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Public Member Functions | List of all members
GazeIpOptMin Class Reference

#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.
 
void set_ctrlPose (const unsigned int _ctrlPose)
 Sets the state of Pose control settings.
 
unsigned int get_ctrlPose () const
 Returns the state of Pose control settings.
 
bool set_posePriority (const std::string &priority)
 Sets the Pose priority for weighting more either position or orientation while reaching in full pose.
 
std::string get_posePriority () const
 Returns the Pose priority settings.
 
void attachLIC (iKinLinIneqConstr &lic)
 Attach a iKinLinIneqConstr object in order to impose constraints of the form lB <= C*q <= uB.
 
iKinLinIneqConstrgetLIC ()
 Returns a reference to the attached Linear Inequality Constraints object.
 
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.
 
iKinChainget2ndTaskChain ()
 Retrieves the 2nd task's chain.
 
void setMaxIter (const int max_iter)
 Sets Maximum Iteration.
 
int getMaxIter () const
 Retrieves the current value of Maximum Iteration.
 
void setMaxCpuTime (const double max_cpu_time)
 Sets Maximum CPU seconds.
 
double getMaxCpuTime () const
 Retrieves the current value of Maximum CPU seconds.
 
void setTol (const double tol)
 Sets cost function tolerance.
 
double getTol () const
 Retrieves cost function tolerance.
 
void setConstrTol (const double constr_tol)
 Sets constraints tolerance.
 
double getConstrTol () const
 Retrieves constraints tolerance.
 
void setVerbosity (const unsigned int verbose)
 Sets Verbosity.
 
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).
 
void setUserScaling (const bool useUserScaling, const double _obj_scaling, const double _x_scaling, const double _g_scaling)
 Enables/disables user scaling factors.
 
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).
 
void getBoundsInf (double &lower, double &upper)
 Returns the lower and upper bounds to represent -inf and +inf.
 
void setBoundsInf (const double lower, const double upper)
 Sets the lower and upper bounds to represent -inf and +inf.
 
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.
 
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.
 
virtual yarp::sig::Vector solve (const yarp::sig::Vector &q0, yarp::sig::Vector &xd)
 Executes the IpOpt algorithm trying to converge on target.
 
virtual ~iKinIpOptMin ()
 Default destructor.
 

Additional Inherited Members

- Protected Attributes inherited from iCub::iKin::iKinIpOptMin
void * App
 
iKinChainchain
 
iKinChain chain2ndTask
 
iKinLinIneqConstr noLIC
 
iKinLinIneqConstrpLIC
 
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: