exotica::EffAxisAlignment Class Reference

#include <eff_axis_alignment.h>

Inheritance diagram for exotica::EffAxisAlignment:

Collaboration diagram for exotica::EffAxisAlignment:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW 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
int	TaskSpaceDim () override
void	SetDirection (const std::string &frame_name, const Eigen::Vector3d &dir_in)
Eigen::Vector3d	GetDirection (const std::string &frame_name) const
void	SetAxis (const std::string &frame_name, const Eigen::Vector3d &axis_in)
Eigen::Vector3d	GetAxis (const std::string &frame_name) const
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< EffAxisAlignmentInitializer >
void	InstantiateInternal (const Initializer &init) override
Initializer	GetInitializerTemplate () override
std::vector< Initializer >	GetAllTemplates () const override
virtual void	Instantiate (const EffAxisAlignmentInitializer &init)
const EffAxisAlignmentInitializer &	GetParameters () const

Public Attributes
int	N
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_

Private Member Functions
void	Initialize ()

Private Attributes
ros::Publisher	pub_debug_
visualization_msgs::MarkerArray	msg_debug_
int	n_frames_
Eigen::Matrix3Xd	axis_
Eigen::Matrix3Xd	dir_
Eigen::Vector3d	link_position_in_base_
Eigen::Vector3d	link_axis_position_in_base_

Additional Inherited Members
Protected Attributes inherited from exotica::TaskMap
std::vector< KinematicFrameRequest >	frames_
ScenePtr	scene_ = nullptr
Protected Attributes inherited from exotica::Instantiable< EffAxisAlignmentInitializer >
EffAxisAlignmentInitializer	parameters_

Member Function Documentation

AssignScene()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW void exotica::EffAxisAlignment::AssignScene ( ScenePtr  scene )

overridevirtual

Reimplemented from exotica::TaskMap.

GetAxis()

Eigen::Vector3d exotica::EffAxisAlignment::GetAxis

(

const std::string &

frame_name

)

const

GetDirection()

Eigen::Vector3d exotica::EffAxisAlignment::GetDirection

(

const std::string &

frame_name

)

const

Initialize()

void exotica::EffAxisAlignment::Initialize ( )

private

SetAxis()

void exotica::EffAxisAlignment::SetAxis	(	const std::string &	frame_name,
		const Eigen::Vector3d &	axis_in
	)

SetDirection()

void exotica::EffAxisAlignment::SetDirection	(	const std::string &	frame_name,
		const Eigen::Vector3d &	dir_in
	)

TaskSpaceDim()

int exotica::EffAxisAlignment::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Update() [1/2]

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

overridevirtual

Implements exotica::TaskMap.

Update() [2/2]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Member Data Documentation

axis_

Eigen::Matrix3Xd exotica::EffAxisAlignment::axis_

private

dir_

Eigen::Matrix3Xd exotica::EffAxisAlignment::dir_

private

link_axis_position_in_base_

Eigen::Vector3d exotica::EffAxisAlignment::link_axis_position_in_base_

private

link_position_in_base_

Eigen::Vector3d exotica::EffAxisAlignment::link_position_in_base_

private

msg_debug_

visualization_msgs::MarkerArray exotica::EffAxisAlignment::msg_debug_

private

N

int exotica::EffAxisAlignment::N

n_frames_

int exotica::EffAxisAlignment::n_frames_

private

pub_debug_

ros::Publisher exotica::EffAxisAlignment::pub_debug_

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/eff_axis_alignment.h