Class ConstraintKinematicsSolverVars

• Defined in File ConstraintKinematicsSolver.h

Inheritance Relationships

Base Type

• public Karana::Core::LockingBaseVars (Class LockingBaseVars)

Class Documentation

class ConstraintKinematicsSolverVars : public Karana::Core::LockingBaseVars

The Vars for the ConstraintKinematicsSolver class.

Public Functions

ConstraintKinematicsSolverVars(const kc::ks_ptr<ConstraintKinematicsSolver> &cks)

ConstraintKinematicsSolverVars constructor. The constructor is not meant to be called directly. Please use the create(…) method instead to create an instance.

Parameters:

cks – The solver associated with this ConstraintKinematicsSolverVars.

~ConstraintKinematicsSolverVars()

Destructor.

virtual kc::NestedVars getAllVars() const override

Get all the Vars that this VarHolder has.

Returns:

A map of Vars, where the Var name is the key and the Var is the value.

Public Members

kc::ks_ptr<Karana::Core::Var_T<double>> pose_error_norm

pose error

kc::ks_ptr<Karana::Core::Var_T<double>> vel_error_norm

vel error

kc::ks_ptr<Karana::Core::Var_T<km::VecInt>> frozen_indices_Q

frozen Q coord indices

kc::ks_ptr<Karana::Core::Var_T<km::VecInt>> frozen_indices_U

frozen U coord indices

kc::ks_ptr<Karana::Core::Var_T<km::VecInt>> dependent_indices_Q

dependent Q coord indices

kc::ks_ptr<Karana::Core::Var_T<km::VecInt>> pose_gradient_size

pose gradient matrix size

kc::ks_ptr<Karana::Core::Var_T<int>> pose_gradient_rank

pose gradient matrix rank

kc::ks_ptr<Karana::Core::Var_T<km::VecInt>> vel_jacobian_size

velocity Jacobian matrix size

kc::ks_ptr<Karana::Core::Var_T<int>> vel_jacobian_rank

velocity Jacobian matrix rank

Public Static Functions

static kc::ks_ptr<ConstraintKinematicsSolverVars> create(const kc::ks_ptr<ConstraintKinematicsSolver> &cks)

Create an instance of the ConstraintKinematicsSolverVars.

Parameters:

cks – The solver associated with this ConstraintKinematicsSolverVars.

Returns:

A pointer to the newly created instance of ConstraintKinematicsSolverVars.