Exotica
Public Member Functions | List of all members
exotica::LookAt Class Reference

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:
Inheritance graph
Collaboration diagram for exotica::LookAt:
Collaboration graph

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< TaskVectorEntryGetLieGroupIndices ()
 
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< LookAtInitializer >
void InstantiateInternal (const Initializer &init) override
 
Initializer GetInitializerTemplate () override
 
std::vector< InitializerGetAllTemplates () const override
 
virtual void Instantiate (const LookAtInitializer &init)
 
const LookAtInitializer & GetParameters () const
 

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< 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: