DART  6.10.1
dart::dynamics::InverseKinematics::Constraint Class Referencefinal

The InverseKinematics::Constraint Function is simply meant to be used to merge the ErrorMethod and GradientMethod that are being held by an InverseKinematics module. More...

#include <InverseKinematics.hpp>

Inheritance diagram for dart::dynamics::InverseKinematics::Constraint:
dart::dynamics::InverseKinematics::Function dart::optimizer::Function

Public Member Functions

 Constraint (InverseKinematics *_ik)
 Constructor. More...
 
virtual ~Constraint ()=default
 Virtual constructor. More...
 
optimizer::FunctionPtr clone (InverseKinematics *_newIK) const override
 Enable this function to be cloned to a new IK module. More...
 
double eval (const Eigen::VectorXd &_x) override
 Evaluates and returns the objective function at the point x. More...
 
void evalGradient (const Eigen::VectorXd &_x, Eigen::Map< Eigen::VectorXd > _grad) override
 Evaluates and returns the objective function at the point x. More...
 
virtual void setName (const std::string &newName)
 Sets the name of this Function. More...
 
const std::string & getName () const
 Returns the name of this Function. More...
 
void evalGradient (const Eigen::VectorXd &_x, Eigen::VectorXd &_grad)
 Evaluates and return the objective function at the point x. More...
 
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...
 

Protected Attributes

sub_ptr< InverseKinematicsmIK
 Pointer to this Constraint's IK module. More...
 
std::string mName
 Name of this function. More...
 

Detailed Description

The InverseKinematics::Constraint Function is simply meant to be used to merge the ErrorMethod and GradientMethod that are being held by an InverseKinematics module.

This class is not meant to be extended or instantiated by a user. Call InverseKinematics::resetProblem() to set the first equality constraint of the module's Problem to an InverseKinematics::Constraint.

Constructor & Destructor Documentation

◆ Constraint()

dart::dynamics::InverseKinematics::Constraint::Constraint ( InverseKinematics _ik)

Constructor.

◆ ~Constraint()

virtual dart::dynamics::InverseKinematics::Constraint::~Constraint ( )
virtualdefault

Virtual constructor.

Member Function Documentation

◆ clone()

optimizer::FunctionPtr dart::dynamics::InverseKinematics::Constraint::clone ( InverseKinematics _newIK) const
overridevirtual

Enable this function to be cloned to a new IK module.

Implements dart::dynamics::InverseKinematics::Function.

◆ eval()

double dart::dynamics::InverseKinematics::Constraint::eval ( const Eigen::VectorXd &  x)
overridevirtual

Evaluates and returns the objective function at the point x.

Implements dart::optimizer::Function.

◆ evalGradient() [1/2]

void dart::dynamics::InverseKinematics::Constraint::evalGradient ( const Eigen::VectorXd &  _x,
Eigen::Map< Eigen::VectorXd >  _grad 
)
overridevirtual

Evaluates and returns the objective function at the point x.

Reimplemented from dart::optimizer::Function.

◆ evalGradient() [2/2]

void dart::optimizer::Function::evalGradient ( const Eigen::VectorXd &  _x,
Eigen::VectorXd &  _grad 
)
inherited

Evaluates and return the objective function at the point x.

If you have a raw array that the gradient will be passed in, then use evalGradient(const Eigen::VectorXd&, Eigen::Map<Eigen::VectorXd>) for better performance.

◆ evalHessian()

void dart::optimizer::Function::evalHessian ( const Eigen::VectorXd &  _x,
Eigen::Map< Eigen::VectorXd, Eigen::RowMajor >  _Hess 
)
virtualinherited

Evaluates and return the objective function at the point x.

Reimplemented in dart::optimizer::NullFunction, and dart::optimizer::ModularFunction.

◆ getName()

const std::string & dart::optimizer::Function::getName ( ) const
inherited

Returns the name of this Function.

◆ setName()

void dart::optimizer::Function::setName ( const std::string &  newName)
virtualinherited

Sets the name of this Function.

Member Data Documentation

◆ mIK

sub_ptr<InverseKinematics> dart::dynamics::InverseKinematics::Constraint::mIK
protected

Pointer to this Constraint's IK module.

◆ mName

std::string dart::optimizer::Function::mName
protectedinherited

Name of this function.