exotica::CollisionDistance Class Reference

#include <collision_distance.h>

Inheritance diagram for exotica::CollisionDistance:

Collaboration diagram for exotica::CollisionDistance:

Public Member Functions
void	AssignScene (ScenePtr scene) override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J) override
int	TaskSpaceDim () override
std::vector< CollisionProxy >	get_collision_proxies ()
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, 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< CollisionDistanceInitializer >
void	InstantiateInternal (const Initializer &init) override
Initializer	GetInitializerTemplate () override
std::vector< Initializer >	GetAllTemplates () const override
virtual void	Instantiate (const CollisionDistanceInitializer &init)
const CollisionDistanceInitializer &	GetParameters () const

Private Member Functions
void	Initialize ()
void	UpdateInternal (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J, bool updateJacobian=true)

Private Attributes
std::vector< std::string >	robot_joints_
std::map< std::string, std::vector< std::string > >	controlled_joint_to_collision_link_map_
bool	check_self_collision_ = true
double	robot_margin_
double	world_margin_
std::vector< CollisionProxy >	closest_proxies_
int	dim_
CollisionScenePtr	cscene_

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< CollisionDistanceInitializer >
CollisionDistanceInitializer	parameters_

Member Function Documentation

AssignScene()

void exotica::CollisionDistance::AssignScene ( ScenePtr  scene )

overridevirtual

Reimplemented from exotica::TaskMap.

get_collision_proxies()

std::vector<CollisionProxy> exotica::CollisionDistance::get_collision_proxies ( )

inline

Initialize()

void exotica::CollisionDistance::Initialize ( )

private

TaskSpaceDim()

int exotica::CollisionDistance::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Update() [1/2]

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

overridevirtual

Implements exotica::TaskMap.

Update() [2/2]

void exotica::CollisionDistance::Update ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  J  )

overridevirtual

Reimplemented from exotica::TaskMap.

UpdateInternal()

void exotica::CollisionDistance::UpdateInternal ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  J, bool  updateJacobian = true  )

private

Member Data Documentation

check_self_collision_

bool exotica::CollisionDistance::check_self_collision_ = true

private

closest_proxies_

std::vector<CollisionProxy> exotica::CollisionDistance::closest_proxies_

private

controlled_joint_to_collision_link_map_

std::map<std::string, std::vector<std::string> > exotica::CollisionDistance::controlled_joint_to_collision_link_map_

private

cscene_

CollisionScenePtr exotica::CollisionDistance::cscene_

private

dim_

int exotica::CollisionDistance::dim_

private

robot_joints_

std::vector<std::string> exotica::CollisionDistance::robot_joints_

private

robot_margin_

double exotica::CollisionDistance::robot_margin_

private

world_margin_

double exotica::CollisionDistance::world_margin_

private

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

• /tmp/exotica/exotations/exotica_core_task_maps/include/exotica_core_task_maps/collision_distance.h