robot::control::kinematics::ReferenceOpVectorFormObjective Class Reference

Representation of an Optimizer::Objective function expressed in reference operational vector form. More...

Inheritance diagram for robot::control::kinematics::ReferenceOpVectorFormObjective:

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

[legend]List of all members.

Public Types
enum	ObjectiveType { Linear, NonLinear }
Public Member Functions
	ReferenceOpVectorFormObjective ()
virtual String	className () const
virtual ObjectiveType	getObjectiveType () const
virtual Real	evaluate (const Vector &x, const Vector &a) const
void	setB (const Matrix &B)
void	setdZr (const Vector &dZr)
const Matrix &	getB () const
const Vector &	getdZr () const
Real	Q (const Vector &x, const Vector &a)
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 Attributes
Matrix	B
Vector	dZr
int	_refCount
bool	onUnreferenceEnabled

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Detailed Description

Representation of an Optimizer::Objective function expressed in reference operational vector form.

The paper below introduces an analytic optimization method where the objective function (Q) is expressed in terms of a given reference operational vector dZr, as: Q = | dZ(q,dq) - dZr |^2, where dZ(q,dq) = B(q)dq This class represents objective functions of this form.

see "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.

Definition at line 49 of file ReferenceOpVectorFormObjective.

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Member Enumeration Documentation

enum robot::control::kinematics::Optimizer::Objective::ObjectiveType [inherited]

Enumeration values: Linear  NonLinear  Definition at line 48 of file Optimizer.

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Constructor & Destructor Documentation

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

Definition at line 52 of file ReferenceOpVectorFormObjective.

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Member Function Documentation

virtual String robot::control::kinematics::ReferenceOpVectorFormObjective::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 54 of file ReferenceOpVectorFormObjective.

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 Real robot::control::kinematics::ReferenceOpVectorFormObjective::evaluate (  const Vector &  x, const Vector &  a )  const [inline, virtual]

Implements robot::control::kinematics::Optimizer::Objective. Definition at line 58 of file ReferenceOpVectorFormObjective. References Assert, dZr, base::vector< T >::size(), base::matrix< T >::size1(), base::matrix< T >::size2(), and base::Vector.

const Matrix& robot::control::kinematics::ReferenceOpVectorFormObjective::getB (   )  const [inline]

Definition at line 70 of file ReferenceOpVectorFormObjective. References base::Matrix.

const Vector& robot::control::kinematics::ReferenceOpVectorFormObjective::getdZr (   )  const [inline]

Definition at line 71 of file ReferenceOpVectorFormObjective. References dZr, and base::Vector.

virtual ObjectiveType robot::control::kinematics::ReferenceOpVectorFormObjective::getObjectiveType (   )  const [inline, virtual]

Implements robot::control::kinematics::Optimizer::Objective. Definition at line 56 of file ReferenceOpVectorFormObjective.

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().

Real robot::control::kinematics::Optimizer::Objective::Q (  const Vector &  x, const Vector &  a )  [inline, inherited]

Definition at line 52 of file Optimizer. References robot::control::kinematics::Optimizer::Objective::evaluate(), and base::Vector.

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().

void robot::control::kinematics::ReferenceOpVectorFormObjective::setB (  const Matrix &  B  )  [inline]

Definition at line 68 of file ReferenceOpVectorFormObjective. References base::Matrix, and base::matrix< T >::reset().

void robot::control::kinematics::ReferenceOpVectorFormObjective::setdZr (  const Vector &  dZr  )  [inline]

Definition at line 69 of file ReferenceOpVectorFormObjective. References base::vector< T >::reset(), and base::Vector.

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().

Matrix robot::control::kinematics::ReferenceOpVectorFormObjective::B [protected]

Definition at line 75 of file ReferenceOpVectorFormObjective.

Vector robot::control::kinematics::ReferenceOpVectorFormObjective::dZr [protected]

Definition at line 76 of file ReferenceOpVectorFormObjective. Referenced by evaluate(), and getdZr().

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/ReferenceOpVectorFormObjective

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