exotica::InteractionMesh Class Reference

#include <interaction_mesh.h>

Inheritance diagram for exotica::InteractionMesh:

Collaboration diagram for exotica::InteractionMesh:

Public Member Functions
	InteractionMesh ()
virtual	~InteractionMesh ()
void	Instantiate (const InteractionMeshInitializer &init) override
void	AssignScene (ScenePtr scene) 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	SetWeight (int i, int j, double weight)
void	SetWeights (const Eigen::MatrixXd &weights)
Eigen::MatrixXd	GetWeights ()
void	ComputeGoalLaplace (const Eigen::VectorXd &x, Eigen::VectorXd &goal)
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< InteractionMeshInitializer >
void	InstantiateInternal (const Initializer &init) override
Initializer	GetInitializerTemplate () override
std::vector< Initializer >	GetAllTemplates () const override
const InteractionMeshInitializer &	GetParameters () const

Static Public Member Functions
static Eigen::VectorXd	ComputeLaplace (Eigen::VectorXdRefConst eff_Phi, Eigen::MatrixXdRefConst weights, Eigen::MatrixXd *dist=nullptr, Eigen::VectorXd *wsum=nullptr)
static void	ComputeGoalLaplace (const std::vector< KDL::Frame > &nodes, Eigen::VectorXd &goal, Eigen::MatrixXdRefConst weights)

Protected Member Functions
void	Debug (Eigen::VectorXdRefConst phi)
void	InitializeDebug (std::string ref)
void	DestroyDebug ()

Protected Attributes
Eigen::MatrixXd	weights_
int	eff_size_ = 0
ros::Publisher	imesh_mark_pub_
visualization_msgs::Marker	imesh_mark_
Protected Attributes inherited from exotica::TaskMap
std::vector< KinematicFrameRequest >	frames_
ScenePtr	scene_ = nullptr
Protected Attributes inherited from exotica::Instantiable< InteractionMeshInitializer >
InteractionMeshInitializer	parameters_

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_

Constructor & Destructor Documentation

InteractionMesh()

exotica::InteractionMesh::InteractionMesh

(

)

~InteractionMesh()

virtual exotica::InteractionMesh::~InteractionMesh ( )

virtual

Member Function Documentation

AssignScene()

void exotica::InteractionMesh::AssignScene ( ScenePtr  scene )

overridevirtual

Reimplemented from exotica::TaskMap.

ComputeGoalLaplace() [1/2]

void exotica::InteractionMesh::ComputeGoalLaplace	(	const Eigen::VectorXd &	x,
		Eigen::VectorXd &	goal
	)

ComputeGoalLaplace() [2/2]

static void exotica::InteractionMesh::ComputeGoalLaplace ( const std::vector< KDL::Frame > &  nodes, Eigen::VectorXd &  goal, Eigen::MatrixXdRefConst  weights  )

static

ComputeLaplace()

static Eigen::VectorXd exotica::InteractionMesh::ComputeLaplace ( Eigen::VectorXdRefConst  eff_Phi, Eigen::MatrixXdRefConst  weights, Eigen::MatrixXd *  dist = nullptr, Eigen::VectorXd *  wsum = nullptr  )

static

Debug()

void exotica::InteractionMesh::Debug ( Eigen::VectorXdRefConst  phi )

protected

DestroyDebug()

void exotica::InteractionMesh::DestroyDebug ( )

protected

GetWeights()

Eigen::MatrixXd exotica::InteractionMesh::GetWeights

(

)

InitializeDebug()

void exotica::InteractionMesh::InitializeDebug ( std::string  ref )

protected

Instantiate()

void exotica::InteractionMesh::Instantiate ( const InteractionMeshInitializer &  init )

overridevirtual

Reimplemented from exotica::Instantiable< InteractionMeshInitializer >.

SetWeight()

void exotica::InteractionMesh::SetWeight	(	int	i,
		int	j,
		double	weight
	)

SetWeights()

void exotica::InteractionMesh::SetWeights

(

const Eigen::MatrixXd &

weights

)

TaskSpaceDim()

int exotica::InteractionMesh::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Update() [1/2]

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

overridevirtual

Implements exotica::TaskMap.

Update() [2/2]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Member Data Documentation

eff_size_

int exotica::InteractionMesh::eff_size_ = 0

protected

imesh_mark_

visualization_msgs::Marker exotica::InteractionMesh::imesh_mark_

protected

imesh_mark_pub_

ros::Publisher exotica::InteractionMesh::imesh_mark_pub_

protected

weights_

Eigen::MatrixXd exotica::InteractionMesh::weights_

protected

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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/interaction_mesh.h