Drake
Drake C++ Documentation

Detailed Description

Implements a cost of the form c * (1 - cos(θ)), where θ is the angle between the orientation of frame A and the orientation of frame B, and c is a cost scaling.

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

Public Member Functions

 OrientationCost (const MultibodyPlant< double > *plant, const Frame< double > &frameAbar, const math::RotationMatrix< double > &R_AbarA, const Frame< double > &frameBbar, const math::RotationMatrix< double > &R_BbarB, double c, systems::Context< double > *plant_context)
 Constructs OrientationCost object. More...
 
 OrientationCost (const MultibodyPlant< AutoDiffXd > *plant, const Frame< AutoDiffXd > &frameAbar, const math::RotationMatrix< double > &R_AbarA, const Frame< AutoDiffXd > &frameBbar, const math::RotationMatrix< double > &R_BbarB, double c, systems::Context< AutoDiffXd > *plant_context)
 Overloaded constructor. More...
 
 ~OrientationCost () override
 
Does not allow copy, move, or assignment
 OrientationCost (const OrientationCost &)=delete
 
OrientationCostoperator= (const OrientationCost &)=delete
 
 OrientationCost (OrientationCost &&)=delete
 
OrientationCostoperator= (OrientationCost &&)=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...
 
void SetGradientSparsityPattern (const std::vector< std::pair< int, int >> &gradient_sparsity_pattern)
 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...
 
bool is_thread_safe () const
 Returns whether it is safe to call Eval in parallel. More...
 
 EvaluatorBase (const EvaluatorBase &)=delete
 
EvaluatorBaseoperator= (const EvaluatorBase &)=delete
 
 EvaluatorBase (EvaluatorBase &&)=delete
 
EvaluatorBaseoperator= (EvaluatorBase &&)=delete
 

Additional Inherited Members

- 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)
 
void set_is_thread_safe (bool is_thread_safe)
 

Constructor & Destructor Documentation

◆ OrientationCost() [1/4]

OrientationCost ( const OrientationCost )
delete

◆ OrientationCost() [2/4]

◆ OrientationCost() [3/4]

OrientationCost ( const MultibodyPlant< double > *  plant,
const Frame< double > &  frameAbar,
const math::RotationMatrix< double > &  R_AbarA,
const Frame< double > &  frameBbar,
const math::RotationMatrix< double > &  R_BbarB,
double  c,
systems::Context< double > *  plant_context 
)

Constructs OrientationCost object.

Parameters
plantThe MultibodyPlant on which the cost is implemented. plant should be alive during the lifetime of this cost.
frameAbarA frame on the MultibodyPlant.
R_AbarAThe rotation matrix describing the orientation of frame A relative to Abar.
frameBbarA frame on the MultibodyPlant.
R_BbarBThe rotation matrix describing the orientation of frame B relative to Bbar.
cA scalar cost weight.
plant_contextA context for the plant.
Exceptions
std::exceptionif plant is nullptr.
std::exceptionif plant_context is nullptr.

◆ OrientationCost() [4/4]

OrientationCost ( const MultibodyPlant< AutoDiffXd > *  plant,
const Frame< AutoDiffXd > &  frameAbar,
const math::RotationMatrix< double > &  R_AbarA,
const Frame< AutoDiffXd > &  frameBbar,
const math::RotationMatrix< double > &  R_BbarB,
double  c,
systems::Context< AutoDiffXd > *  plant_context 
)

Overloaded constructor.

Same as the constructor with the double version (using MultibodyPlant<double> and Context<double>). Except the gradient of the cost is computed from autodiff.

◆ ~OrientationCost()

~OrientationCost ( )
override

Member Function Documentation

◆ operator=() [1/2]

OrientationCost& operator= ( const OrientationCost )
delete

◆ operator=() [2/2]

OrientationCost& operator= ( OrientationCost &&  )
delete

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