Points end-effector to look at a given target by aligning end-effector z-axis with the target. Looks at a target point by penalizing the vector which defines the orthogonal projection onto a defined line in the end-effector frame. More...

#include <look_at.h>

Inheritance diagram for exotica::LookAt:

Collaboration diagram for exotica::LookAt:

Public Member Functions
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< LookAtInitializer >
void	InstantiateInternal (const Initializer &init) override

Initializer	GetInitializerTemplate () override

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

virtual void	Instantiate (const LookAtInitializer &init)

const LookAtInitializer &	GetParameters () const

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< LookAtInitializer >
LookAtInitializer	parameters_

Detailed Description

Points end-effector to look at a given target by aligning end-effector z-axis with the target. Looks at a target point by penalizing the vector which defines the orthogonal projection onto a defined line in the end-effector frame.

LookAt task map.

Given the point $p$ (the point to look at) defined in the end-effector space the task map is expressed by

$\Phi = \vec{d}$

where $\vec{d}:=p - a$ where $a$ is the orthogonal projection onto the line $L$ given by

$L:=\{\alpha c : \alpha\in\mathbb{R}\}$

and $c$ is some fixed point in the end-effector frame.

The LookAt task map can handle a goal for each end-effector. Three frames must be defined in the .xml for every goal.

Member Function Documentation

◆ TaskSpaceDim()

int exotica::LookAt::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

◆ Update() [1/2]

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

overridevirtual

Implements exotica::TaskMap.

◆ Update() [2/2]

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

overridevirtual

Reimplemented from exotica::TaskMap.

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

/tmp/exotica/exotations/exotica_core_task_maps/include/exotica_core_task_maps/look_at.h

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ TaskSpaceDim()

◆ Update() [1/2]

◆ Update() [2/2]