Drake
Drake C++ Documentation
AngleBetweenVectorsCost Class Reference

## Detailed Description

Implements a cost of the form c*(1-cosθ), where θ is the angle between two vectors a and b.

c is a constant scalar.

#include <drake/multibody/inverse_kinematics/angle_between_vectors_cost.h>

## Public Member Functions

AngleBetweenVectorsCost (const MultibodyPlant< double > *plant, const Frame< double > &frameA, const Eigen::Ref< const Eigen::Vector3d > &a_A, const Frame< double > &frameB, const Eigen::Ref< const Eigen::Vector3d > &b_B, double c, systems::Context< double > *plant_context)
Constructs an AngleBetweenVectorsCost. More...

AngleBetweenVectorsCost (const MultibodyPlant< AutoDiffXd > *plant, const Frame< AutoDiffXd > &frameA, const Eigen::Ref< const Eigen::Vector3d > &a_A, const Frame< AutoDiffXd > &frameB, const Eigen::Ref< const Eigen::Vector3d > &b_B, double c, systems::Context< AutoDiffXd > *plant_context)

~AngleBetweenVectorsCost () override

Does not allow copy, move, or assignment
AngleBetweenVectorsCost (const AngleBetweenVectorsCost &)=delete

AngleBetweenVectorsCostoperator= (const AngleBetweenVectorsCost &)=delete

AngleBetweenVectorsCost (AngleBetweenVectorsCost &&)=delete

AngleBetweenVectorsCostoperator= (AngleBetweenVectorsCost &&)=delete

Public Member Functions inherited from Cost
Cost (const Cost &)=delete

Costoperator= (const Cost &)=delete

Cost (Cost &&)=delete

Costoperator= (Cost &&)=delete

Public Member Functions inherited from EvaluatorBase
virtual ~EvaluatorBase ()

void Eval (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::VectorXd *y) const
Evaluates the expression. More...

void Eval (const Eigen::Ref< const AutoDiffVecXd > &x, AutoDiffVecXd *y) const
Evaluates the expression. More...

void Eval (const Eigen::Ref< const VectorX< symbolic::Variable >> &x, VectorX< symbolic::Expression > *y) const
Evaluates the expression. More...

void set_description (const std::string &description)
Set a human-friendly description for the evaluator. More...

const std::string & get_description () const
Getter for a human-friendly description for the evaluator. More...

std::ostream & Display (std::ostream &os, const VectorX< symbolic::Variable > &vars) const
Formats this evaluator into the given stream using vars for the bound decision variable names. More...

std::ostream & Display (std::ostream &os) const
Formats this evaluator into the given stream, without displaying the decision variables it is bound to. More...

std::string ToLatex (const VectorX< symbolic::Variable > &vars, int precision=3) const
Returns a LaTeX string describing this evaluator. More...

int num_vars () const
Getter for the number of variables, namely the number of rows in x, as used in Eval(x, y). More...

int num_outputs () const
Getter for the number of outputs, namely the number of rows in y, as used in Eval(x, y). More...

Set the sparsity pattern of the gradient matrix ∂y/∂x (the gradient of y value in Eval, w.r.t x in Eval) . More...

const std::optional< std::vector< std::pair< int, int > > > & gradient_sparsity_pattern () const
Returns the vector of (row_index, col_index) that contains all the entries in the gradient of Eval function (∂y/∂x) whose value could be non-zero, namely if ∂yᵢ/∂xⱼ could be non-zero, then the pair (i, j) is in gradient_sparsity_pattern. More...

EvaluatorBase (const EvaluatorBase &)=delete

EvaluatorBaseoperator= (const EvaluatorBase &)=delete

EvaluatorBase (EvaluatorBase &&)=delete

EvaluatorBaseoperator= (EvaluatorBase &&)=delete

Protected Member Functions inherited from Cost
Cost (int num_vars, const std::string &description="")
Constructs a cost evaluator. More...

Protected Member Functions inherited from EvaluatorBase
EvaluatorBase (int num_outputs, int num_vars, const std::string &description="")
Constructs a evaluator. More...

virtual std::ostream & DoDisplay (std::ostream &os, const VectorX< symbolic::Variable > &vars) const
NVI implementation of Display. More...

virtual std::string DoToLatex (const VectorX< symbolic::Variable > &vars, int precision) const

void set_num_outputs (int num_outputs)

## ◆ AngleBetweenVectorsCost() [1/4]

 AngleBetweenVectorsCost ( const AngleBetweenVectorsCost & )
delete

## ◆ AngleBetweenVectorsCost() [2/4]

 AngleBetweenVectorsCost ( AngleBetweenVectorsCost && )
delete

## ◆ AngleBetweenVectorsCost() [3/4]

 AngleBetweenVectorsCost ( const MultibodyPlant< double > * plant, const Frame< double > & frameA, const Eigen::Ref< const Eigen::Vector3d > & a_A, const Frame< double > & frameB, const Eigen::Ref< const Eigen::Vector3d > & b_B, double c, systems::Context< double > * plant_context )

Constructs an AngleBetweenVectorsCost.

Parameters
 plant The MultibodyPlant on which the cost is imposed. plant should be alive during the lifetime of this cost. frameA The Frame object for frame A. a_A The vector a fixed to frame A, expressed in frame A. frameB The Frame object for frame B. b_B The vector b fixed to frame B, expressed in frameB. c The cost is c*(1-cosθ). plant_context The Context that has been allocated for this plant. We will update the context when evaluating the constraint. plant_context should be alive during the lifetime of this cost.
Precondition
frameA and frameB must belong to plant.
Exceptions
 std::exception if plant is nullptr. std::exception if a_A is close to zero. std::exception if b_B is close to zero. std::exception if plant_context is nullptr.

## ◆ AngleBetweenVectorsCost() [4/4]

 AngleBetweenVectorsCost ( const MultibodyPlant< AutoDiffXd > * plant, const Frame< AutoDiffXd > & frameA, const Eigen::Ref< const Eigen::Vector3d > & a_A, const Frame< AutoDiffXd > & frameB, const Eigen::Ref< const Eigen::Vector3d > & b_B, double c, systems::Context< AutoDiffXd > * plant_context )

## ◆ ~AngleBetweenVectorsCost()

 ~AngleBetweenVectorsCost ( )
override

## ◆ operator=() [1/2]

 AngleBetweenVectorsCost& operator= ( const AngleBetweenVectorsCost & )
delete

## ◆ operator=() [2/2]

 AngleBetweenVectorsCost& operator= ( AngleBetweenVectorsCost && )
delete

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