Avoids pointing end-effector at a given spherical object. More...

#include <avoid_look_at_sphere.h>

Inheritance diagram for exotica::AvoidLookAtSphere:

Collaboration diagram for exotica::AvoidLookAtSphere:

Public Member Functions
void	Instantiate (const AvoidLookAtSphereInitializer &init) override

void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override

void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override

int	TaskSpaceDim () override

Public Member Functions inherited from exotica::TaskMap
virtual void	InstantiateBase (const Initializer &init)

virtual void	AssignScene (ScenePtr scene)

virtual void	Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian)

virtual void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi)

virtual void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du)

virtual void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du, HessianRef ddphi_ddx, HessianRef ddphi_ddu, HessianRef ddphi_dxdu)

virtual int	TaskSpaceJacobianDim ()

virtual void	PreUpdate ()

virtual std::vector< TaskVectorEntry >	GetLieGroupIndices ()

std::vector< KinematicFrameRequest >	GetFrames () const

Public Member Functions inherited from exotica::Object
	Object ()

virtual	~Object ()

virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...

std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

virtual std::string	Print (const std::string &prepend) const

Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

virtual std::vector< Initializer >	GetAllTemplates () const =0

Public Member Functions inherited from exotica::Instantiable< AvoidLookAtSphereInitializer >
void	InstantiateInternal (const Initializer &init) override

Initializer	GetInitializerTemplate () override

std::vector< Initializer >	GetAllTemplates () const override

const AvoidLookAtSphereInitializer &	GetParameters () const

Private Member Functions
void	UpdateAsCostWithoutJacobian (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi)

void	UpdateAsInequalityConstraintWithoutJacobian (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi)

void	UpdateAsCostWithJacobian (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian)

void	UpdateAsInequalityConstraintWithJacobian (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian)

void	PublishObjectsAsMarkerArray ()

Private Attributes
void(AvoidLookAtSphere::*	UpdateTaskMapWithoutJacobian )(Eigen::VectorXdRefConst, Eigen::VectorXdRef)

void(AvoidLookAtSphere::*	UpdateTaskMapWithJacobian )(Eigen::VectorXdRefConst, Eigen::VectorXdRef, Eigen::MatrixXdRef)

int	n_objects_
	Number of spherical objects. More...

Eigen::VectorXd	diameter_
	The diameter of each object. More...

Eigen::VectorXd	radii_squared_
	The square of each object radii. More...

ros::Publisher	pub_markers_
	publish marker for RViz More...

Additional Inherited Members
Public Attributes inherited from exotica::TaskMap
std::vector< KinematicSolution >	kinematics = std::vector<KinematicSolution>(1)

int	id = -1

int	start = -1

int	length = -1

int	start_jacobian = -1

int	length_jacobian = -1

bool	is_used = false

Public Attributes inherited from exotica::Object
std::string	ns_

std::string	object_name_

bool	debug_

Protected Attributes inherited from exotica::TaskMap
std::vector< KinematicFrameRequest >	frames_

ScenePtr	scene_ = nullptr

Protected Attributes inherited from exotica::Instantiable< AvoidLookAtSphereInitializer >
AvoidLookAtSphereInitializer	parameters_

Detailed Description

Avoids pointing end-effector at a given spherical object.

This task map avoids pointing the end-effector a number of given spherical objects. AvoidLookAtSphere can be used as either a cost term or an inequality constraint. Each spherical object in the scene is defined by a position $o\in\mathbb{R}^3$ and radius $0<r\in\mathbb{R}$ . The position and radii of each object must be given.

When using AvoidLookAtSphere as a cost term, the forward mapping defining the task map is expressed by

$\Phi_i(x) := \begin{cases}(1 - \frac{d_i^2}{r_i^2})^2 & d_i<r_i\\0 & \text{otherwise}\end{cases}$

for all $i=1{:}N$ where $N$ is the number of objects, $d$ is the orthogonal distance between the object center and the end-effector approach vector.

When using AvoidLookAtSphere as an inequality constraint, the forward mapping defining the task map is expressed by

$\Phi_i(x) = r_i^2 - d_i^2$

for all $i=1{:}N$ .

AvoidLookAtSphere task map.

Member Function Documentation

◆ Instantiate()

void exotica::AvoidLookAtSphere::Instantiate ( const AvoidLookAtSphereInitializer & init )

overridevirtual

Reimplemented from exotica::Instantiable< AvoidLookAtSphereInitializer >.

◆ PublishObjectsAsMarkerArray()

void exotica::AvoidLookAtSphere::PublishObjectsAsMarkerArray ( )

private

◆ TaskSpaceDim()

int exotica::AvoidLookAtSphere::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

◆ Update() [1/2]

void exotica::AvoidLookAtSphere::Update	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRef	phi
	)

overridevirtual

Implements exotica::TaskMap.

◆ Update() [2/2]

void exotica::AvoidLookAtSphere::Update	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRef	phi,
		Eigen::MatrixXdRef	jacobian
	)

overridevirtual

Reimplemented from exotica::TaskMap.

◆ UpdateAsCostWithJacobian()

void exotica::AvoidLookAtSphere::UpdateAsCostWithJacobian	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRef	phi,
		Eigen::MatrixXdRef	jacobian
	)

private

◆ UpdateAsCostWithoutJacobian()

void exotica::AvoidLookAtSphere::UpdateAsCostWithoutJacobian	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRef	phi
	)

private

◆ UpdateAsInequalityConstraintWithJacobian()

void exotica::AvoidLookAtSphere::UpdateAsInequalityConstraintWithJacobian	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRef	phi,
		Eigen::MatrixXdRef	jacobian
	)

private

◆ UpdateAsInequalityConstraintWithoutJacobian()

void exotica::AvoidLookAtSphere::UpdateAsInequalityConstraintWithoutJacobian	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRef	phi
	)

private

Member Data Documentation

◆ diameter_

Eigen::VectorXd exotica::AvoidLookAtSphere::diameter_

private

The diameter of each object.

◆ n_objects_

int exotica::AvoidLookAtSphere::n_objects_

private

Number of spherical objects.

◆ pub_markers_

ros::Publisher exotica::AvoidLookAtSphere::pub_markers_

private

publish marker for RViz

◆ radii_squared_

Eigen::VectorXd exotica::AvoidLookAtSphere::radii_squared_

private

The square of each object radii.

◆ UpdateTaskMapWithJacobian

void(AvoidLookAtSphere::* exotica::AvoidLookAtSphere::UpdateTaskMapWithJacobian) (Eigen::VectorXdRefConst, Eigen::VectorXdRef, Eigen::MatrixXdRef)

private

◆ UpdateTaskMapWithoutJacobian

void(AvoidLookAtSphere::* exotica::AvoidLookAtSphere::UpdateTaskMapWithoutJacobian) (Eigen::VectorXdRefConst, Eigen::VectorXdRef)

private

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

/tmp/exotica/exotations/exotica_core_task_maps/include/exotica_core_task_maps/avoid_look_at_sphere.h

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ Instantiate()

◆ PublishObjectsAsMarkerArray()

◆ TaskSpaceDim()

◆ Update() [1/2]

◆ Update() [2/2]

◆ UpdateAsCostWithJacobian()

◆ UpdateAsCostWithoutJacobian()

◆ UpdateAsInequalityConstraintWithJacobian()

◆ UpdateAsInequalityConstraintWithoutJacobian()

Member Data Documentation

◆ diameter_

◆ n_objects_

◆ pub_markers_

◆ radii_squared_

◆ UpdateTaskMapWithJacobian

◆ UpdateTaskMapWithoutJacobian