Class ProjectConstraintError

Class ProjectConstraintError#

Inheritance Relationships#

Base Type#

  • public Karana::Models::KModel< ProjectConstraintError, ProjectConstraintErrorParams > (Template Class KModel)

Class Documentation#

class ProjectConstraintError : public Karana::Models::KModel<ProjectConstraintError, ProjectConstraintErrorParams>#

The ProjectConstraintError model updates the visualization at each postHop.

Public Functions

ProjectConstraintError(std::string_view name, const kc::ks_ptr<kd::StatePropagator> &sp, const kc::ks_ptr<kd::SubGraph> &sg, const kc::ks_ptr<km::Integrator> &integrator, const kc::ks_ptr<kd::ConstraintKinematicsSolver> &cks)#

Constructor.

Parameters:

  • name – The name of the ProjectConstraintError model.

  • sp – The StatePropagator to register this model with.

  • sg – The SubGraph whose coordinates will be projected.

  • cks – The ConstraintKinematicsSolver used to do the projection.

  • integrator – The integrator to soft-reset when doing a projection.

~ProjectConstraintError()#

Destructor for ProjectConstraintError.

void postModelStep(const km::Ktime &t, const km::Vec &x)#

Project the coordinates to satisfy the constraints if the current error is larger than the tolerance.

Parameters:

  • t – Current time. Used when doing the integrator soft reset.

  • x – Current state. This is used to calcualte the error and is the state used to project from if a projection is needed.

Public Static Functions

static kc::ks_ptr<ProjectConstraintError> create(std::string_view name, const kc::ks_ptr<kd::StatePropagator> &sp, const kc::ks_ptr<kd::SubGraph> &sg, const kc::ks_ptr<km::Integrator> &integrator, const kc::ks_ptr<kd::ConstraintKinematicsSolver> &cks)#

Constructor.

Parameters:

  • name – The name of the ProjectConstraintError model.

  • sp – The StatePropagator to register this model with.

  • sg – The SubGraph whose coordinates will be projected.

  • cks – The ConstraintKinematicsSolver used to do the projection.

  • integrator – The integrator to soft-reset when doing a projection.

Returns:

A ks_ptr to the newly created instance of the ProjectConstraintError model.

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