The PriorityDataIntern class Manages all priority dependent information, i.e. all matrices that have to be resized according to the number of rows per priority. More...

#include <HierarchicalLSSolver.hpp>

Public Member Functions
	PriorityData ()

	PriorityData (const unsigned int _n_constraint_variables, const unsigned int n_joints)

Public Attributes
base::VectorXd	solution_prio

base::MatrixXd	A_proj

base::MatrixXd	A_proj_w

base::MatrixXd	U

base::MatrixXd	A_proj_inv_wls

base::MatrixXd	A_proj_inv_wdls

base::VectorXd	y_comp

base::MatrixXd	constraint_weight_mat

base::MatrixXd	joint_weight_mat

base::MatrixXd	u_t_weight_mat

base::VectorXd	sing_vals

double	damping

unsigned int	n_constraint_variables

Detailed Description

The PriorityDataIntern class Manages all priority dependent information, i.e. all matrices that have to be resized according to the number of rows per priority.

Constructor & Destructor Documentation

◆ PriorityData() [1/2]

wbc::HierarchicalLSSolver::PriorityData::PriorityData ( )

inline

◆ PriorityData() [2/2]

wbc::HierarchicalLSSolver::PriorityData::PriorityData	(	const unsigned int	_n_constraint_variables,
		const unsigned int	n_joints )

inline

Member Data Documentation

◆ A_proj

base::MatrixXd wbc::HierarchicalLSSolver::PriorityData::A_proj

Solution for the current priority

◆ A_proj_inv_wdls

base::MatrixXd wbc::HierarchicalLSSolver::PriorityData::A_proj_inv_wdls

Least square inverse of A_proj_w

◆ A_proj_inv_wls

base::MatrixXd wbc::HierarchicalLSSolver::PriorityData::A_proj_inv_wls

Matrix of left singular vector of A_proj_w

◆ A_proj_w

base::MatrixXd wbc::HierarchicalLSSolver::PriorityData::A_proj_w

Constraint Matrix projected into nullspace of the higher priority

◆ constraint_weight_mat

base::MatrixXd wbc::HierarchicalLSSolver::PriorityData::constraint_weight_mat

Input variables which are compensated for the part of solution already met in higher priorities

◆ damping

double wbc::HierarchicalLSSolver::PriorityData::damping

Singular values of this priority

◆ joint_weight_mat

base::MatrixXd wbc::HierarchicalLSSolver::PriorityData::joint_weight_mat

Constraint weight matrix of this priority

◆ n_constraint_variables

unsigned int wbc::HierarchicalLSSolver::PriorityData::n_constraint_variables

Damping term for matrix inversion on this priority

◆ sing_vals

base::VectorXd wbc::HierarchicalLSSolver::PriorityData::sing_vals

Matrix U_transposed * constraint_weight_mat

◆ solution_prio

base::VectorXd wbc::HierarchicalLSSolver::PriorityData::solution_prio

◆ U

base::MatrixXd wbc::HierarchicalLSSolver::PriorityData::U

Constraint Matrix projected into nullspace of the higher priority with weighting

◆ u_t_weight_mat

base::MatrixXd wbc::HierarchicalLSSolver::PriorityData::u_t_weight_mat

Joint weight matrix of this priority

◆ y_comp

base::VectorXd wbc::HierarchicalLSSolver::PriorityData::y_comp

Damped Least square inverse of A_proj_w

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

src/solvers/hls/HierarchicalLSSolver.hpp

Public Member Functions

Public Attributes