#include <mtsIntuitiveResearchKitOptimizer.h>

Inheritance diagram for mtsIntuitiveResearchKitOptimizer:

Public Member Functions
	mtsIntuitiveResearchKitOptimizer (void)

	mtsIntuitiveResearchKitOptimizer (const size_t numOfJoints)

	~mtsIntuitiveResearchKitOptimizer ()

void	UpdateJacobian (const robManipulator &manip)

void	UpdateKinematics (vctDoubleVec &qCurr, vctFrm4x4 cartesianCurrent, vctFrm4x4 cartesianDesired)

void	UpdateParams (vctDoubleVec &qCurr, const robManipulator &manip, const double tickTime, vctFrm4x4 cartesianCurrent, vctFrm4x4 cartesianDesired)

void	InitializeFollowVF (const size_t objectiveRows, const std::string &vfName, const std::string &currentKinName, const std::string &desiredKinName="")

void	InitializePlaneVF (const size_t rows, mtsVFDataPlane &planeData, const std::string &currentKinName, const std::string &desiredKinName)

bool	Solve (vctDoubleVec &dq)

Public Member Functions inherited from mtsVFController
	mtsVFController ()

	mtsVFController (size_t num_joints, mtsVFBase::CONTROLLERMODE cm)

	~mtsVFController ()

nmrConstraintOptimizer	GetOptimizer ()

Public Member Functions inherited from cmnGenericObject
virtual	~cmnGenericObject (void)

virtual const cmnClassServicesBase *	Services (void) const =0

bool	ReconstructFrom (const cmnGenericObject &other)

std::string	ToString (void) const

virtual void	ToStream (std::ostream &outputStream) const

virtual void	ToStreamRaw (std::ostream &outputStream, const char delimiter= ' ', bool headerOnly=false, const std::string &headerPrefix="") const

virtual bool	FromStreamRaw (std::istream &inputStream, const char delimiter= ' ')

virtual void	SerializeRaw (std::ostream &outputStream) const

virtual void	DeSerializeRaw (std::istream &inputStream)

virtual cmnLogger::StreamBufType *	GetLogMultiplexer (void) const

virtual size_t	ScalarNumber (void) const

virtual bool	ScalarNumberIsFixed (void) const

virtual double	Scalar (const size_t CMN_UNUSED(index)) const throw (std::out_of_range)

virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Protected Attributes
prmKinematicsState	CurrentSlaveKinematics

prmKinematicsState	DesiredSlaveKinematics

mtsVFDataFollow	FollowData

vctDoubleVec	ControllerOutput

prmJointState	CurrentJointState

size_t	NumOfJoints

struct {
vctDoubleMat BodyJacobian

vctDoubleMat Adjoint

}	Cached

Protected Attributes inherited from mtsVFController
std::map< std::string, mtsVFBase * >	VFMap

std::map< std::string, prmKinematicsState * >	Kinematics

std::map< std::string, prmSensorState * >	Sensors

prmJointState	JointState

nmrConstraintOptimizer	Optimizer

mtsVFBase::CONTROLLERMODE	ControllerMode

Additional Inherited Members
Protected Member Functions inherited from mtsVFController
void	AddVFJointVelocity (const mtsVFDataBase &vf)
	Adds/Updates a vf data object. More...

void	AddVFJointPosition (const mtsVFDataBase &vf)
	Adds/Updates a vf data object. More...

void	AddVFCartesianTranslation (const mtsVFDataBase &vf)
	Adds/Updates a vf data object. More...

void	AddVFCartesianOrientation (const mtsVFDataBase &vf)
	Adds/Updates a vf data object. More...

void	AddVFSensorCompliance (const mtsVFDataSensorCompliance &vf)
	Adds/Updates a vf data object. More...

void	AddVFPlane (const mtsVFDataPlane &vf)
	Adds/Updates a vf plane object. More...

void	AddVFFollowPath (const mtsVFDataBase &vf)

void	SetSensor (const prmSensorState &sen)
	Adds/Updates a sensor to the map. More...

void	SetSensorOffset (const prmOffsetState &sen)
	Adds/Updates a sensor to the map. More...

void	RemoveSensorFromMap (const std::string &senName)
	Removes a sensor from the map. More...

void	SetMode (const mtsVFBase::CONTROLLERMODE &m)
	Changes the variable the optimizer is solving for. More...

void	LookupBaseData (void)
	Finds the "base" object for kinematics and sensor data that has an offset. More...

void	SetKinematics (const prmKinematicsState &kin)
	Adds/Updates a kinematics object to the map. More...

void	RemoveKinematicsFromMap (const std::string &kinName)
	Removes a kinematics object from the map. More...

void	UpdateOptimizer (double TickTime)
	Updates the robot state data and control optimizer. More...

nmrConstraintOptimizer::STATUS	Solve (vctDoubleVec &dq)
	Solves the constraint optimization problem and fills the result into the parameter. More...

void	IncrementUsers (const std::vector< std::string > kin_names, const std::vector< std::string > sensor_names)
	Helper function that increments users of new vf. More...

void	DecrementUsers (const std::vector< std::string > kin_names, const std::vector< std::string > sensor_names)
	Helper function that decrements users of new data in an old vf. More...

bool	SetVFData (const mtsVFDataBase &data, const std::type_info &type)

bool	SetVFDataSensorCompliance (const mtsVFDataSensorCompliance &data, const std::type_info &type)

bool	SetVFDataPlane (const mtsVFDataPlane &data, const std::type_info &type)

Constructor & Destructor Documentation

mtsIntuitiveResearchKitOptimizer::mtsIntuitiveResearchKitOptimizer ( void )

inline

mtsIntuitiveResearchKitOptimizer::mtsIntuitiveResearchKitOptimizer ( const size_t numOfJoints )

mtsIntuitiveResearchKitOptimizer::~mtsIntuitiveResearchKitOptimizer ( )

inline

Member Function Documentation

void mtsIntuitiveResearchKitOptimizer::InitializeFollowVF	(	const size_t	objectiveRows,
		const std::string &	vfName,
		const std::string &	currentKinName,
		const std::string &	desiredKinName = `""`
	)

void mtsIntuitiveResearchKitOptimizer::InitializePlaneVF	(	const size_t	rows,
		mtsVFDataPlane &	planeData,
		const std::string &	currentKinName,
		const std::string &	desiredKinName
	)

bool mtsIntuitiveResearchKitOptimizer::Solve ( vctDoubleVec & dq )

void mtsIntuitiveResearchKitOptimizer::UpdateJacobian ( const robManipulator & manip )

void mtsIntuitiveResearchKitOptimizer::UpdateKinematics	(	vctDoubleVec &	qCurr,
		vctFrm4x4	cartesianCurrent,
		vctFrm4x4	cartesianDesired
	)

void mtsIntuitiveResearchKitOptimizer::UpdateParams	(	vctDoubleVec &	qCurr,
		const robManipulator &	manip,
		const double	tickTime,
		vctFrm4x4	cartesianCurrent,
		vctFrm4x4	cartesianDesired
	)

Member Data Documentation

vctDoubleMat mtsIntuitiveResearchKitOptimizer::Adjoint

vctDoubleMat mtsIntuitiveResearchKitOptimizer::BodyJacobian

struct { ... } mtsIntuitiveResearchKitOptimizer::Cached

vctDoubleVec mtsIntuitiveResearchKitOptimizer::ControllerOutput

protected

prmJointState mtsIntuitiveResearchKitOptimizer::CurrentJointState

protected

prmKinematicsState mtsIntuitiveResearchKitOptimizer::CurrentSlaveKinematics

protected

prmKinematicsState mtsIntuitiveResearchKitOptimizer::DesiredSlaveKinematics

protected

mtsVFDataFollow mtsIntuitiveResearchKitOptimizer::FollowData

protected

size_t mtsIntuitiveResearchKitOptimizer::NumOfJoints

protected

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/include/sawIntuitiveResearchKit/mtsIntuitiveResearchKitOptimizer.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation