Actin®  Version 5.2.0
Software for Robotics Simulation and Control
EcStrengthOptimizationFunction Class Reference

Computes the sum of the normalized joint torques, to be used for strength optimization. More...

#include <ecStrOptFunction.h>

Inheritance diagram for EcStrengthOptimizationFunction:
EcScalarManipulatorFunction

Public Member Functions

 EcStrengthOptimizationFunction ()
 default constructor
 
virtual ~EcStrengthOptimizationFunction ()
 destructor
 
 EcStrengthOptimizationFunction (const EcStrengthOptimizationFunction &orig)
 copy constructor
 
EcStrengthOptimizationFunctionoperator= (const EcStrengthOptimizationFunction &orig)
 assignment operator
 
virtual const EcIndividualManipulatormanipulator () const
 gets a pointer to the manipulator
 
virtual void setManipulator (const EcIndividualManipulator *pManipulator)
 sets the manipulator pointer
 
virtual const EcEndEffectorSetendEffectorSet () const
 gets a pointer to the end-effector set
 
virtual void setEndEffectorSet (const EcEndEffectorSet *pEndEffectorSet)
 sets the pointer to the end-effector set
 
virtual const EcManipulatorEndEffectorForceendEffectorForces () const
 gets a pointer to the end-effector forces
 
virtual void setEndEffectorForces (const EcManipulatorEndEffectorForce *pEndEffectorForces)
 sets the pointer to the end-effector forces
 
virtual EcReal evaluate (EcManipulatorActiveState &actState, EcBoolean nominal=EcTrue) const EC_OVERRIDE
 evaluate the function using an active state
 
virtual void setNormDegree (EcReal value)
 sets the degree to use for N-Norm optimization
 
virtual EcReal getNormDegree () const
 gets the degree to use for N-Norm optimization
 
- Public Member Functions inherited from EcScalarManipulatorFunction
 EcScalarManipulatorFunction ()
 default constructor
 
virtual ~EcScalarManipulatorFunction ()
 destructor
 
 EcScalarManipulatorFunction (const EcScalarManipulatorFunction &orig)
 copy constructor
 
EcScalarManipulatorFunctionoperator= (const EcScalarManipulatorFunction &orig)
 assignment operator
 
virtual EcScalarManipulatorFunctionclone () const =0
 

Static Public Member Functions

static EcStrengthOptimizationFunction nullObject ()
 get a null object
 

Protected Attributes

const EcIndividualManipulatorm_pManipulator
 a pointer to the manipulator
 
const EcEndEffectorSetm_pEndEffectorSet
 a pointer to an end-effector set
 
const EcManipulatorEndEffectorForcem_pManipEndEffectorForces
 manipulator end effector forces
 
EcReal m_Norm
 degree to use for N-Norm optimization
 
EcJacobianTool m_JacobianTool
 utility Jacobian tool
 
EcManipulatorJacobian m_Jacobian
 utility Jacobian
 
EcRealVector m_UtilityForces
 utility forces
 
EcRealVector m_UtilityTorqueVector
 utility torque vector
 

Detailed Description

Computes the sum of the normalized joint torques, to be used for strength optimization.

Provides a measure of proximity to a singularity.

Definition at line 26 of file ecStrOptFunction.h.


The documentation for this class was generated from the following file:
Created by Energid Technologies www.energid.com
Copyright © 2016 Energid. All trademarks mentioned in this document are property of their respective owners.