exotica::EffOrientation Class Reference

#include <eff_orientation.h>

Inheritance diagram for exotica::EffOrientation:

Collaboration diagram for exotica::EffOrientation:

Public Member Functions
void	Instantiate (const EffOrientationInitializer &init) override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override
int	TaskSpaceDim () override
int	TaskSpaceJacobianDim () override
std::vector< TaskVectorEntry >	GetLieGroupIndices () override
const RotationType &	get_rotation_type () const
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 void	PreUpdate ()
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< EffOrientationInitializer >
void	InstantiateInternal (const Initializer &init) override
Initializer	GetInitializerTemplate () override
std::vector< Initializer >	GetAllTemplates () const override
const EffOrientationInitializer &	GetParameters () const

Private Attributes
int	stride_
RotationType	rotation_type_ = RotationType::RPY

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< EffOrientationInitializer >
EffOrientationInitializer	parameters_

Member Function Documentation

get_rotation_type()

const RotationType& exotica::EffOrientation::get_rotation_type

(

)

const

GetLieGroupIndices()

std::vector<TaskVectorEntry> exotica::EffOrientation::GetLieGroupIndices ( )

overridevirtual

Reimplemented from exotica::TaskMap.

Instantiate()

void exotica::EffOrientation::Instantiate ( const EffOrientationInitializer &  init )

overridevirtual

Reimplemented from exotica::Instantiable< EffOrientationInitializer >.

TaskSpaceDim()

int exotica::EffOrientation::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

TaskSpaceJacobianDim()

int exotica::EffOrientation::TaskSpaceJacobianDim ( )

overridevirtual

Reimplemented from exotica::TaskMap.

Update() [1/3]

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

overridevirtual

Implements exotica::TaskMap.

Update() [2/3]

void exotica::EffOrientation::Update ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  jacobian  )

overridevirtual

Reimplemented from exotica::TaskMap.

Update() [3/3]

void exotica::EffOrientation::Update ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  jacobian, HessianRef  hessian  )

overridevirtual

Reimplemented from exotica::TaskMap.

Member Data Documentation

rotation_type_

RotationType exotica::EffOrientation::rotation_type_ = RotationType::RPY

private

stride_

int exotica::EffOrientation::stride_

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_orientation.h