exotica::ControlRegularization Class Reference

#include <control_regularization.h>

Inheritance diagram for exotica::ControlRegularization:

Collaboration diagram for exotica::ControlRegularization:

Public Member Functions
void	AssignScene (ScenePtr scene) override
void	Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) override
void	Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override
void	Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi) override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du) override
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) override
int	TaskSpaceDim () override
const std::vector< int > &	get_joint_map () const
const Eigen::VectorXd &	get_joint_ref () const
Public Member Functions inherited from exotica::TaskMap
virtual void	InstantiateBase (const Initializer &init)
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< ControlRegularizationInitializer >
void	InstantiateInternal (const Initializer &init) override
Initializer	GetInitializerTemplate () override
std::vector< Initializer >	GetAllTemplates () const override
virtual void	Instantiate (const ControlRegularizationInitializer &init)
const ControlRegularizationInitializer &	GetParameters () const

Private Member Functions
void	Initialize ()

Private Attributes
int	num_controlled_joints_
std::vector< int >	joint_map_
	! Number of controlled joints More...
Eigen::VectorXd	joint_ref_
	! Subset selection matrix 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< ControlRegularizationInitializer >
ControlRegularizationInitializer	parameters_

Member Function Documentation

AssignScene()

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

overridevirtual

Reimplemented from exotica::TaskMap.

get_joint_map()

const std::vector<int>& exotica::ControlRegularization::get_joint_map

(

)

const

get_joint_ref()

const Eigen::VectorXd& exotica::ControlRegularization::get_joint_ref

(

)

const

Initialize()

void exotica::ControlRegularization::Initialize ( )

private

TaskSpaceDim()

int exotica::ControlRegularization::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Update() [1/6]

void exotica::ControlRegularization::Update ( Eigen::VectorXdRefConst  q, Eigen::VectorXdRef  phi  )

overridevirtual

Implements exotica::TaskMap.

Update() [2/6]

void exotica::ControlRegularization::Update ( Eigen::VectorXdRefConst  q, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  jacobian  )

overridevirtual

Reimplemented from exotica::TaskMap.

Update() [3/6]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Update() [4/6]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Update() [5/6]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Update() [6/6]

void exotica::ControlRegularization::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  )

overridevirtual

Reimplemented from exotica::TaskMap.

Member Data Documentation

joint_map_

std::vector<int> exotica::ControlRegularization::joint_map_

private

! Number of controlled joints

joint_ref_

Eigen::VectorXd exotica::ControlRegularization::joint_ref_

private

! Subset selection matrix

num_controlled_joints_

int exotica::ControlRegularization::num_controlled_joints_

private

---

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

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