Class SubGraphVars

• Defined in File SubGraph.h

Inheritance Relationships

Base Type

• public Karana::Dynamics::SubTreeVars (Class SubTreeVars)

Class Documentation

class SubGraphVars : public Karana::Dynamics::SubTreeVars

The Vars for the SubGraph class.

Public Functions

SubGraphVars(const kc::ks_ptr<const SubGraph> &sg)

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

Parameters:

sg – The subgraph associated with this SubGraphVars.

~SubGraphVars()

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<int>> cutjoints_n_Q

The cutjoints nQ.

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

The cutjoints nU.

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

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<int>> TA_constraint_rank_loss_count

TA dynamics rank loss counter.

Public Static Functions

static kc::ks_ptr<SubGraphVars> create(const kc::ks_ptr<const SubGraph> &sg)

Create an instance of the SubGraphVars.

Parameters:

sg – The subgraph associated with this SubGraphVars.

Returns:

A pointer to the newly created instance of SubGraphVars.