robot::control::kinematics::AnalyticLagrangianNullSpaceBetaOptimizer Class Reference

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

Inheritance diagram for robot::control::kinematics::AnalyticLagrangianNullSpaceBetaOptimizer:

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

[legend]List of all members.

Public Member Functions
	AnalyticLagrangianNullSpaceBetaOptimizer ()
virtual String	className () const
virtual void	setGs (const Matrix &gs)
	set the gs (Matrix of column vectors that span 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) 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)
Vector	o
Vector	e
int	_refCount
bool	onUnreferenceEnabled

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Detailed Description

A constrained optimizer that uses an analytic Lagrangian solution technique.

Analytic Lagrangian optimizer in the null-space with Beta form constraints. Similar to the formulation of the FullSpace method (see the AnalyticLagrangianFSBetaOptimizer class), but as the solution is in the null-space, the sum of ti constraint can be omitted.

Definition at line 46 of file AnalyticLagrangianNullSpaceBetaOptimizer.

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Constructor & Destructor Documentation

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

Definition at line 49 of file AnalyticLagrangianNullSpaceBetaOptimizer.

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Member Function Documentation

Vector robot::control::kinematics::AnalyticLagrangianNullSpaceBetaOptimizer::calct (  const Matrix &  Ginv, const Vector &  H, ref< const BetaFormConstraints >  betaConstraints )  const [protected]

compute t Vector

virtual String robot::control::kinematics::AnalyticLagrangianNullSpaceBetaOptimizer::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 52 of file AnalyticLagrangianNullSpaceBetaOptimizer.

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::AnalyticLagrangianNullSpaceBetaOptimizer::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::AnalyticLagrangianNullSpaceBetaOptimizer::setGs (  const Matrix &  gs  )  [inline, virtual]

set the gs (Matrix of column vectors that span the null-space) Implements robot::control::kinematics::LagrangianOptimizer. Definition at line 55 of file AnalyticLagrangianNullSpaceBetaOptimizer. References base::Matrix.

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.

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Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]

Definition at line 136 of file Referenced. Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

Vector robot::control::kinematics::AnalyticLagrangianNullSpaceBetaOptimizer::e [mutable, protected]

Definition at line 64 of file AnalyticLagrangianNullSpaceBetaOptimizer.

Matrix const* robot::control::kinematics::AnalyticLagrangianNullSpaceBetaOptimizer::gs [protected]

matrix of column vectors that span the solition space of dq's (from a full-space solver) Definition at line 61 of file AnalyticLagrangianNullSpaceBetaOptimizer.

Vector robot::control::kinematics::AnalyticLagrangianNullSpaceBetaOptimizer::o [mutable, protected]

Definition at line 63 of file AnalyticLagrangianNullSpaceBetaOptimizer.

bool base::Referenced::onUnreferenceEnabled [protected, inherited]

Definition at line 137 of file Referenced. Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

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

• robot/control/kinematics/AnalyticLagrangianNullSpaceBetaOptimizer

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