robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer Class Reference

A constrained optimizer that uses an analytic Lagrangian solution technique. More...

Inheritance diagram for robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer:

[legend]Collaboration diagram for robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer:

[legend]List of all members.


Public Member Functions
	AnalyticLagrangianFSBetaOptimizer ()
virtual String	className () const
virtual void	setGs (const Matrix &gs)
	set the gs (Matrix of column vectors that span the full-space)
void	setSolveForNullspace (bool nullSpace)
	indicate if a solution is sought in the null-space
virtual Vector	optimize (ref< const Objective > objective, ref< const Constraints > constraints) const
	optimize the objective with the given constraints
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
Protected Member Functions
Vector	calct (const Matrix &Ginv, const Vector &H, ref< const BetaFormConstraints > betaConstraints, bool nullSpace) const
	compute t Vector
Protected Attributes
Matrix const *	gs
	matrix of column vectors that span the solition space of dq's (from a full-space solver)
bool	nullSpace
Vector	o
Vector	e
int	_refCount
bool	onUnreferenceEnabled

Detailed Description

A constrained optimizer that uses an analytic Lagrangian solution technique.

Analytic Lagrangian optimizer in Full-Space with Beta form constraints. The paper below details a optimizaiton method that provides an analytic solution for a Lagrangian-type problem, given the objective function and constraints are of a particular form. The objective form is represented via the ReferenceOpVectorFormObjective class and the form of the constraints via the BetaFormConstraints class.

see 1. "Resolving Kinematic Redundancy with Constraints Using the FSP (Full Space Parameterization) Approach", Francois G. Pin & Faithlyn A. Tulloch, Proceedings of the 1996 IEEE International Conference on Robotics and Automation.

for the formulation of the non-holonomic constraint solution, see 2. "Motion Planning for Mobile Manipulators with a Non-Holonomic Constraint Using the FSP (Full Space Parameterization) Method", Francois G. Pin, Kristi A. Morgansen, Faithlyn A. Tulloch, Charles J. Hacker and Kathryn B. Gower, Journal of Robotic Systems 13(11), 723-736 (1996).

Definition at line 58 of file AnalyticLagrangianFSBetaOptimizer.

Constructor & Destructor Documentation

robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer::AnalyticLagrangianFSBetaOptimizer ( ) [inline]

Definition at line 61 of file AnalyticLagrangianFSBetaOptimizer.
References gs, and nullSpace.

Member Function Documentation

Vector robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer::calct ( const Matrix & Ginv,

const Vector & H,

ref< const BetaFormConstraints > betaConstraints,

bool nullSpace

) const [protected]

compute t Vector

virtual String robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer::className ( ) const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes.
Implements base::Object.
Definition at line 64 of file AnalyticLagrangianFSBetaOptimizer.

void base::Referenced::enableOnUnreferenceCall ( bool enabled ) [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference()
Definition at line 115 of file Referenced.
References base::Referenced::onUnreferenceEnabled.

virtual bool base::Object::isSameKindAs ( const Object & ) const [inline, virtual, inherited]

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs ( const ReferencedObject & ) const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

virtual void base::Referenced::onUnreference ( ) const [inline, virtual, inherited]

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references
Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor.
Definition at line 121 of file Referenced.
Referenced by base::Referenced::unreference().

virtual Vector robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer::optimize ( ref< const Objective > objective,

ref< const Constraints > constraints

) const [virtual]

optimize the objective with the given constraints

Implements robot::control::kinematics::Optimizer.

void base::Referenced::reference ( ) const [inline, inherited]

Increment the reference count by one, indicating that this object has another pointer which is referencing it.
Definition at line 65 of file Referenced.
References base::Referenced::_refCount.

const int base::Referenced::referenceCount ( ) const [inline, inherited]

Return the number pointers currently referencing this object.
Definition at line 112 of file Referenced.
References base::Referenced::_refCount.
Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

virtual void robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer::setGs ( const Matrix & gs ) [inline, virtual]

set the gs (Matrix of column vectors that span the full-space)

Implements robot::control::kinematics::LagrangianOptimizer.
Definition at line 67 of file AnalyticLagrangianFSBetaOptimizer.
References base::Matrix.

void robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer::setSolveForNullspace ( bool nullSpace ) [inline]

indicate if a solution is sought in the null-space

Definition at line 70 of file AnalyticLagrangianFSBetaOptimizer.

bool base::Referenced::unreference ( ) const [inline, inherited]

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted.
Definition at line 81 of file Referenced.
References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.