#include <gazeNlp.h>

Inheritance diagram for GazeIpOptMin:

Public Member Functions
	GazeIpOptMin (iKinChain &_chain, const double tol, const double constr_tol, const int max_iter=IKINCTRL_DISABLED, const unsigned int verbose=0)

void	set_ctrlPose (const unsigned int _ctrlPose)

bool	set_posePriority (const string &priority)

void	setHessianOpt (const bool useHessian)

Vector	solve (const Vector &q0, Vector &xd, const Vector &gDir)

Public Member Functions inherited from iCub::iKin::iKinIpOptMin
	iKinIpOptMin (iKinChain &c, const unsigned int _ctrlPose, const double tol, const double constr_tol, const int max_iter=IKINCTRL_DISABLED, const unsigned int verbose=0, bool useHessian=true)
	Constructor. More...

void	set_ctrlPose (const unsigned int _ctrlPose)
	Sets the state of Pose control settings. More...

unsigned int	get_ctrlPose () const
	Returns the state of Pose control settings. More...

bool	set_posePriority (const std::string &priority)
	Sets the Pose priority for weighting more either position or orientation while reaching in full pose. More...

std::string	get_posePriority () const
	Returns the Pose priority settings. More...

void	attachLIC (iKinLinIneqConstr &lic)
	Attach a iKinLinIneqConstr object in order to impose constraints of the form lB <= C*q <= uB. More...

iKinLinIneqConstr &	getLIC ()
	Returns a reference to the attached Linear Inequality Constraints object. More...

void	specify2ndTaskEndEff (const unsigned int n)
	Selects the End-Effector of the 2nd task by giving the ordinal number n of last joint pointing at it. More...

iKinChain &	get2ndTaskChain ()
	Retrieves the 2nd task's chain. More...

void	setMaxIter (const int max_iter)
	Sets Maximum Iteration. More...

int	getMaxIter () const
	Retrieves the current value of Maximum Iteration. More...

void	setMaxCpuTime (const double max_cpu_time)
	Sets Maximum CPU seconds. More...

double	getMaxCpuTime () const
	Retrieves the current value of Maximum CPU seconds. More...

void	setTol (const double tol)
	Sets cost function tolerance. More...

double	getTol () const
	Retrieves cost function tolerance. More...

void	setConstrTol (const double constr_tol)
	Sets constraints tolerance. More...

double	getConstrTol () const
	Retrieves constraints tolerance. More...

void	setVerbosity (const unsigned int verbose)
	Sets Verbosity. More...

void	setHessianOpt (const bool useHessian)
	Selects whether to rely on exact Hessian computation or enable Quasi-Newton approximation (Hessian is enabled at start-up by default). More...

void	setUserScaling (const bool useUserScaling, const double _obj_scaling, const double _x_scaling, const double _g_scaling)
	Enables/disables user scaling factors. More...

void	setDerivativeTest (const bool enableTest, const bool enable2ndDer=false)
	Enable\disable derivative test at each call to solve method (disabled at start-up by default). More...

void	getBoundsInf (double &lower, double &upper)
	Returns the lower and upper bounds to represent -inf and +inf. More...

void	setBoundsInf (const double lower, const double upper)
	Sets the lower and upper bounds to represent -inf and +inf. More...

virtual yarp::sig::Vector	solve (const yarp::sig::Vector &q0, yarp::sig::Vector &xd, double weight2ndTask, yarp::sig::Vector &xd_2nd, yarp::sig::Vector &w_2nd, double weight3rdTask, yarp::sig::Vector &qd_3rd, yarp::sig::Vector &w_3rd, int exit_code=NULL, bool exhalt=NULL, iKinIterateCallback *iterate=NULL)
	Executes the IpOpt algorithm trying to converge on target. More...

virtual yarp::sig::Vector	solve (const yarp::sig::Vector &q0, yarp::sig::Vector &xd, double weight2ndTask, yarp::sig::Vector &xd_2nd, yarp::sig::Vector &w_2nd)
	Executes the IpOpt algorithm trying to converge on target. More...

virtual yarp::sig::Vector	solve (const yarp::sig::Vector &q0, yarp::sig::Vector &xd)
	Executes the IpOpt algorithm trying to converge on target. More...

virtual	~iKinIpOptMin ()
	Default destructor. More...

Additional Inherited Members
Protected Attributes inherited from iCub::iKin::iKinIpOptMin
void *	App

iKinChain &	chain

iKinChain	chain2ndTask

iKinLinIneqConstr	noLIC

iKinLinIneqConstr *	pLIC

unsigned int	ctrlPose

double	obj_scaling

double	x_scaling

double	g_scaling

double	lowerBoundInf

double	upperBoundInf

std::string	posePriority

Detailed Description

Definition at line 40 of file gazeNlp.h.

Constructor & Destructor Documentation

◆ GazeIpOptMin()

GazeIpOptMin::GazeIpOptMin	(	iKinChain &	_chain,
		const double	tol,
		const double	constr_tol,
		const int	max_iter = `IKINCTRL_DISABLED`,
		const unsigned int	verbose = `0`
	)

inline

Definition at line 48 of file gazeNlp.h.

Member Function Documentation

◆ set_ctrlPose()

void GazeIpOptMin::set_ctrlPose ( const unsigned int _ctrlPose )

inline

Definition at line 54 of file gazeNlp.h.

◆ set_posePriority()

bool GazeIpOptMin::set_posePriority ( const string & priority )

inline

Definition at line 55 of file gazeNlp.h.

◆ setHessianOpt()

void GazeIpOptMin::setHessianOpt ( const bool useHessian )

inline

Definition at line 56 of file gazeNlp.h.

◆ solve()

Vector GazeIpOptMin::solve	(	const Vector &	q0,
		Vector &	xd,
		const Vector &	gDir
	)

Definition at line 332 of file gazeNlp.cpp.

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

icub-main/src/modules/iKinGazeCtrl/include/iCub/gazeNlp.h
icub-main/src/modules/iKinGazeCtrl/src/gazeNlp.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GazeIpOptMin()

Member Function Documentation

◆ set_ctrlPose()

◆ set_posePriority()

◆ setHessianOpt()

◆ solve()