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robot::control::kinematics::Optimizer::Constraints Class Reference

Inheritance diagram for robot::control::kinematics::Optimizer::Constraints:

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Collaboration diagram for robot::control::kinematics::Optimizer::Constraints:

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List of all members.

Public Types

enum  ConstraintsType { Linear, NonLinear }
enum  ConstraintType { Equality, Inequality }

Public Member Functions

virtual ConstraintsType getConstraintsType () const=0
virtual ConstraintType getConstraintType (Int constraint) const=0
virtual Int numConstraints () const=0
virtual Int numEqualityConstraints () const=0
virtual Int numInequalityConstraints () const=0
Int size () const
virtual Real evaluate (Int constraint, const Vector &x, const Vector &a) const=0
virtual Vector evaluate (const Vector &x, const Vector &a) const=0
Real g (Int i, const Vector &x, const Vector &a) const
Vector g (const Vector &x, const Vector &a) const
virtual String toString () const
 < to aid debugging (called by operator<<)

virtual bool isSameKindAs (const ReferencedObject &) const
virtual bool isSameKindAs (const Object &) const
virtual String className () const=0
void reference () const
bool unreference () const
const int referenceCount () const
void enableOnUnreferenceCall (bool enabled)
virtual void onUnreference () const

Protected Attributes

int _refCount
bool onUnreferenceEnabled

Member Enumeration Documentation

enum robot::control::kinematics::Optimizer::Constraints::ConstraintsType
 

Enumeration values:
Linear 
NonLinear 

Definition at line 61 of file Optimizer.

enum robot::control::kinematics::Optimizer::Constraints::ConstraintType
 

Enumeration values:
Equality 
Inequality 

Definition at line 62 of file Optimizer.

Member Function Documentation

virtual String base::Object::className (   )  const [pure virtual, inherited]
 

return the name of the object's class type. Must be defined by derived classes.

Implemented in base::Application, base::BinarySerializer, base::Cache, base::CacheDirectory, base::CacheFile, base::ConstantExpression, base::CosExpression, base::DifferenceExpression, base::Directory, base::Expression, base::Externalizer, base::File, base::LineSegPathRep, base::LineSegTrajectoryRep, base::Math, base::NegateExpression, base::ParametricPathRep, base::ParametricTrajectoryRep, base::Path, base::PathComponent, base::PathName, base::ProductExpression, base::QuotientExpression, base::SimpleXMLSerializer, base::SinExpression, base::StdFileSystem, base::SumExpression, base::Time, base::Trajectory, base::Universe, base::VariableExpression, base::VDirectory, base::WaypointPathRep, base::WaypointTrajectoryRep, base::World, gfx::IndexedPoint3Array, gfx::OSGWorld, gfx::TriangleIterator, gfx::VisualPath, gfx::VisualTriangles, gfx::VisualTriangles::TriangleArrayIteratorState, physics::Body, physics::Box, physics::Capsule, physics::CollidableGroup, physics::CollisionModel::ModelState, physics::CollisionState, physics::Cone, physics::Cylinder, physics::DynamicSpatial, physics::GJKCollisionDetector, physics::GJKCollisionDetector::GJKCollisionState, physics::GJKCollisionModel, physics::HeightField, physics::LODTerrain, physics::MassProperties, physics::Material, physics::NullCollisionResponseHandler, physics::OBBCollisionDetector, physics::OBBCollisionDetector::OBBCollisionState, physics::OBBCollisionModel, physics::ODEBallJoint, physics::ODECollidableBody, physics::ODECollidableBody::BodyState, physics::ODECollidableGroup, physics::ODECollisionCuller, physics::ODECollisionDetector, physics::ODECollisionDetector::ODECollisionState, physics::ODECollisionModel, physics::ODECollisionResponseHandler, physics::ODEConstraintGroup, physics::ODEContactConstraint, physics::ODEDoubleHingeJoint, physics::ODEFixedConstraint, physics::ODEHingeJoint, physics::ODEMotor, physics::ODESliderJoint, physics::ODESolid, physics::ODESolidConnectedCollidableBody, physics::ODESolidSystem, physics::ODEUniversalJoint, physics::Polyhedron, physics::Polyhedron::Vertex, physics::Polyhedron::Edge, physics::Polyhedron::Polygon, physics::SimpleCollisionCuller, physics::SimpleTerrain, physics::Solid, physics::SOLIDCollisionDetector, physics::SOLIDCollisionDetector::SOLIDCollisionState, physics::SOLIDCollisionModel, physics::SolidCollisionResponseHandler, physics::SpatialGroup, physics::SpatialTransform, physics::Sphere, physics::Torus, physics::VisualDebugUtil, robot::AggregateControlInterface, robot::control::ControllableAdaptor, robot::control::ControllableAdaptor::AdaptorControlInterface, robot::control::kinematics::AnalyticLagrangianFSBetaOptimizer, robot::control::kinematics::AnalyticLagrangianNullSpaceBetaOptimizer, robot::control::kinematics::BetaFormConstraints::BetaFormConstraint, robot::control::kinematics::BetaFormConstraints, robot::control::kinematics::IKOR, robot::control::kinematics::IKOR::JointLimitBetaConstraint, robot::control::kinematics::IKOR::PushAwayBetaConstraint, robot::control::kinematics::IKOR::RankLossBetaConstraint, robot::control::kinematics::IKORController, robot::control::kinematics::IKORController::EEPositionControlInterface, robot::control::kinematics::IKORController::LinkPositionsControlInterface, robot::control::kinematics::IKORFullSpaceSolver, robot::control::kinematics::LeastNormIKSolver, robot::control::kinematics::MPPseudoInvSolver, robot::control::kinematics::OldIKOR, robot::control::kinematics::ReferenceOpVectorFormObjective, robot::control::kinematics::SVDFullSpaceSolver, robot::control::ManipulatorPIDPositionController, robot::control::ManipulatorPIDPositionController::PositionInterface, robot::JFKengine, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::ManipulatorJointTrajectory, robot::NumericKinematicEvaluator, robot::PlatformDescription, robot::RobotDescription, robot::sim::BasicEnvironment, robot::sim::BasicEnvironment::Tool, robot::sim::BasicEnvironment::Obstacle, robot::sim::Environment, robot::sim::IKORTest, robot::sim::IKORTest::Test, robot::sim::IKORTester, robot::sim::SimulatedBasicEnvironment, robot::sim::SimulatedKinematicChain::ProximityCollisionResponseHandler, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedPlatform, robot::sim::SimulatedRobot, robot::sim::SimulatedRobot::ManipulatorControlInterface, robot::sim::SimulatedRobot::ToolControlInterface, robot::sim::SimulatedRobot::PlatformControlInterface, robot::sim::SimulatedRobot::ProximitySensorInterface, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, robot::sim::TestBasicEnvironment, robot::sim::VisualIKORTest, robot::TestRobot, robot::TestRobot::ManipulatorControlInterface, robot::TestRobot::ToolControlInterface, robot::TestRobot::PlatformControlInterface, robot::TestRobot::ProximitySensorInterface, and robot::ToolDescription.

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 Vector robot::control::kinematics::Optimizer::Constraints::evaluate (  const Vector &  x,
const Vector &  a
)  const [pure virtual]
 

Implemented in robot::control::kinematics::BetaFormConstraints.

virtual Real robot::control::kinematics::Optimizer::Constraints::evaluate (  Int  constraint,
const Vector &  x,
const Vector &  a
)  const [pure virtual]
 

Implemented in robot::control::kinematics::BetaFormConstraints.

Referenced by g().

Vector robot::control::kinematics::Optimizer::Constraints::g (  const Vector &  x,
const Vector &  a
)  const [inline]
 

Definition at line 75 of file Optimizer.

References evaluate(), and base::Vector.

Real robot::control::kinematics::Optimizer::Constraints::g (  Int  i,
const Vector &  x,
const Vector &  a
)  const [inline]
 

Definition at line 74 of file Optimizer.

References evaluate(), and base::Vector.

virtual ConstraintsType robot::control::kinematics::Optimizer::Constraints::getConstraintsType (   )  const [pure virtual]
 

Implemented in robot::control::kinematics::BetaFormConstraints.

virtual ConstraintType robot::control::kinematics::Optimizer::Constraints::getConstraintType (  Int  constraint  )  const [pure virtual]
 

Implemented in robot::control::kinematics::BetaFormConstraints.

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 Int robot::control::kinematics::Optimizer::Constraints::numConstraints (   )  const [pure virtual]
 

Implemented in robot::control::kinematics::BetaFormConstraints.

Referenced by size().

virtual Int robot::control::kinematics::Optimizer::Constraints::numEqualityConstraints (   )  const [pure virtual]
 

Implemented in robot::control::kinematics::BetaFormConstraints.

virtual Int robot::control::kinematics::Optimizer::Constraints::numInequalityConstraints (   )  const [pure virtual]
 

Implemented in robot::control::kinematics::BetaFormConstraints.

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().

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().

Int robot::control::kinematics::Optimizer::Constraints::size (   )  const [inline]
 

Definition at line 69 of file Optimizer.

References numConstraints().

virtual String robot::control::kinematics::Optimizer::Constraints::toString (   )  const [inline, virtual]
 

< to aid debugging (called by operator<<)

Reimplemented in robot::control::kinematics::BetaFormConstraints.

Definition at line 77 of file Optimizer.

Referenced by robot::control::kinematics::operator<<().

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.

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().

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().

The documentation for this class was generated from the following file:
Generated on Thu Jul 29 16:42:45 2004 for OpenSim by doxygen 1.3.6