Drake
CubicPostureError Class Reference

approximate the posture as a cubic spline, and penalize the cost sum_i (q(:,i)-q_nom(:,i))'Q(q(:,i)-q_nom(:,i))+ sum_i qdot(:,i)'Qv*qdot(:,i) + sum_i qddot(:,i)'*Qa*qddot(:,i) [qdot(:,2);qdot(:,3);;qdot(:,obj.nT-1)] = % velocity_mat[q(:,1);q(:,2);;q(:,obj.nT)]+velocity_mat_qd0*qdot(:,1)+velocity_mat_qdf*qdot(:,obj.nT) % More...

Inheritance diagram for CubicPostureError:
Collaboration diagram for CubicPostureError:

Public Member Functions

function CubicPostureError (t, Q, q_nom, Qv, Qa)

function cubicSpline (obj, x)
return the cubic spline at knot point More...

Public Member Functions inherited from Constraint
function Constraint (lb, ub, xdim, options)
Constraint(lb,ub) or Constraint(lb,ub,eval_handle) More...

function setSparseStructure (obj, iCfun, jCvar)
set the sparse structure of the 1st order gradient matrix More...

Check the accuracy and sparsity pattern of the gradient. More...

function setName (obj, name)

function disp (obj)

function eval (obj, varargin)

function setBounds (obj, lb, ub)
revise the bounds for the constraint More...

Protected Member Functions

function constraintEval (obj, x)

Protected Member Functions inherited from Constraint
virtual function constraintEval (obj, varargin)

Protected Attributes

Property Q

Property q_nom

Property Qv

Property velocity_mat

Property velocity_mat_qd0

Property velocity_mat_qdf

Property Qa

Property accel_mat

Property accel_mat_qd0

Property accel_mat_qdf

Protected Attributes inherited from Constraint
Property lb

Property ub

Property xdim

Property num_cnstr

Property name

Property ceq_idx

Property cin_idx

Public Attributes inherited from Constraint

A string indicating the method to compute gradient. If empty,. More...

Detailed Description

approximate the posture as a cubic spline, and penalize the cost sum_i (q(:,i)-q_nom(:,i))'Q(q(:,i)-q_nom(:,i))+ sum_i qdot(:,i)'Qv*qdot(:,i) + sum_i qddot(:,i)'*Qa*qddot(:,i) [qdot(:,2);qdot(:,3);;qdot(:,obj.nT-1)] = % velocity_mat[q(:,1);q(:,2);;q(:,obj.nT)]+velocity_mat_qd0*qdot(:,1)+velocity_mat_qdf*qdot(:,obj.nT) %

Parameters
 Qv – A nq x nq PSD matrix [qddot(:,1);qddot(:,2);;qddot(:,obj.nT)] = accel_mat*[q(:,1);q(:,2);;q(:,obj.nT)]+ % accel_mat_qd0*qdot(:,1)+accel_mat_qdf*qdot(:,obj.nT) % velocity_mat –A nq*(obj.nT-2) x nq*obj.nT matrix. velocity_mat_qd0 – A nq*(obj.nT-2) x nq matrix velocity_mat_qdf – A nq*(obj.nT-2) x nq matrix accel_mat – A nq*obj.nT x nq*obj.nT matrix accel_mat_qd0 – A nq*obj.nT x nq matrix accel_mat_qdf – A nq*obj.nT x nq matrix

Constructor & Destructor Documentation

 function CubicPostureError ( t , Q , q_nom , Qv , Qa )
Return values
 obj

Member Function Documentation

 function constraintEval ( obj , x )
protected
Parameters
 x – A double array of size nq*(nT+2). x = [q(:,1);q(:,2);;q(:,nT);qdot(:,1);qdot(:,nT)] q = x(1:obj.nq*obj.nT);
Return values
 c dc
 function cubicSpline ( obj , x )

return the cubic spline at knot point

Return values
 q qdot qddot

Member Data Documentation

 Property accel_mat
protected
 Property accel_mat_qd0
protected
 Property accel_mat_qdf
protected
 Property Q
protected
 Property q_nom
protected
 Property Qa
protected
 Property Qv
protected
 Property velocity_mat
protected
 Property velocity_mat_qd0
protected
 Property velocity_mat_qdf
protected

The documentation for this class was generated from the following file:
• /home/ubuntu/workspace/linux-gcc-continuous-matlab-documentation/drake/matlab/solvers/trajectoryOptimization/CubicPostureError.m