The HierarchicalIK::Constraint Function is simply used to merge the constraints of the InverseKinematics modules that belong to the hierarchy of this HierarchicalIK module.
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#include <HierarchicalIK.hpp>
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| Constraint (const std::shared_ptr< HierarchicalIK > &_ik) |
| Constructor. More...
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virtual | ~Constraint ()=default |
| Virtual destructor. More...
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optimizer::FunctionPtr | clone (const std::shared_ptr< HierarchicalIK > &_newIK) const override |
| Enable this function to be cloned to a new IK module. More...
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double | eval (const Eigen::VectorXd &_x) override |
| Evaluates and returns the objective function at the point x. More...
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void | evalGradient (const Eigen::VectorXd &_x, Eigen::Map< Eigen::VectorXd > _grad) override |
| Evaluates and returns the objective function at the point x. More...
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virtual void | setName (const std::string &newName) |
| Sets the name of this Function. More...
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const std::string & | getName () const |
| Returns the name of this Function. More...
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void | evalGradient (const Eigen::VectorXd &_x, Eigen::VectorXd &_grad) |
| Evaluates and return the objective function at the point x. More...
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virtual void | evalHessian (const Eigen::VectorXd &_x, Eigen::Map< Eigen::VectorXd, Eigen::RowMajor > _Hess) |
| Evaluates and return the objective function at the point x. More...
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The HierarchicalIK::Constraint Function is simply used to merge the constraints of the InverseKinematics modules that belong to the hierarchy of this HierarchicalIK module.
This class is not meant to be extended or instantiated by a user. Call HierarchicalIK::resetProblem() to set the constraint of the module's Problem to an HierarchicalIK::Constraint.
◆ Constraint()
dart::dynamics::HierarchicalIK::Constraint::Constraint |
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const std::shared_ptr< HierarchicalIK > & |
_ik | ) |
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◆ ~Constraint()
virtual dart::dynamics::HierarchicalIK::Constraint::~Constraint |
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virtualdefault |
◆ clone()
◆ eval()
double dart::dynamics::HierarchicalIK::Constraint::eval |
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const Eigen::VectorXd & |
x | ) |
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overridevirtual |
◆ evalGradient() [1/2]
void dart::dynamics::HierarchicalIK::Constraint::evalGradient |
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const Eigen::VectorXd & |
_x, |
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Eigen::Map< Eigen::VectorXd > |
_grad |
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overridevirtual |
◆ evalGradient() [2/2]
void dart::optimizer::Function::evalGradient |
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const Eigen::VectorXd & |
_x, |
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Eigen::VectorXd & |
_grad |
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inherited |
◆ evalHessian()
void dart::optimizer::Function::evalHessian |
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const Eigen::VectorXd & |
_x, |
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Eigen::Map< Eigen::VectorXd, Eigen::RowMajor > |
_Hess |
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virtualinherited |
◆ getName()
const std::string & dart::optimizer::Function::getName |
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const |
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inherited |
◆ setName()
void dart::optimizer::Function::setName |
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const std::string & |
newName | ) |
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virtualinherited |
◆ mIK
std::weak_ptr<HierarchicalIK> dart::dynamics::HierarchicalIK::Constraint::mIK |
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◆ mLevelGradCache
Eigen::VectorXd dart::dynamics::HierarchicalIK::Constraint::mLevelGradCache |
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Cache for the gradient of a level.
◆ mName
std::string dart::optimizer::Function::mName |
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protectedinherited |
◆ mTempGradCache
Eigen::VectorXd dart::dynamics::HierarchicalIK::Constraint::mTempGradCache |
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Cache for temporary gradients.