Exotica
Public Member Functions | Private Member Functions | Private Attributes | List of all members
exotica::CollisionCheck Class Reference

#include <collision_check.h>

Inheritance diagram for exotica::CollisionCheck:
Inheritance graph
Collaboration diagram for exotica::CollisionCheck:
Collaboration graph

Public Member Functions

void AssignScene (ScenePtr scene) override
 
void Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
 
int TaskSpaceDim () override
 
- Public Member Functions inherited from exotica::TaskMap
virtual void InstantiateBase (const Initializer &init)
 
virtual void Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian)
 
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< TaskVectorEntryGetLieGroupIndices ()
 
std::vector< KinematicFrameRequestGetFrames () 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< InitializerGetAllTemplates () const =0
 
- Public Member Functions inherited from exotica::Instantiable< CollisionCheckInitializer >
void InstantiateInternal (const Initializer &init) override
 
Initializer GetInitializerTemplate () override
 
std::vector< InitializerGetAllTemplates () const override
 
virtual void Instantiate (const CollisionCheckInitializer &init)
 
const CollisionCheckInitializer & GetParameters () const
 

Private Member Functions

void Initialize ()
 

Private Attributes

CollisionScenePtr cscene_
 

Additional Inherited Members

- Public Attributes inherited from exotica::TaskMap
std::vector< KinematicSolutionkinematics = 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< KinematicFrameRequestframes_
 
ScenePtr scene_ = nullptr
 
- Protected Attributes inherited from exotica::Instantiable< CollisionCheckInitializer >
CollisionCheckInitializer parameters_
 

Member Function Documentation

◆ AssignScene()

void exotica::CollisionCheck::AssignScene ( ScenePtr  scene)
overridevirtual

Reimplemented from exotica::TaskMap.

◆ Initialize()

void exotica::CollisionCheck::Initialize ( )
private

◆ TaskSpaceDim()

int exotica::CollisionCheck::TaskSpaceDim ( )
overridevirtual

Implements exotica::TaskMap.

◆ Update()

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

Implements exotica::TaskMap.

Member Data Documentation

◆ cscene_

CollisionScenePtr exotica::CollisionCheck::cscene_
private

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