dart::dynamics::InverseKinematics::Objective Class Reference

The InverseKinematics::Objective Function is simply used to merge the objective and null space objective functions that are being held by an InverseKinematics module. More...

#include <InverseKinematics.hpp>

Inheritance diagram for dart::dynamics::InverseKinematics::Objective:

Public Member Functions
	Objective (InverseKinematics *_ik)
	Constructor. More...
virtual	~Objective ()=default
	Virtual destructor. 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...

Static Public Member Functions
template<typename... Args>
static std::shared_ptr< InverseKinematics::Objective >	createShared (Args &&... args)

Protected Attributes
sub_ptr< InverseKinematics >	mIK
	Pointer to this Objective's IK module. More...
Eigen::VectorXd	mGradCache
	Cache for the gradient of the Objective. More...
Eigen::JacobiSVD< math::Jacobian >	mSVDCache
	Cache for the null space SVD. More...
Eigen::MatrixXd	mNullSpaceCache
	Cache for the null space. More...
std::string	mName
	Name of this function. More...

Detailed Description

The InverseKinematics::Objective Function is simply used to merge the objective and null space objective functions 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 objective of the module's Problem to an InverseKinematics::Objective.

Constructor & Destructor Documentation

Objective()

dart::dynamics::InverseKinematics::Objective::Objective

(

InverseKinematics *

_ik

)

Constructor.

~Objective()

virtual dart::dynamics::InverseKinematics::Objective::~Objective ( )

virtualdefault

Virtual destructor.

Member Function Documentation

clone()

optimizer::FunctionPtr dart::dynamics::InverseKinematics::Objective::clone ( InverseKinematics *  _newIK ) const

overridevirtual

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

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

createShared()

template<typename... Args>

static std::shared_ptr< InverseKinematics::Objective > dart::dynamics::InverseKinematics::Objective::createShared ( Args &&...  args )

inlinestatic

Create shared instance of this class

eval()

double dart::dynamics::InverseKinematics::Objective::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::Objective::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

mGradCache

Eigen::VectorXd dart::dynamics::InverseKinematics::Objective::mGradCache

protected

Cache for the gradient of the Objective.

mIK

sub_ptr<InverseKinematics> dart::dynamics::InverseKinematics::Objective::mIK

protected

Pointer to this Objective's IK module.

mName

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

protectedinherited

Name of this function.

mNullSpaceCache

Eigen::MatrixXd dart::dynamics::InverseKinematics::Objective::mNullSpaceCache

protected

Cache for the null space.

mSVDCache

Eigen::JacobiSVD<math::Jacobian> dart::dynamics::InverseKinematics::Objective::mSVDCache

protected

Cache for the null space SVD.