Limits every given end-effector motion to a box in some reference frame. More...
#include <eff_box.h>
Inheritance diagram for exotica::EffBox:
Collaboration diagram for exotica::EffBox:
Public Member Functions | |
| void | Instantiate (const EffBoxInitializer &init) override |
| void | Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override |
| void | Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override |
| int | TaskSpaceDim () override |
| void | PublishObjectsAsMarkerArray () |
| Eigen::Vector3d | GetLowerLimit (const int eff_id) const |
| Eigen::Vector3d | GetUpperLimit (const int eff_id) const |
 Public Member Functions inherited from exotica::TaskMap | |
| virtual void | InstantiateBase (const Initializer &init) |
| virtual void | AssignScene (ScenePtr scene) |
| 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< EffBoxInitializer > | |
| void | InstantiateInternal (const Initializer &init) override |
| Initializer | GetInitializerTemplate () override |
| std::vector< Initializer > | GetAllTemplates () const override |
| const EffBoxInitializer & | GetParameters () const |
Private Attributes | |
| Eigen::VectorXd | eff_lower_ |
| End-effector lower x, y, z limit. More... | |
| Eigen::VectorXd | eff_upper_ |
| End-effector upper x, y, z limit. More... | |
| int | n_effs_ |
| Number of end-effectors. More... | |
| int | three_times_n_effs_ |
| ros::Publisher | pub_markers_ |
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< EffBoxInitializer > | |
| EffBoxInitializer | parameters_ |
Detailed Description
Limits every given end-effector motion to a box in some reference frame.
Member Function Documentation
◆ GetLowerLimit()
| Eigen::Vector3d exotica::EffBox::GetLowerLimit | ( | const int | eff_id | ) | const |
◆ GetUpperLimit()
| Eigen::Vector3d exotica::EffBox::GetUpperLimit | ( | const int | eff_id | ) | const |
◆ Instantiate()
|
overridevirtual |
Reimplemented from exotica::Instantiable< EffBoxInitializer >.
◆ PublishObjectsAsMarkerArray()
| void exotica::EffBox::PublishObjectsAsMarkerArray | ( | ) |
◆ TaskSpaceDim()
|
overridevirtual |
Implements exotica::TaskMap.
◆ Update() [1/2]
|
overridevirtual |
Implements exotica::TaskMap.
◆ Update() [2/2]
|
overridevirtual |
Reimplemented from exotica::TaskMap.
Member Data Documentation
◆ eff_lower_
|
private |
End-effector lower x, y, z limit.
◆ eff_upper_
|
private |
End-effector upper x, y, z limit.
◆ n_effs_
|
private |
Number of end-effectors.
◆ pub_markers_
|
private |
Three multiplied by the number of end-effectors.
publish marker for RViz
◆ three_times_n_effs_
|
private |
The documentation for this class was generated from the following file:
- /tmp/exotica/exotations/exotica_core_task_maps/include/exotica_core_task_maps/eff_box.h
