RigidImpact represents a rigid body impact map assuming that the impact is plastic and occurs instantaneously. More...

Inheritance diagram for RigidImpact:

Public Member Functions
	RigidImpact (char name,RigidLinks model,char event)
	the class constructin method More...

function obj =	configure (char load_path)
	configure the reset map expression for the rigid impact object More...

function obj =	addImpactConstraint (HolonomicConstraint constr, load_path)
	Adds an impact constraint to the rigid impact map. More...

function obj =	removeImpactConstraint (cellstr name)
	Remove impact (holonomic) constraints defined for the system. More...

function TrajectoryOptimization nlp =	rigidImpactConstraint (TrajectoryOptimization nlp,TrajectoryOptimization src,TrajectoryOptimization tar,struct bounds,varargin varargin)
	Impose system specific constraints as NLP constraints for the trajectory optimization problem. More...

function [ tn , xn , lambda ] =	calcDiscreteMap (t,colvec x, varargin)
	calculates the discrete map of the dynamical system that maps xminus from xplus. Subclasses must implement this method by its own. More...

function obj =	compile (char export_path,varargin varargin)
	export the symbolic expressions of the system dynamics matrices and vectors and compile as MEX files. More...

function obj =	saveExpression (char export_path,varargin varargin)
	export the symbolic expressions of the system dynamics matrices and vectors and compile as MEX files. More...

Public Member Functions inherited from DiscreteDynamics
	DiscreteDynamics (char type,char name,char event)
	the constructor function for DiscreteDynamics class objects More...

function obj =	addState (SymVariable x,SymVariable xn,SymVariable dx,SymVariable dxn)
	overload the superclass `addState` method with fixed state fields More...

function [ tn , xn ] =	calcDiscreteMap (double t,colvec x,varargin varargin)
	calculates the discrete map of the dynamical system that maps xminus from xplus. Subclasses must implement this method by its own. More...

function TrajectoryOptimization nlp =	IdentityMapConstraint (TrajectoryOptimization nlp,TrajectoryOptimization src,TrajectoryOptimization tar,struct bounds,varargin varargin)
	Impose system specific constraints as NLP constraints for the trajectory optimization problem. More...

Public Member Functions inherited from DynamicalSystem
function obj =	addState (varargin)
	Add state variables of the dynamical system. More...

function obj =	addInput (category, name, var, gf, varargin)
	Add input variables of the dynamical system. More...

function obj =	removeInput (category, name)
	Remove input variables of the dynamical system. More...

function obj =	addParam (varargin)
	Add parameter variables of the dynamical system. More...

function obj =	removeParam (param_name)
	Remove parameter variables of the dynamical system. More...

function obj =	setParamValue (varargin)
	set the actual value of the system parameters More...

function obj =	compile (export_path, varargin)
	export the symbolic expressions of the system dynamics matrices and vectors and compile as MEX files. More...

function obj =	loadDynamics (export_path, varargin)

function obj =	saveExpression (export_path, varargin)
	save the symbolic expression of system dynamical equations to a MX binary files More...

	DynamicalSystem (char type,char name)
	The class construction function. More...

function obj =	setName (name)
	set the name of the dynamical system More...

function ret =	isParam (char name)

function var_group =	validateVarName (char name)
	Validate the group and category of the variables specified by the input `name` More...

function obj =	setType (char type)
	Sets the type of the dynamical system. More...

Public Attributes
matrix	R
	The coordinate relabeling matrix. More...

HolonomicConstraint	ImpactConstraints
	The impact constraints (holonomic) More...

Public Attributes inherited from DiscreteDynamics
function_handle	UserNlpConstraint
	A handle to a function called by a trajectory optimization NLP to enforce system specific constraints. More...

char	EventName
	The event name that triggers the discrete dynamics. More...

Public Attributes inherited from DynamicalSystem
char	Name
	The unique name identification of the system. More...

function_handle	ExternalInputFun
	Returns the external input defined on the dynamical system. More...

char	Type
	The highest order of the state derivatives of the system. More...

struct	States
	A structure that contains the symbolic representation of state variables. More...

double	numState
	The total number of system states. More...

struct	Inputs
	A structure that contains the symbolic representation of input variables. More...

struct	Params
	The parameters of the system. More...

struct	Gvec
	The struct of input vector fields Gvec(x,u) SymFunction. More...

struct	Gmap
	The struct of input map Gmap(x) SymFunction. More...

Public Attributes inherited from handle
	addlistener
	Creates a listener for the specified event and assigns a callback function to execute when the event occurs. More...

	notify
	Broadcast a notice that a specific event is occurring on a specified handle object or array of handle objects. More...

	delete
	Handle object destructor method that is called when the object's lifecycle ends. More...

	disp
	Handle object disp method which is called by the display method. See the MATLAB disp function. More...

	display
	Handle object display method called when MATLAB software interprets an expression returning a handle object that is not terminated by a semicolon. See the MATLAB display function. More...

	findobj
	Finds objects matching the specified conditions from the input array of handle objects. More...

	findprop
	Returns a meta.property objects associated with the specified property name. More...

	fields
	Returns a cell array of string containing the names of public properties. More...

	fieldnames
	Returns a cell array of string containing the names of public properties. See the MATLAB fieldnames function. More...

	isvalid
	Returns a logical array in which elements are true if the corresponding elements in the input array are valid handles. This method is Sealed so you cannot override it in a handle subclass. More...

	eq
	Relational functions example. See details for more information. More...

	transpose
	Transposes the elements of the handle object array. More...

	permute
	Rearranges the dimensions of the handle object array. See the MATLAB permute function. More...

	reshape
	hanges the dimensions of the handle object array to the specified dimensions. See the MATLAB reshape function. More...

	sort
	ort the handle objects in any array in ascending or descending order. More...

Additional Inherited Members
Protected Member Functions inherited from DynamicalSystem
function value =	getValue (vars)
	returns the variables (vars) value that are stored during computing the dynamics More...

function v_type =	validateSystemType (type)
	validate if it is valid system type More...

Protected Attributes inherited from DynamicalSystem
double	t_
	The time. More...

struct	states_
	The states. More...

struct	inputs_
	The inputs. More...

struct	params_
	The parameters. More...

struct	GmapName_
	The name of the Gmap functions. More...

struct	GvecName_
	The name of the Gvec functions. More...

Detailed Description

RigidImpact represents a rigid body impact map assuming that the impact is plastic and occurs instantaneously.

Constructor & Destructor Documentation

◆ RigidImpact()

RigidImpact.RigidImpact	(	char	name,
		RigidLinks	model,
		char	event
	)

inline

the class constructin method

Parameters

name	the name of the rigid impact dynamics
model	the RigidLinks model object
event	the event name of the rigid impact

Required fields of model:

Member Function Documentation

◆ addImpactConstraint()

function obj = RigidImpact.addImpactConstraint	(	HolonomicConstraint	constr,
			load_path
	)

inline

Adds an impact constraint to the rigid impact map.

Parameters

constr the expression of the constraints

◆ calcDiscreteMap()

function [ double tn , colvec xn , struct lambda ] = RigidImpact.calcDiscreteMap	(		t,
		colvec	x,
			varargin
	)

calculates the discrete map of the dynamical system that maps xminus from xplus. Subclasses must implement this method by its own.

Note: By default, this discrete map will be a Identity map. For specific discrete map, please implement as a subclass of this class

Parameters

t	the time instant
x	the pre-impact states

Return values

tn	the time after reset
xn	the post-impact states
lambda	the impulsive wrench

◆ compile()

function obj = RigidImpact.compile	(	char	export_path,
		varargin	varargin
	)

export the symbolic expressions of the system dynamics matrices and vectors and compile as MEX files.

Parameters

export_path	the path to export the file
varargin	variable input parameters compile ( ..., StackVariable, File, ForceExport, BuildMex, Namespace ) Required Parameters for varargin: StackVariable whether to stack variables into one File the (full) file name of exported file ForceExport force the export BuildMex flag whether to MEX the exported file Namespace the namespace of the function

◆ configure()

function obj = RigidImpact.configure ( char load_path )

inline

configure the reset map expression for the rigid impact object

Parameters

load_path the path from which the symbolic experssion can be load

Generated fields of obj:

◆ removeImpactConstraint()

function obj = RigidImpact.removeImpactConstraint ( cellstr name )

inline

Remove impact (holonomic) constraints defined for the system.

Parameters

name	the name of the constraint

Generated fields of obj:

◆ rigidImpactConstraint()

function TrajectoryOptimization nlp = RigidImpact.rigidImpactConstraint	(	TrajectoryOptimization	nlp,
		TrajectoryOptimization	src,
		TrajectoryOptimization	tar,
		struct	bounds,
		varargin	varargin
	)

Impose system specific constraints as NLP constraints for the trajectory optimization problem.

Parameters

nlp	an trajectory optimization NLP object of the system
src	the NLP of the source domain system
tar	the NLP of the target domain system
bounds	a struct data contains the boundary values
varargin	extra argument

◆ saveExpression()

function obj = RigidImpact.saveExpression	(	char	export_path,
		varargin	varargin
	)

export the symbolic expressions of the system dynamics matrices and vectors and compile as MEX files.

Parameters

export_path	the path to export the file
varargin	variable input parameters saveExpression ( ..., ForceExport ) Required Parameters for varargin: ForceExport force the export

Member Data Documentation

◆ ImpactConstraints

RigidImpact.ImpactConstraints

The impact constraints (holonomic)

Note: This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public; Matlab documentation of property attributes.

◆ R

RigidImpact.R

The coordinate relabeling matrix.

Note: This property has custom functionality when its value is changed.

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

/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidImpact/RigidImpact.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidImpact/calcDiscreteMap.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidImpact/compile.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidImpact/rigidImpactConstraint.m
/home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/robotics/@RigidImpact/saveExpression.m

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ RigidImpact()

Member Function Documentation

◆ addImpactConstraint()

◆ calcDiscreteMap()

◆ compile()

◆ configure()

◆ removeImpactConstraint()

◆ rigidImpactConstraint()

◆ saveExpression()

Member Data Documentation

◆ ImpactConstraints

◆ R