problem_ns::Problem Class Reference

#include <problem.h>

Public Member Functions
bool	configure (const std::vector< double > &shape, const double friction, const Force &F)
const std::vector< double > &	get_shape () const
double	get_friction () const
const Force &	get_F () const
const yarp::sig::Vector &	get_COM () const
yarp::sig::Vector	get_P (const double t) const
yarp::sig::Vector	get_dP (const double t) const
yarp::sig::Vector	get_T (const double t) const
yarp::sig::Vector	get_dT (const double t) const
yarp::sig::Vector	get_N (const double t) const
yarp::sig::Vector	get_dN (const double t) const
std::pair< yarp::sig::Vector, double >	compute_newton_law (const std::vector< Force > &forces) const
bool	check_no_slippage (const Force &force) const
bool	check_no_slippage (const std::vector< Force > &forces) const

Static Public Member Functions
static std::shared_ptr< Problem >	generate ()
static double	wrap_angle (const double t)

Detailed Description

Problem API.

Member Function Documentation

check_no_slippage() [1/2]

bool Problem::check_no_slippage

(

const Force &

force

)

const

Check if the force is within the friction cone.

Parameters

force

is the 2D inward force.

Returns

true if the check has passed.

check_no_slippage() [2/2]

bool problem_ns::Problem::check_no_slippage

(

const std::vector< Force > &

forces

)

const

Check if the forces are within the friction cones.

Parameters

forces

is the vector of 2D inward forces.

Returns

true if the check has passed for all forces.

compute_newton_law()

pair< Vector, double > Problem::compute_newton_law

(

const std::vector< Force > &

forces

)

const

Compute the total force and torque acting on the object due to F and input forces.

Parameters

forces

is the 2D vector of the inward forces.

Returns

a pair representing the total force and torque.

configure()

bool Problem::configure	(	const std::vector< double > &	shape,
		const double	friction,
		const Force &	F
	)

Configure the problem.

Parameters

shape	is a 4D vector containing the coefficients of the object's perimeter.
friction	is in range [0,1].
F	is the applied force.

Returns

true/false on success/failure.

generate()

shared_ptr< Problem > Problem::generate ( )

static

Generate a random problem.

Returns

the problem.

get_COM()

const Vector & Problem::get_COM

(

)

const

Retrieve the COM of the object.

Returns

a YARP vector containing the x and y coordinates.

get_dN()

Vector Problem::get_dN

(

const double

t

)

const

Retrieve the derivative of the inward normal N on the object's perimeter.

Parameters

t	is the parameter.

Returns

a YARP vector containing the x and y coordinates.

get_dP()

Vector Problem::get_dP

(

const double

t

)

const

Retrieve the derivative of the point P on the object's perimeter.

Parameters

t	is the parameter.

Returns

a YARP vector containing the x and y coordinates.

get_dT()

Vector Problem::get_dT

(

const double

t

)

const

Retrieve the derivative of the tangent T on the object's perimeter.

Parameters

t	is the parameter.

Returns

a YARP vector containing the x and y coordinates.

get_F()

const Force & Problem::get_F

(

)

const

Retrieve the force applied to the object.

Returns

the force F.

get_friction()

double Problem::get_friction

(

)

const

Retrieve the friction value.

Returns

the friction.

get_N()

Vector Problem::get_N

(

const double

t

)

const

Retrieve the normal N on the object's perimeter.

Parameters

t	is the parameter.

Returns

a YARP vector containing the x and y coordinates.

Note

|N|≠1, i.e. N is not a unit vector.

(T×N)·z>0, i.e. N points inward.

get_P()

Vector Problem::get_P

(

const double

t

)

const

Retrieve the point P on the object's perimeter.

Parameters

t	is the parameter.

Returns

a YARP vector containing the x and y coordinates.

get_shape()

const vector< double > & Problem::get_shape

(

)

const

Retrieve the current vector of coefficients describing the object's perimeter.

Returns

the perimeter's coefficients.

get_T()

Vector Problem::get_T

(

const double

t

)

const

Retrieve the tangent T on the object's perimeter.

Parameters

t	is the parameter.

Returns

a YARP vector containing the x and y coordinates.

Note

|T|≠1, i.e. T is not a unit vector.

T·dP>0, i.e. T is aligned w/ velocity.

wrap_angle()

double Problem::wrap_angle ( const double  t )

static

Helper function that returns the parameter t within the interval [0, 2*PI].

Parameters

t	is the input parameter.

Returns

the wrapped version of t.

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

• /home/runner/work/assignment_optimization-2Dgrasp/assignment_optimization-2Dgrasp/gh-pages/lib/problem.h
• /home/runner/work/assignment_optimization-2Dgrasp/assignment_optimization-2Dgrasp/gh-pages/lib/problem.cpp