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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...
 
function getGradientSparseStructure (obj)
 
function checkGradient (obj, tol, varargin)
 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
 

Additional Inherited Members

- Public Attributes inherited from Constraint
Property grad_level
 
Property grad_method
 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 ( ,
Q  ,
q_nom  ,
Qv  ,
Qa   
)
Return values
obj

Member Function Documentation

function constraintEval ( obj  ,
 
)
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  ,
 
)

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: