Function class that measures the difference between the robot's center of mass and a desired COM. More...
#include <IKFunctions.h>
Inheritance diagram for RobotCOMFunction:
Public Member Functions | |
| RobotCOMFunction (RobotKinematics3D &, const Vector2 &com, const ArrayMapping &activeDofs) | |
| int | GetDOF (int dim) const |
| virtual std::string | Label () const |
| virtual std::string | Label (int i) const |
| virtual int | NumDimensions () const |
| virtual void | PreEval (const Vector &x) |
| virtual void | Eval (const Vector &x, Vector &r) |
| virtual Real | Eval_i (const Vector &x, int i) |
| virtual void | Jacobian (const Vector &x, Matrix &J) |
| virtual void | Jacobian_i (const Vector &x, int i, Vector &Ji) |
| virtual void | Hessian_i (const Vector &x, int i, Matrix &Hi) |
Public Attributes | |
| RobotKinematics3D & | robot |
| Vector2 | comGoal |
| const ArrayMapping & | activeDofs |
| Real | comScale |
| Real | mtotal |
| DirtyData< Matrix > | Hx |
| DirtyData< Matrix > | Hy |
Detailed Description
Function class that measures the difference between the robot's center of mass and a desired COM.
An individual component of a RobotIKFunction. Requres robot.q to be set, and the chain updated before PreEval is called.
The documentation for this struct was generated from the following files:
- IKFunctions.h
- IKFunctions.cpp
