dart::dynamics::HierarchicalIK::Constraint Class Reference

The HierarchicalIK::Constraint Function is simply used to merge the constraints of the InverseKinematics modules that belong to the hierarchy of this HierarchicalIK module. More...

#include <HierarchicalIK.hpp>

Inheritance diagram for dart::dynamics::HierarchicalIK::Constraint:

Public Member Functions
	Constraint (const std::shared_ptr< HierarchicalIK > &_ik)
	Constructor. More...
virtual	~Constraint ()=default
	Virtual destructor. More...
optimizer::FunctionPtr	clone (const std::shared_ptr< HierarchicalIK > &_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
std::weak_ptr< HierarchicalIK >	mIK
	Pointer to this Constraint's HierarchicalIK module. More...
Eigen::VectorXd	mLevelGradCache
	Cache for the gradient of a level. More...
Eigen::VectorXd	mTempGradCache
	Cache for temporary gradients. More...
std::string	mName
	Name of this function. More...

Detailed Description

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.

Constructor & Destructor Documentation

Constraint()

dart::dynamics::HierarchicalIK::Constraint::Constraint

(

const std::shared_ptr< HierarchicalIK > &

_ik

)

Constructor.

~Constraint()

virtual dart::dynamics::HierarchicalIK::Constraint::~Constraint ( )

virtualdefault

Virtual destructor.

Member Function Documentation

clone()

optimizer::FunctionPtr dart::dynamics::HierarchicalIK::Constraint::clone ( const std::shared_ptr< HierarchicalIK > &  _newIK ) const

overridevirtual

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

Implements dart::dynamics::HierarchicalIK::Function.

eval()

double dart::dynamics::HierarchicalIK::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::HierarchicalIK::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

std::weak_ptr<HierarchicalIK> dart::dynamics::HierarchicalIK::Constraint::mIK

protected

Pointer to this Constraint's HierarchicalIK module.

mLevelGradCache

Eigen::VectorXd dart::dynamics::HierarchicalIK::Constraint::mLevelGradCache

protected

Cache for the gradient of a level.

mName

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

protectedinherited

Name of this function.

mTempGradCache

Eigen::VectorXd dart::dynamics::HierarchicalIK::Constraint::mTempGradCache

protected

Cache for temporary gradients.