Exotica
Public Member Functions | Private Attributes | List of all members
exotica::EffOrientation Class Reference

#include <eff_orientation.h>

Inheritance diagram for exotica::EffOrientation:
Inheritance graph
Collaboration diagram for exotica::EffOrientation:
Collaboration graph

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< TaskVectorEntryGetLieGroupIndices () override
 
const RotationTypeget_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< KinematicFrameRequestGetFrames () 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< InitializerGetAllTemplates () const =0
 
- Public Member Functions inherited from exotica::Instantiable< EffOrientationInitializer >
void InstantiateInternal (const Initializer &init) override
 
Initializer GetInitializerTemplate () override
 
std::vector< InitializerGetAllTemplates () 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< KinematicSolutionkinematics = 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< KinematicFrameRequestframes_
 
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

◆ 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

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