The InverseKinematics::Objective Function is simply used to merge the objective and null space objective functions that are being held by an InverseKinematics module. More...

Inheritance diagram for dart::dynamics::InverseKinematics::Objective:

Collaboration diagram for dart::dynamics::InverseKinematics::Objective:

Public Member Functions
	Objective (InverseKinematics *_ik)
	Constructor.

virtual	~Objective ()=default
	Virtual destructor.

optimization::FunctionPtr	clone (InverseKinematics *_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::InverseKinematics::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
sub_ptr< InverseKinematics >	mIK
	Pointer to this Objective's IK module.

Eigen::VectorXd	mGradCache
	Cache for the gradient of the Objective.

Eigen::JacobiSVD< math::Jacobian >	mSVDCache
	Cache for the null space SVD.

Eigen::MatrixXd	mNullSpaceCache
	Cache for the null space.

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

Detailed Description

The InverseKinematics::Objective Function is simply used to merge the objective and null space objective functions that are being held by an InverseKinematics module.

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

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

Public Member Functions