The HierarchicalIK::Constraint Function is simply used to merge the constraints of the InverseKinematics modules that belong to the hierarchy of this HierarchicalIK module. More...

Inheritance diagram for dart::dynamics::HierarchicalIK::Constraint:

Collaboration diagram for dart::dynamics::HierarchicalIK::Constraint:

Public Member Functions
	Constraint (const std::shared_ptr< HierarchicalIK > &_ik)
	Constructor.

virtual	~Constraint ()=default
	Virtual destructor.

optimization::FunctionPtr	clone (const std::shared_ptr< HierarchicalIK > &_newIK) const override
	Enable this function to be cloned to a new IK module.

double	eval (const Eigen::VectorXd &_x) override
	Evaluates and returns the objective function at the point x.

void	evalGradient (const Eigen::VectorXd &_x, Eigen::Map< Eigen::VectorXd > _grad) override
	Evaluates and returns the objective function at the point x.

Public Member Functions inherited from dart::dynamics::HierarchicalIK::Function
virtual	~Function ()=default
	Virtual destructor.

Public Member Functions inherited from dart::optimization::Function
	Function (const std::string &_name="function")
	Constructor.

virtual	~Function ()
	Destructor.

virtual void	setName (const std::string &newName)
	Sets the name of this Function.

const std::string &	getName () const
	Returns the name of this Function.

void	evalGradient (const Eigen::VectorXd &_x, Eigen::VectorXd &_grad)
	Evaluates and return the objective function at the point x. More...

virtual void	evalHessian (const Eigen::VectorXd &_x, Eigen::Map< Eigen::VectorXd, Eigen::RowMajor > _Hess)
	Evaluates and return the objective function at the point x.

Protected Attributes
std::weak_ptr< HierarchicalIK >	mIK
	Pointer to this Constraint's HierarchicalIK module.

Eigen::VectorXd	mLevelGradCache
	Cache for the gradient of a level.

Eigen::VectorXd	mTempGradCache
	Cache for temporary gradients.

Protected Attributes inherited from dart::optimization::Function
std::string	mName
	Name of this function.

Detailed Description

The HierarchicalIK::Constraint Function is simply used to merge the constraints of the InverseKinematics modules that belong to the hierarchy of this HierarchicalIK module.

This class is not meant to be extended or instantiated by a user. Call HierarchicalIK::resetProblem() to set the constraint of the module's Problem to an HierarchicalIK::Constraint.

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

Public Member Functions