robotoc::CostFunctionData Class Reference

Composed of data used to compute the cost function and its derivatives. More...

#include <cost_function_data.hpp>

Public Member Functions
	CostFunctionData (const Robot &robot)
	Constructor. More...
	CostFunctionData ()
	Default constructor. More...
	~CostFunctionData ()=default
	Default destructor. More...
	CostFunctionData (const CostFunctionData &)=default
	Default copy constructor. More...
CostFunctionData &	operator= (const CostFunctionData &)=default
	Default copy operator. More...
	CostFunctionData (CostFunctionData &&) noexcept=default
	Default move constructor. More...
CostFunctionData &	operator= (CostFunctionData &&) noexcept=default
	Default move assign operator. More...

Public Attributes
Eigen::VectorXd	qdiff
	Vector used for computing the difference of the configurations in JointSpaceCost. Be allocated only when Robot::hasFloatingBase() is true. Then the size is Robot::dimv(). More...
Eigen::VectorXd	q_ref
	Vector used for computing the time-varying reference configuration in ConfigurationCost. The size is Robot::dimq(). More...
Eigen::VectorXd	x3d_ref
	Vector used for set the reference position of the end-effector in TaskSpace3DCost. Be allocated only when CostFunction has TaskSpace3DCost. Then the size is 3. More...
Eigen::VectorXd	diff_3d
	Vector used for computing the difference of the position of the end-effector in TaskSpace3DCost. Be allocated only when CostFunction has TaskSpace3DCost. Then the size is 3. More...
Eigen::VectorXd	diff_6d
	Vector used for computing the difference of the position and rotation of the end-effector in TaskSpace6DCost. Be allocated only when CostFunction has TaskSpace6DCost. Then the size is 6. More...
SE3	x6d_ref
	Vector used for computing the reference SE3 of the end-effector in TaskSpace6DCost. More...
SE3	x6d_ref_inv
	Vector used for computing the inverse of the reference SE3 of the end-effector in TaskSpace6DCost. More...
SE3	diff_x6d
	Vector used for computing the difference of the SE3 of the end-effector in TaskSpace6DCost. Be allocated only when CostFunction has TaskSpace6DCost. More...
Eigen::MatrixXd	J_qdiff
	Jacobian of the difference of the configurations used in JointSpaceCost. Be allocated only when Robot::hasFloatingBase() is true. Then the size is Robot::dimv() x Robot::dimv(). More...
Eigen::MatrixXd	J_6d
	Jacobian used in TaskSpace3DCost and TaskSpace6DCost. Be allocated only when CostFunction has TaskSpace3DCost or TaskSpace6DCost. Size is 6 x Robot::dimv(). More...
Eigen::MatrixXd	J_3d
	Jacobian used in TaskSpace3DCost and TaskSpace6DCost. Be allocated only when CostFunction has TaskSpace3DCost or TaskSpace6DCost. Size is 3 x Robot::dimv(). More...
Eigen::MatrixXd	J_66
	Jacobian used in TaskSpace6DCost. Be allocated only when CostFunction has TaskSpace6DCost. Size is 6 x 6. More...
Eigen::MatrixXd	JJ_6d
	Jacobian used in TaskSpace6DCost. Be allocated only when CostFunction has TaskSpace6DCost. Size is 6 x Robot::dimv(). More...

Detailed Description

Composed of data used to compute the cost function and its derivatives.

Constructor & Destructor Documentation

CostFunctionData() [1/4]

robotoc::CostFunctionData::CostFunctionData

(

const Robot &

robot

)

Constructor.

Parameters

[in]

robot

Robot model.

CostFunctionData() [2/4]

robotoc::CostFunctionData::CostFunctionData

(

)

Default constructor.

~CostFunctionData()

robotoc::CostFunctionData::~CostFunctionData ( )

default

Default destructor.

CostFunctionData() [3/4]

robotoc::CostFunctionData::CostFunctionData ( const CostFunctionData &  )

default

Default copy constructor.

CostFunctionData() [4/4]

robotoc::CostFunctionData::CostFunctionData ( CostFunctionData &&  )

defaultnoexcept

Default move constructor.

Member Function Documentation

operator=() [1/2]

CostFunctionData & robotoc::CostFunctionData::operator= ( const CostFunctionData &  )

default

Default copy operator.

operator=() [2/2]

CostFunctionData & robotoc::CostFunctionData::operator= ( CostFunctionData &&  )

defaultnoexcept

Default move assign operator.

Member Data Documentation

diff_3d

Eigen::VectorXd robotoc::CostFunctionData::diff_3d

Vector used for computing the difference of the position of the end-effector in TaskSpace3DCost. Be allocated only when CostFunction has TaskSpace3DCost. Then the size is 3.

diff_6d

Eigen::VectorXd robotoc::CostFunctionData::diff_6d

Vector used for computing the difference of the position and rotation of the end-effector in TaskSpace6DCost. Be allocated only when CostFunction has TaskSpace6DCost. Then the size is 6.

diff_x6d

SE3 robotoc::CostFunctionData::diff_x6d

Vector used for computing the difference of the SE3 of the end-effector in TaskSpace6DCost. Be allocated only when CostFunction has TaskSpace6DCost.

J_3d

Eigen::MatrixXd robotoc::CostFunctionData::J_3d

Jacobian used in TaskSpace3DCost and TaskSpace6DCost. Be allocated only when CostFunction has TaskSpace3DCost or TaskSpace6DCost. Size is 3 x Robot::dimv().

J_66

Eigen::MatrixXd robotoc::CostFunctionData::J_66

Jacobian used in TaskSpace6DCost. Be allocated only when CostFunction has TaskSpace6DCost. Size is 6 x 6.

J_6d

Eigen::MatrixXd robotoc::CostFunctionData::J_6d

Jacobian used in TaskSpace3DCost and TaskSpace6DCost. Be allocated only when CostFunction has TaskSpace3DCost or TaskSpace6DCost. Size is 6 x Robot::dimv().

J_qdiff

Eigen::MatrixXd robotoc::CostFunctionData::J_qdiff

Jacobian of the difference of the configurations used in JointSpaceCost. Be allocated only when Robot::hasFloatingBase() is true. Then the size is Robot::dimv() x Robot::dimv().

JJ_6d

Eigen::MatrixXd robotoc::CostFunctionData::JJ_6d

Jacobian used in TaskSpace6DCost. Be allocated only when CostFunction has TaskSpace6DCost. Size is 6 x Robot::dimv().

q_ref

Eigen::VectorXd robotoc::CostFunctionData::q_ref

Vector used for computing the time-varying reference configuration in ConfigurationCost. The size is Robot::dimq().

qdiff

Eigen::VectorXd robotoc::CostFunctionData::qdiff

Vector used for computing the difference of the configurations in JointSpaceCost. Be allocated only when Robot::hasFloatingBase() is true. Then the size is Robot::dimv().

x3d_ref

Eigen::VectorXd robotoc::CostFunctionData::x3d_ref

Vector used for set the reference position of the end-effector in TaskSpace3DCost. Be allocated only when CostFunction has TaskSpace3DCost. Then the size is 3.

x6d_ref

SE3 robotoc::CostFunctionData::x6d_ref

Vector used for computing the reference SE3 of the end-effector in TaskSpace6DCost.

x6d_ref_inv

SE3 robotoc::CostFunctionData::x6d_ref_inv

Vector used for computing the inverse of the reference SE3 of the end-effector in TaskSpace6DCost.

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The documentation for this class was generated from the following file:

• /github/workspace/include/robotoc/cost/cost_function_data.hpp