#include <distance.h>

Inheritance diagram for exotica::Distance:

Collaboration diagram for exotica::Distance:

Public Member Functions
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

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 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< DistanceInitializer >
void	InstantiateInternal (const Initializer &init) override

Initializer	GetInitializerTemplate () override

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

virtual void	Instantiate (const DistanceInitializer &init)

const DistanceInitializer &	GetParameters () const

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< DistanceInitializer >
DistanceInitializer	parameters_

Member Function Documentation

◆ TaskSpaceDim()

int exotica::Distance::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

◆ Update() [1/3]

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

overridevirtual

Implements exotica::TaskMap.

◆ Update() [2/3]

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

overridevirtual

Reimplemented from exotica::TaskMap.

◆ Update() [3/3]

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

overridevirtual

Reimplemented from exotica::TaskMap.

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

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

Public Member Functions

Additional Inherited Members

Member Function Documentation

◆ TaskSpaceDim()

◆ Update() [1/3]

◆ Update() [2/3]

◆ Update() [3/3]