Keeps a given point within field of view of the end-effector. More...

#include <gaze_at_constraint.h>

Inheritance diagram for exotica::GazeAtConstraint:

Collaboration diagram for exotica::GazeAtConstraint:

Public Member Functions
void	Instantiate (const GazeAtConstraintInitializer &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

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

Initializer	GetInitializerTemplate () override

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

const GazeAtConstraintInitializer &	GetParameters () const

Private Attributes
Eigen::VectorXd	tan_theta_squared_
	The tangent squared of given viewing angle Theta. 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< GazeAtConstraintInitializer >
GazeAtConstraintInitializer	parameters_

Detailed Description

Keeps a given point within field of view of the end-effector.

Given a point $p = (x, y, z)^T\in\mathbb{R}^3$ defined in the end-effector frame, the robot motion is constrained such that it keeps $p$ within a virtual cone attahed to the end-effector. The task map is defined by