tpik::iCAT Class Reference

#include <iCAT.h>

Inheritance diagram for tpik::iCAT:

Public Member Functions
	iCAT (int DoF)
	~iCAT () override
void	ComputeVelocities (const Eigen::MatrixXd &J, const Eigen::MatrixXd &A, const Eigen::VectorXd &x_dot, rml::RegularizationData &regularizationData) override
Public Member Functions inherited from tpik::TPIK
	TPIK (int DoF)
virtual	~TPIK ()
auto	Velocities () const -> const Eigen::VectorXd &
void	Reset ()
auto	Dof () const -> int
void	SetSaturation (const Eigen::VectorXd &saturationMin, const Eigen::VectorXd &saturationMax)
void	GetSaturation (Eigen::VectorXd &saturationMin, Eigen::VectorXd &saturationMax) const
auto	DeltaY () const -> const Eigen::VectorXd &

Protected Member Functions
void	Saturate ()

Additional Inherited Members
Protected Attributes inherited from tpik::TPIK
Eigen::VectorXd	y_
Eigen::MatrixXd	Q_
Eigen::MatrixXd	I_
int	DoF_
Eigen::VectorXd	deltaY_
Eigen::VectorXd	originalSaturationMax_
Eigen::VectorXd	originalSaturationMin_
Eigen::VectorXd	saturationMax_
Eigen::VectorXd	saturationMin_
bool	isSaturationSet_

Constructor & Destructor Documentation

iCAT()

tpik::iCAT::iCAT

(

int

DoF

)

~iCAT()

tpik::iCAT::~iCAT ( )

override

Member Function Documentation

ComputeVelocities()

void tpik::iCAT::ComputeVelocities ( const Eigen::MatrixXd &  J, const Eigen::MatrixXd &  A, const Eigen::VectorXd &  x_dot, rml::RegularizationData &  regularizationData  )

overridevirtual

Implements tpik::TPIK.

Saturate()

void tpik::iCAT::Saturate ( )

protected

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

• iCAT.h