exotica::JointLimit Class Reference

Implementation of joint limits task map. Note: we dont want to always stay at the centre of the joint range, be lazy as long as the joint is not too close to the low/high limits. More...

#include <joint_limit.h>

Inheritance diagram for exotica::JointLimit:

Collaboration diagram for exotica::JointLimit:

Public Member Functions
void	AssignScene (ScenePtr scene) override
void	Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) override
void	Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override
void	Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi) override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du) override
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) override
int	TaskSpaceDim () override
Public Member Functions inherited from exotica::TaskMap
virtual void	InstantiateBase (const Initializer &init)
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< JointLimitInitializer >
void	InstantiateInternal (const Initializer &init) override
Initializer	GetInitializerTemplate () override
std::vector< Initializer >	GetAllTemplates () const override
virtual void	Instantiate (const JointLimitInitializer &init)
const JointLimitInitializer &	GetParameters () const

Private Member Functions
void	Initialize ()

Private Attributes
double	safe_percentage_
int	N

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< JointLimitInitializer >
JointLimitInitializer	parameters_

Detailed Description

Implementation of joint limits task map. Note: we dont want to always stay at the centre of the joint range, be lazy as long as the joint is not too close to the low/high limits.

Member Function Documentation

AssignScene()

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

overridevirtual

Reimplemented from exotica::TaskMap.

Initialize()

void exotica::JointLimit::Initialize ( )

private

TaskSpaceDim()

int exotica::JointLimit::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Update() [1/6]

void exotica::JointLimit::Update ( Eigen::VectorXdRefConst  q, Eigen::VectorXdRef  phi  )

overridevirtual

Implements exotica::TaskMap.

Update() [2/6]

void exotica::JointLimit::Update ( Eigen::VectorXdRefConst  q, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  jacobian  )

overridevirtual

Reimplemented from exotica::TaskMap.

Update() [3/6]

void exotica::JointLimit::Update ( Eigen::VectorXdRefConst  q, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  jacobian, HessianRef  hessian  )

overridevirtual

Reimplemented from exotica::TaskMap.

Update() [4/6]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Update() [5/6]

void exotica::JointLimit::Update ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRefConst  u, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  dphi_dx, Eigen::MatrixXdRef  dphi_du  )

overridevirtual

Reimplemented from exotica::TaskMap.

Update() [6/6]

void exotica::JointLimit::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  )

overridevirtual

Reimplemented from exotica::TaskMap.

Member Data Documentation

N

int exotica::JointLimit::N

private

safe_percentage_

double exotica::JointLimit::safe_percentage_

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/joint_limit.h