Documentation: RobotLocomotion/drake@68ee3a7

Author: drake-jenkins-bot

doxygen_cxx/classdrake_1_1multibody_1_1_differential_inverse_kinematics_system-members.html

@@ -257,11 +257,17 @@
 </table><table class="memberdecls">
 <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
 Public Member Functions</h2></td></tr>
-<tr class="memitem:a4ea2852fbfe839089a2f69996bd449b4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a4ea2852fbfe839089a2f69996bd449b4">DifferentialInverseKinematicsSystem</a> (std::shared_ptr&lt; const <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html">Recipe</a> &gt; recipe, std::string_view <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a52c752afcfb77628bb9c0cbdacd504d0">task_frame</a>, std::shared_ptr&lt; const <a class="el" href="classdrake_1_1planning_1_1_collision_checker.html">planning::CollisionChecker</a> &gt; <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a73f52997d89eb0be1a0fa8a793632c9c">collision_checker</a>, const <a class="el" href="classdrake_1_1planning_1_1_dof_mask.html">planning::DofMask</a> &amp;<a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#ab29351d6647c50cb4ac3fe6f33422dfd">active_dof</a>, <a class="el" href="classdouble.html">double</a> <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a8daceb7a3c384d6ad9f305e42b5fc1c6">time_step</a>, <a class="el" href="classdouble.html">double</a> K_VX, const <a class="el" href="classdrake_1_1multibody_1_1_spatial_velocity.html">SpatialVelocity</a>&lt; <a class="el" href="classdouble.html">double</a> &gt; &amp;Vd_TG_limit)</td></tr>
+<tr class="memitem:a4ea2852fbfe839089a2f69996bd449b4"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a4ea2852fbfe839089a2f69996bd449b4">DifferentialInverseKinematicsSystem</a> (std::shared_ptr&lt; const <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html">Recipe</a> &gt; <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#ae1d4db91318e5a9a5da0f5148c099089">recipe</a>, std::string_view <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a52c752afcfb77628bb9c0cbdacd504d0">task_frame</a>, std::shared_ptr&lt; const <a class="el" href="classdrake_1_1planning_1_1_collision_checker.html">planning::CollisionChecker</a> &gt; <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a73f52997d89eb0be1a0fa8a793632c9c">collision_checker</a>, const <a class="el" href="classdrake_1_1planning_1_1_dof_mask.html">planning::DofMask</a> &amp;<a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#ab29351d6647c50cb4ac3fe6f33422dfd">active_dof</a>, <a class="el" href="classdouble.html">double</a> <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a8daceb7a3c384d6ad9f305e42b5fc1c6">time_step</a>, <a class="el" href="classdouble.html">double</a> <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a1632d67e7fb5e062cf0b5950c63c2cfe">K_VX</a>, const <a class="el" href="classdrake_1_1multibody_1_1_spatial_velocity.html">SpatialVelocity</a>&lt; <a class="el" href="classdouble.html">double</a> &gt; &amp;<a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a777f806efc35013c9c4241af71f7e5d2">Vd_TG_limit</a>)</td></tr>
 <tr class="memdesc:a4ea2852fbfe839089a2f69996bd449b4"><td class="mdescLeft">&#160;</td><td class="mdescRight">(Advanced) Constructs the <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html" title="The DifferentialInverseKinematicsSystem takes as input desired cartesian poses (or cartesian velociti...">DifferentialInverseKinematicsSystem</a> with a user-provided recipe for the mathematical program formulation.  <a href="#a4ea2852fbfe839089a2f69996bd449b4">More...</a><br /></td></tr>
 <tr class="separator:a4ea2852fbfe839089a2f69996bd449b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a07fb668fcfaced7065619e30256c3955"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a07fb668fcfaced7065619e30256c3955">~DifferentialInverseKinematicsSystem</a> () final</td></tr>
 <tr class="separator:a07fb668fcfaced7065619e30256c3955"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae1d4db91318e5a9a5da0f5148c099089"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html">Recipe</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#ae1d4db91318e5a9a5da0f5148c099089">recipe</a> () const</td></tr>
+<tr class="memdesc:ae1d4db91318e5a9a5da0f5148c099089"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the mathematical formulation recipe.  <a href="#ae1d4db91318e5a9a5da0f5148c099089">More...</a><br /></td></tr>
+<tr class="separator:ae1d4db91318e5a9a5da0f5148c099089"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a52c752afcfb77628bb9c0cbdacd504d0"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classdrake_1_1multibody_1_1_frame.html">Frame</a>&lt; <a class="el" href="classdouble.html">double</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a52c752afcfb77628bb9c0cbdacd504d0">task_frame</a> () const</td></tr>
+<tr class="memdesc:a52c752afcfb77628bb9c0cbdacd504d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the frame assumed on the desired_cartesian_poses input port.  <a href="#a52c752afcfb77628bb9c0cbdacd504d0">More...</a><br /></td></tr>
+<tr class="separator:a52c752afcfb77628bb9c0cbdacd504d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:a5001e433b72f3005d744a7b9b71cc529"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classdrake_1_1multibody_1_1_multibody_plant.html">MultibodyPlant</a>&lt; <a class="el" href="classdouble.html">double</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a5001e433b72f3005d744a7b9b71cc529">plant</a> () const</td></tr>
 <tr class="memdesc:a5001e433b72f3005d744a7b9b71cc529"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the plant used by the controller.  <a href="#a5001e433b72f3005d744a7b9b71cc529">More...</a><br /></td></tr>
 <tr class="separator:a5001e433b72f3005d744a7b9b71cc529"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -274,9 +280,12 @@
 <tr class="memitem:a8daceb7a3c384d6ad9f305e42b5fc1c6"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classdouble.html">double</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a8daceb7a3c384d6ad9f305e42b5fc1c6">time_step</a> () const</td></tr>
 <tr class="memdesc:a8daceb7a3c384d6ad9f305e42b5fc1c6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the time step used by the controller.  <a href="#a8daceb7a3c384d6ad9f305e42b5fc1c6">More...</a><br /></td></tr>
 <tr class="separator:a8daceb7a3c384d6ad9f305e42b5fc1c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a52c752afcfb77628bb9c0cbdacd504d0"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classdrake_1_1multibody_1_1_frame.html">Frame</a>&lt; <a class="el" href="classdouble.html">double</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a52c752afcfb77628bb9c0cbdacd504d0">task_frame</a> () const</td></tr>
-<tr class="memdesc:a52c752afcfb77628bb9c0cbdacd504d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the frame assumed on the desired_cartesian_poses input port.  <a href="#a52c752afcfb77628bb9c0cbdacd504d0">More...</a><br /></td></tr>
-<tr class="separator:a52c752afcfb77628bb9c0cbdacd504d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1632d67e7fb5e062cf0b5950c63c2cfe"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classdouble.html">double</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a1632d67e7fb5e062cf0b5950c63c2cfe">K_VX</a> () const</td></tr>
+<tr class="memdesc:a1632d67e7fb5e062cf0b5950c63c2cfe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the gain factor used to convert desired cartesian poses to velocities.  <a href="#a1632d67e7fb5e062cf0b5950c63c2cfe">More...</a><br /></td></tr>
+<tr class="separator:a1632d67e7fb5e062cf0b5950c63c2cfe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a777f806efc35013c9c4241af71f7e5d2"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classdrake_1_1multibody_1_1_spatial_velocity.html">SpatialVelocity</a>&lt; <a class="el" href="classdouble.html">double</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#a777f806efc35013c9c4241af71f7e5d2">Vd_TG_limit</a> () const</td></tr>
+<tr class="memdesc:a777f806efc35013c9c4241af71f7e5d2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the clamping limit applied to inferred desired cartesian velocities.  <a href="#a777f806efc35013c9c4241af71f7e5d2">More...</a><br /></td></tr>
+<tr class="separator:a777f806efc35013c9c4241af71f7e5d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
 <tr class="memitem:af55f56638e61b705bca752e30957ed87"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classdrake_1_1systems_1_1_input_port.html">systems::InputPort</a>&lt; <a class="el" href="classdouble.html">double</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html#af55f56638e61b705bca752e30957ed87">get_input_port_position</a> () const</td></tr>
 <tr class="memdesc:af55f56638e61b705bca752e30957ed87"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the input port for the joint positions.  <a href="#af55f56638e61b705bca752e30957ed87">More...</a><br /></td></tr>
 <tr class="separator:af55f56638e61b705bca752e30957ed87"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -1596,6 +1605,25 @@ <h2 class="memtitle"><span class="permalink"><a href="#ab615e0a185134a924b0a886d
 <p>Returns the output port for the generalized velocity command that realizes the desired poses within the constraints. </p>
 <p>The size is equal to <code>get_active_dof().count()</code>. </p>
 
+</div>
+</div>
+<a id="a1632d67e7fb5e062cf0b5950c63c2cfe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1632d67e7fb5e062cf0b5950c63c2cfe">&#9670;&nbsp;</a></span>K_VX()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classdouble.html">double</a> K_VX </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets the gain factor used to convert desired cartesian poses to velocities. </p>
+
 </div>
 </div>
 <a id="ac097ec80806f46cb7c6499d6169444fb"></a>
@@ -1667,6 +1695,25 @@ <h2 class="memtitle"><span class="permalink"><a href="#a5001e433b72f3005d744a7b9
 
 <p>Gets the plant used by the controller. </p>
 
+</div>
+</div>
+<a id="ae1d4db91318e5a9a5da0f5148c099089"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae1d4db91318e5a9a5da0f5148c099089">&#9670;&nbsp;</a></span>recipe()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const <a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html">Recipe</a>&amp; recipe </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets the mathematical formulation recipe. </p>
+
 </div>
 </div>
 <a id="a52c752afcfb77628bb9c0cbdacd504d0"></a>
@@ -1705,6 +1752,25 @@ <h2 class="memtitle"><span class="permalink"><a href="#a8daceb7a3c384d6ad9f305e4
 
 <p>Gets the time step used by the controller. </p>
 
+</div>
+</div>
+<a id="a777f806efc35013c9c4241af71f7e5d2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a777f806efc35013c9c4241af71f7e5d2">&#9670;&nbsp;</a></span>Vd_TG_limit()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">const <a class="el" href="classdrake_1_1multibody_1_1_spatial_velocity.html">SpatialVelocity</a>&lt;<a class="el" href="classdouble.html">double</a>&gt;&amp; Vd_TG_limit </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>Gets the clamping limit applied to inferred desired cartesian velocities. </p>
+
 </div>
 </div>
 <hr/>The documentation for this class was generated from the following file:<ul>

doxygen_cxx/classdrake_1_1multibody_1_1_differential_inverse_kinematics_system.html

@@ -167,6 +167,8 @@
 <table class="directory">
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html#a9e50799c4aaeca7225a55eb1553d25ea">AddIngredient</a>(std::shared_ptr&lt; const Ingredient &gt; ingredient)</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html">DifferentialInverseKinematicsSystem::Recipe</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html#a31ff325bf1612efcf799b638cbaf0806">AddToProgram</a>(CallbackDetails *details) const</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html">DifferentialInverseKinematicsSystem::Recipe</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html#a9b81ac150688c4ad8cd311f4c93fda03">ingredient</a>(int i) const</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html">DifferentialInverseKinematicsSystem::Recipe</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html#a8149230e7bd3ff7e1c0aeed0c87982c4">num_ingredients</a>() const</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html">DifferentialInverseKinematicsSystem::Recipe</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html#a9473b86a8de3dcb0722bfd753b6df12b">operator=</a>(const Recipe &amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html">DifferentialInverseKinematicsSystem::Recipe</a></td><td class="entry"></td></tr>
   <tr><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html#a96802aa489cf766cde1ccefe62c30787">operator=</a>(Recipe &amp;&amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html">DifferentialInverseKinematicsSystem::Recipe</a></td><td class="entry"></td></tr>
   <tr class="even"><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html#a9dad4323e480c493d13c8fb45d59c88c">Recipe</a>(const Recipe &amp;)=delete</td><td class="entry"><a class="el" href="classdrake_1_1multibody_1_1_differential_inverse_kinematics_system_1_1_recipe.html">DifferentialInverseKinematicsSystem::Recipe</a></td><td class="entry"></td></tr>