copp::Robot Class Reference

Robot facade backed by Rust Robot<CppRobotModel>. More...

#include <robot.hpp>

Public Member Functions
	Robot (std::size_t dim, std::size_t capacity=0)
	Robot (std::size_t dim, InverseDynamics inverse_dynamics, std::size_t capacity=0)
	Robot (Robot &&) noexcept
Robot &	operator= (Robot &&) noexcept
	~Robot ()
	Robot (const Robot &)=delete
Robot &	operator= (const Robot &)=delete
ConstraintsRef	constraints () noexcept
	Return a borrowed raw constraint-buffer facade.
std::size_t	dim () const
std::size_t	len () const
std::size_t	size () const
std::size_t	capacity () const
bool	is_empty () const
std::pair< std::size_t, std::size_t >	idx_s_range () const
bool	has_inverse_dynamics () const
	Return whether a user inverse-dynamics callback is installed.
Robot &	set_inverse_dynamics (InverseDynamics inverse_dynamics)
	Replace the inverse-dynamics callback.
Robot &	clear_inverse_dynamics ()
	Restore point-mass torque evaluation (tau = ddq).
Robot &	append_s (Span< const double > s)
	Append strictly increasing path station samples.
Robot &	set_q_2nd (MatrixView q, MatrixView dq, MatrixView ddq, std::size_t idx_s)
	Store path derivatives up to second order over an existing station interval.
Robot &	set_q_3rd (MatrixView q, MatrixView dq, MatrixView ddq, MatrixView dddq, std::size_t idx_s)
	Store path derivatives up to third order over an existing station interval.
Robot &	set_q_from_path_2nd (const Path &path, std::size_t idx_s_from, std::size_t idx_s_to)
	Sample a path and store derivatives up to second order.
Robot &	set_q_from_path_3rd (const Path &path, std::size_t idx_s_from, std::size_t idx_s_to)
	Sample a path and store derivatives up to third order.
Robot &	add_velocity_limits (Span< const double > upper, Span< const double > lower, std::size_t start_idx_s, std::size_t length=0)
	Add velocity limits from broadcast vectors.
Robot &	add_velocity_limits (MatrixView upper, MatrixView lower, std::size_t start_idx_s)
	Add velocity limits from explicit (dim x n) matrices.
Robot &	add_acceleration_limits (Span< const double > upper, Span< const double > lower, std::size_t start_idx_s, std::size_t length=0)
	Add acceleration limits from broadcast vectors.
Robot &	add_acceleration_limits (MatrixView upper, MatrixView lower, std::size_t start_idx_s)
	Add acceleration limits from explicit (dim x n) matrices.
Robot &	add_jerk_limits (Span< const double > upper, Span< const double > lower, std::size_t start_idx_s, std::size_t length=0)
	Add jerk limits from broadcast vectors.
Robot &	add_jerk_limits (MatrixView upper, MatrixView lower, std::size_t start_idx_s)
	Add jerk limits from explicit (dim x n) matrices.
Robot &	add_torque_limits (Span< const double > upper, Span< const double > lower, std::size_t start_idx_s, std::size_t length=0)
	Add torque limits from broadcast vectors.
Robot &	add_torque_limits (MatrixView upper, MatrixView lower, std::size_t start_idx_s)
	Add torque limits from explicit (dim x n) matrices.

Friends
const void *	detail::robot_handle (const Robot &robot) noexcept
void *	detail::robot_handle_mut (Robot &robot) noexcept

Detailed Description

Robot facade backed by Rust Robot<CppRobotModel>.

By default, torque evaluation uses point-mass dynamics (tau = ddq). Passing or setting an inverse-dynamics callback enables robot-specific torque limits and torque objectives. The callback is owned by Robot and may be replaced or cleared later; any state captured by reference must outlive the robot or the period in which torque-related operations run.

A typical TOPP/COPP setup is:

copp::Robot robot(2, s.size());
robot.append_s(s)
     .set_q_from_path_2nd(path, 0, s.size())
     .add_velocity_limits(upper, lower, 0, s.size())
     .add_acceleration_limits(upper, lower, 0, s.size());

Definition at line 317 of file robot.hpp.

Constructor & Destructor Documentation

Robot() [1/4]

copp::Robot::Robot ( std::size_t dim, std::size_t capacity = 0 )

explicit

Robot() [2/4]

copp::Robot::Robot	(	std::size_t	dim,
		InverseDynamics	inverse_dynamics,
		std::size_t	capacity = 0 )

Robot() [3/4]

copp::Robot::Robot ( Robot && )

noexcept

~Robot()

copp::Robot::~Robot

(

)

Robot() [4/4]

copp::Robot::Robot ( const Robot & )

delete

Member Function Documentation

operator=() [1/2]

Robot & copp::Robot::operator= ( Robot && )

noexcept

operator=() [2/2]

Robot & copp::Robot::operator= ( const Robot & )

delete

constraints()

ConstraintsRef copp::Robot::constraints ( )

noexcept

Return a borrowed raw constraint-buffer facade.

dim()

std::size_t copp::Robot::dim

(

)

const

len()

std::size_t copp::Robot::len

(

)

const

size()

std::size_t copp::Robot::size

(

)

const

capacity()

std::size_t copp::Robot::capacity

(

)

const

is_empty()

bool copp::Robot::is_empty

(

)

const

idx_s_range()

std::pair< std::size_t, std::size_t > copp::Robot::idx_s_range

(

)

const

has_inverse_dynamics()

bool copp::Robot::has_inverse_dynamics

(

)

const

Return whether a user inverse-dynamics callback is installed.

set_inverse_dynamics()

Robot & copp::Robot::set_inverse_dynamics

(

InverseDynamics

inverse_dynamics

)

Replace the inverse-dynamics callback.

Existing station and constraint data are preserved. Future torque-limit construction and torque objectives use the new callback.

clear_inverse_dynamics()

Robot & copp::Robot::clear_inverse_dynamics

(

)

Restore point-mass torque evaluation (tau = ddq).

append_s()

Robot & copp::Robot::append_s

(

Span< const double >

s

)

Append strictly increasing path station samples.

set_q_2nd()

Robot & copp::Robot::set_q_2nd	(	MatrixView	q,
		MatrixView	dq,
		MatrixView	ddq,
		std::size_t	idx_s )

Store path derivatives up to second order over an existing station interval.

Matrices must have shape (dim, n) where n is the number of station columns starting at idx_s. These are the geometric derivatives q(s), dq/ds, and d2q/ds2.

set_q_3rd()

Robot & copp::Robot::set_q_3rd	(	MatrixView	q,
		MatrixView	dq,
		MatrixView	ddq,
		MatrixView	dddq,
		std::size_t	idx_s )

Store path derivatives up to third order over an existing station interval.

Adds d3q/ds3, which is required by TOPP3/COPP3 jerk constraints.

set_q_from_path_2nd()

Robot & copp::Robot::set_q_from_path_2nd	(	const Path &	path,
		std::size_t	idx_s_from,
		std::size_t	idx_s_to )

Sample a path and store derivatives up to second order.

The station samples must already be stored in [idx_s_from, idx_s_to). The path is evaluated at those station values and copied into the robot constraint buffer.

set_q_from_path_3rd()

Robot & copp::Robot::set_q_from_path_3rd	(	const Path &	path,
		std::size_t	idx_s_from,
		std::size_t	idx_s_to )

Sample a path and store derivatives up to third order.

Use this before adding jerk limits or constructing third-order solver problems.

add_velocity_limits() [1/2]

Robot & copp::Robot::add_velocity_limits	(	Span< const double >	upper,
		Span< const double >	lower,
		std::size_t	start_idx_s,
		std::size_t	length = 0 )

Add velocity limits from broadcast vectors.

upper and lower must have length dim. length == 0 means "infer from the currently stored station window starting at `start_idx_s`".

Parameters

upper	Per-axis positive upper limits, length dim.
lower	Per-axis negative lower limits, length dim.
start_idx_s	Global station id where the limits start.
length	Number of station columns to fill; 0 means infer.

add_velocity_limits() [2/2]

Robot & copp::Robot::add_velocity_limits	(	MatrixView	upper,
		MatrixView	lower,
		std::size_t	start_idx_s )

Add velocity limits from explicit (dim x n) matrices.

add_acceleration_limits() [1/2]

Robot & copp::Robot::add_acceleration_limits	(	Span< const double >	upper,
		Span< const double >	lower,
		std::size_t	start_idx_s,
		std::size_t	length = 0 )

Add acceleration limits from broadcast vectors.

Limits are physical joint-space bounds. COPP maps them into second-order path constraints using the stored q, dq, and ddq.

add_acceleration_limits() [2/2]

Robot & copp::Robot::add_acceleration_limits	(	MatrixView	upper,
		MatrixView	lower,
		std::size_t	start_idx_s )

Add acceleration limits from explicit (dim x n) matrices.

add_jerk_limits() [1/2]

Robot & copp::Robot::add_jerk_limits	(	Span< const double >	upper,
		Span< const double >	lower,
		std::size_t	start_idx_s,
		std::size_t	length = 0 )

Add jerk limits from broadcast vectors.

Requires third-order path derivatives already stored by set_q_3rd or set_q_from_path_3rd.

add_jerk_limits() [2/2]

Robot & copp::Robot::add_jerk_limits	(	MatrixView	upper,
		MatrixView	lower,
		std::size_t	start_idx_s )

Add jerk limits from explicit (dim x n) matrices.

add_torque_limits() [1/2]

Robot & copp::Robot::add_torque_limits	(	Span< const double >	upper,
		Span< const double >	lower,
		std::size_t	start_idx_s,
		std::size_t	length = 0 )

Add torque limits from broadcast vectors.

Uses the installed inverse-dynamics callback when present; otherwise uses point-mass dynamics (tau = ddq).

Note

This operation can be substantially more expensive than velocity/acceleration/jerk limits when a user callback is installed, because Rust evaluates inverse dynamics while constructing station-indexed torque constraints.

add_torque_limits() [2/2]

Robot & copp::Robot::add_torque_limits	(	MatrixView	upper,
		MatrixView	lower,
		std::size_t	start_idx_s )

Add torque limits from explicit (dim x n) matrices.

Friends And Related Symbol Documentation

detail::robot_handle

const void * detail::robot_handle ( const Robot & robot )

friend

detail::robot_handle_mut

void * detail::robot_handle_mut ( Robot & robot )

friend

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

• bindings/cpp/include/copp/robot.hpp