	destructor More...

virtual TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > *	clone () const override
	deep cloning More...

virtual double	evaluate (const Eigen::Matrix< double, STATE_DIM, 1 > &x, const Eigen::Matrix< double, CONTROL_DIM, 1 > &u, const double &t) override
	evaluate More...

virtual core::StateVector< STATE_DIM >	stateDerivative (const core::StateVector< STATE_DIM > &x, const core::ControlVector< CONTROL_DIM > &u, const double &t) override
	compute derivative of this cost term w.r.t. the state More...

virtual core::ControlVector< CONTROL_DIM >	controlDerivative (const core::StateVector< STATE_DIM > &x, const core::ControlVector< CONTROL_DIM > &u, const double &t) override
	compute derivative of this cost term w.r.t. the control input More...

virtual state_matrix_t	stateSecondDerivative (const core::StateVector< STATE_DIM > &x, const core::ControlVector< CONTROL_DIM > &u, const double &t) override
	compute second order derivative of this cost term w.r.t. the state More...

virtual control_matrix_t	controlSecondDerivative (const core::StateVector< STATE_DIM > &x, const core::ControlVector< CONTROL_DIM > &u, const double &t) override
	compute second order derivative of this cost term w.r.t. the control input More...

virtual control_state_matrix_t	stateControlDerivative (const core::StateVector< STATE_DIM > &x, const core::ControlVector< CONTROL_DIM > &u, const double &t) override
	compute the cross-term derivative (state-control) of this cost function term More...

void	loadConfigFile (const std::string &filename, const std::string &termName, bool verbose=false) override
	load term information from configuration file (stores data in member variables) More...

const Eigen::Matrix< double, 3, 1 >	getReferencePosition () const
	retrieve reference position in world frame More...

void	setReferencePosition (Eigen::Matrix< double, 3, 1 > p_ref)
	set the end-effector reference position (in base coordinates) More...

const Eigen::Quaterniond	getReferenceOrientation () const
	retrieve reference ee orientation in world frame More...

void	setReferenceOrientation (const Eigen::Matrix< double, 3, 3 > &w_R_ref)
	set desired end-effector orientation in world frame More...

void	setReferenceOrientation (const Eigen::Quaterniond &w_q_des)
	set desired end-effector orientation in world frame More...

const ct::rbd::RigidBodyPose	getReferencePose () const
	return the reference pose as RigidBodyPose More...

Public Member Functions inherited from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double >
	TermBase (std::string name="Unnamed")

	TermBase (const TermBase &arg)

virtual	~TermBase ()

double	eval (const Eigen::Matrix< double, STATE_DIM, 1 > &x, const Eigen::Matrix< double, CONTROL_DIM, 1 > &u, const double &t)

virtual bool	isActiveAtTime (double t)

double	computeActivation (double t)

virtual core::StateVector< STATE_DIM, double >	stateDerivative (const core::StateVector< STATE_DIM, double > &x, const core::ControlVector< CONTROL_DIM, double > &u, const double &t)

virtual state_matrix_t	stateSecondDerivative (const core::StateVector< STATE_DIM, double > &x, const core::ControlVector< CONTROL_DIM, double > &u, const double &t)

virtual core::ControlVector< CONTROL_DIM, double >	controlDerivative (const core::StateVector< STATE_DIM, double > &x, const core::ControlVector< CONTROL_DIM, double > &u, const double &t)

virtual control_matrix_t	controlSecondDerivative (const core::StateVector< STATE_DIM, double > &x, const core::ControlVector< CONTROL_DIM, double > &u, const double &t)

virtual control_state_matrix_t	stateControlDerivative (const core::StateVector< STATE_DIM, double > &x, const core::ControlVector< CONTROL_DIM, double > &u, const double &t)

void	setTimeActivation (std::shared_ptr< ct::core::tpl::ActivationBase< double >> c_i, bool verbose=false)

void	loadTimeActivation (const std::string &filename, const std::string &termName, bool verbose=false)

const std::string &	getName () const

void	setName (const std::string &termName)

virtual void	updateReferenceState (const Eigen::Matrix< double, STATE_DIM, 1 > &newRefState)

virtual void	updateReferenceControl (const Eigen::Matrix< double, CONTROL_DIM, 1 > &newRefControl)

virtual Eigen::Matrix< double, STATE_DIM, 1 >	getReferenceState () const

Additional Inherited Members
Protected Attributes inherited from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double >
std::string	name_

std::shared_ptr< ct::core::tpl::ActivationBase< double > >	c_i_

Detailed Description

template<class KINEMATICS, size_t STATE_DIM, size_t CONTROL_DIM>
class ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >

A costfunction term that defines a cost on a task-space pose, for fix-base robots only.

Template Parameters

KINEMATICS	kinematics of the system
STATE_DIM	state dimensionality of the system
CONTROL_DIM	control dimensionality of the system

Member Typedef Documentation

◆ BASE

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

using ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::BASE = optcon::TermBase<STATE_DIM, CONTROL_DIM, double, double>

◆ RBDState

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

using ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::RBDState = ct::rbd::RBDState<KINEMATICS::NJOINTS>

◆ state_matrix_t

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

using ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::state_matrix_t = Eigen::Matrix<double, STATE_DIM, STATE_DIM>

◆ control_matrix_t

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

using ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::control_matrix_t = Eigen::Matrix<double, CONTROL_DIM, CONTROL_DIM>

◆ control_state_matrix_t

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

using ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::control_state_matrix_t = Eigen::Matrix<double, CONTROL_DIM, STATE_DIM>

Constructor & Destructor Documentation

◆ TermTaskspaceGeometricJacobian() [1/7]

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::TermTaskspaceGeometricJacobian ( )

default

default constructor

Referenced by ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::clone().

◆ TermTaskspaceGeometricJacobian() [2/7]

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::TermTaskspaceGeometricJacobian	(	size_t	eeInd,
		const Eigen::Matrix3d &	Qpos,
		const Eigen::Matrix3d &	Qrot,
		const core::StateVector< 3 > &	w_pos_des,
		const Eigen::Quaterniond &	w_q_des,
		const std::string &	name = `"TermTaskSpace"`
	)

inline

constructor using a quaternion for orientation

References ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::setReferenceOrientation(), and ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::setReferencePosition().

◆ TermTaskspaceGeometricJacobian() [3/7]

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::TermTaskspaceGeometricJacobian	(	size_t	eeInd,
		const Eigen::Matrix3d &	Qpos,
		const Eigen::Matrix3d &	Qrot,
		const ct::rbd::RigidBodyPose &	rbdPose,
		const std::string &	name = `"TermTaskSpace"`
	)

inline

constructor taking a full RigidBodyPose

◆ TermTaskspaceGeometricJacobian() [4/7]

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::TermTaskspaceGeometricJacobian	(	size_t	eeInd,
		const Eigen::Matrix3d &	Qpos,
		const Eigen::Matrix3d &	Qrot,
		const core::StateVector< 3 > &	w_pos_des,
		const Eigen::Matrix3d &	eulerXyz,
		const std::string &	name = `"TermTaskSpace"`
	)

inline

constructor using Euler angles for orientation

◆ TermTaskspaceGeometricJacobian() [5/7]

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::TermTaskspaceGeometricJacobian	(	size_t	eeInd,
		const Eigen::Matrix3d &	Qpos,
		const Eigen::Matrix3d &	Qrot,
		const std::string &	name = `"TermTaskSpace"`
	)

inline

constructor which sets the target pose to dummy values

References ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::setReferenceOrientation(), and ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::setReferencePosition().

◆ TermTaskspaceGeometricJacobian() [6/7]

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::TermTaskspaceGeometricJacobian	(	const std::string &	configFile,
		const std::string &	termName,
		bool	verbose = `false`
	)

inline

construct this term with info loaded from a configuration file

References ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::loadConfigFile(), and verbose.

◆ TermTaskspaceGeometricJacobian() [7/7]

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::TermTaskspaceGeometricJacobian ( const TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM > & arg )

inline

copy constructor

References ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::~TermTaskspaceGeometricJacobian().

◆ ~TermTaskspaceGeometricJacobian()

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

virtual ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::~TermTaskspaceGeometricJacobian ( )

virtualdefault

destructor

Referenced by ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::TermTaskspaceGeometricJacobian().

Member Function Documentation

◆ clone()

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

virtual TermTaskspaceGeometricJacobian<KINEMATICS, STATE_DIM, CONTROL_DIM>* ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::clone ( ) const

inlineoverridevirtual

deep cloning

Implements ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double >.

References ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::TermTaskspaceGeometricJacobian().

◆ evaluate()

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

virtual double ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::evaluate	(	const Eigen::Matrix< double, STATE_DIM, 1 > &	x,
		const Eigen::Matrix< double, CONTROL_DIM, 1 > &	u,
		const double &	t
	)

inlineoverridevirtual

evaluate

Implements ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double >.

References ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), and ct::rbd::RBDState< NJOINTS, SCALAR >::jointPositions().

◆ stateDerivative()

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

virtual core::StateVector<STATE_DIM> ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::stateDerivative	(	const core::StateVector< STATE_DIM > &	x,
		const core::ControlVector< CONTROL_DIM > &	u,
		const double &	t
	)

inlineoverridevirtual

compute derivative of this cost term w.r.t. the state

References ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), and ct::rbd::RBDState< NJOINTS, SCALAR >::jointPositions().

◆ controlDerivative()

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

virtual core::ControlVector<CONTROL_DIM> ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::controlDerivative	(	const core::StateVector< STATE_DIM > &	x,
		const core::ControlVector< CONTROL_DIM > &	u,
		const double &	t
	)

inlineoverridevirtual

compute derivative of this cost term w.r.t. the control input

◆ stateSecondDerivative()

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

virtual state_matrix_t ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::stateSecondDerivative	(	const core::StateVector< STATE_DIM > &	x,
		const core::ControlVector< CONTROL_DIM > &	u,
		const double &	t
	)

inlineoverridevirtual

compute second order derivative of this cost term w.r.t. the state

References ct::rbd::RBDState< NJOINTS, SCALAR >::jointPositions().

◆ controlSecondDerivative()

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

virtual control_matrix_t ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::controlSecondDerivative	(	const core::StateVector< STATE_DIM > &	x,
		const core::ControlVector< CONTROL_DIM > &	u,
		const double &	t
	)

inlineoverridevirtual

compute second order derivative of this cost term w.r.t. the control input

◆ stateControlDerivative()

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

virtual control_state_matrix_t ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::stateControlDerivative	(	const core::StateVector< STATE_DIM > &	x,
		const core::ControlVector< CONTROL_DIM > &	u,
		const double &	t
	)

inlineoverridevirtual

compute the cross-term derivative (state-control) of this cost function term

◆ loadConfigFile()

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

void ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::loadConfigFile	(	const std::string &	filename,
		const std::string &	termName,
		bool	verbose = `false`
	)

inlineoverridevirtual

load term information from configuration file (stores data in member variables)

Reimplemented from ct::optcon::TermBase< STATE_DIM, CONTROL_DIM, double, double >.

References ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::getReferencePosition(), ct::optcon::loadMatrixCF(), ct::optcon::loadScalarCF(), ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::setReferenceOrientation(), ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::setReferencePosition(), and verbose.

Referenced by ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::TermTaskspaceGeometricJacobian().

◆ getReferencePosition()

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

const Eigen::Matrix<double, 3, 1> ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::getReferencePosition ( ) const

inline

retrieve reference position in world frame

Referenced by ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::getReferencePose(), and ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::loadConfigFile().

◆ setReferencePosition()

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

void ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::setReferencePosition ( Eigen::Matrix< double, 3, 1 > p_ref )

inline

set the end-effector reference position (in base coordinates)

Referenced by ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::loadConfigFile(), and ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::TermTaskspaceGeometricJacobian().

◆ getReferenceOrientation()

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

const Eigen::Quaterniond ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::getReferenceOrientation ( ) const

inline

retrieve reference ee orientation in world frame

Referenced by ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::getReferencePose().

◆ setReferenceOrientation() [1/2]

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

void ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::setReferenceOrientation ( const Eigen::Matrix< double, 3, 3 > & w_R_ref )

inline

set desired end-effector orientation in world frame

Referenced by ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::loadConfigFile(), ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::setReferenceOrientation(), and ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::TermTaskspaceGeometricJacobian().

◆ setReferenceOrientation() [2/2]

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

void ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::setReferenceOrientation ( const Eigen::Quaterniond & w_q_des )

inline

set desired end-effector orientation in world frame

References ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::setReferenceOrientation().

◆ getReferencePose()

template<class KINEMATICS , size_t STATE_DIM, size_t CONTROL_DIM>

const ct::rbd::RigidBodyPose ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::getReferencePose ( ) const

inline

return the reference pose as RigidBodyPose

References ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::getReferenceOrientation(), and ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >::getReferencePosition().

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/robot/costfunction/TermTaskspaceGeometricJacobian.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<class KINEMATICS, size_t STATE_DIM, size_t CONTROL_DIM> class ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >

Member Typedef Documentation

◆ BASE

◆ RBDState

◆ state_matrix_t

◆ control_matrix_t

◆ control_state_matrix_t

Constructor & Destructor Documentation

◆ TermTaskspaceGeometricJacobian() [1/7]

◆ TermTaskspaceGeometricJacobian() [2/7]

◆ TermTaskspaceGeometricJacobian() [3/7]

◆ TermTaskspaceGeometricJacobian() [4/7]

◆ TermTaskspaceGeometricJacobian() [5/7]

◆ TermTaskspaceGeometricJacobian() [6/7]

◆ TermTaskspaceGeometricJacobian() [7/7]

◆ ~TermTaskspaceGeometricJacobian()

Member Function Documentation

◆ clone()

◆ evaluate()

◆ stateDerivative()

◆ controlDerivative()

◆ stateSecondDerivative()

◆ controlSecondDerivative()

◆ stateControlDerivative()

◆ loadConfigFile()

◆ getReferencePosition()

◆ setReferencePosition()

◆ getReferenceOrientation()

◆ setReferenceOrientation() [1/2]

◆ setReferenceOrientation() [2/2]

◆ getReferencePose()

template<class KINEMATICS, size_t STATE_DIM, size_t CONTROL_DIM>
class ct::rbd::TermTaskspaceGeometricJacobian< KINEMATICS, STATE_DIM, CONTROL_DIM >