exotica::PointToLine Class Reference

#include <point_to_line.h>

Inheritance diagram for exotica::PointToLine:

Collaboration diagram for exotica::PointToLine:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PointToLine ()
virtual	~PointToLine ()
void	Instantiate (const PointToLineInitializer &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
Eigen::Vector3d	GetEndPoint ()
void	SetEndPoint (const Eigen::Vector3d &point)
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< PointToLineInitializer >
void	InstantiateInternal (const Initializer &init) override
Initializer	GetInitializerTemplate () override
std::vector< Initializer >	GetAllTemplates () const override
const PointToLineInitializer &	GetParameters () const

Private Member Functions
Eigen::Vector3d	Direction (const Eigen::Vector3d &point)
	direction computes the vector from a point to its projection on a line More...

Private Attributes
Eigen::Vector3d	line_start_
	start point of line in base frame More...
Eigen::Vector3d	line_end_
	end point of line in base frame More...
Eigen::Vector3d	line_
	vector from start to end point of line More...
bool	infinite_
std::string	link_name_
	frame of defined point More...
std::string	base_name_
	frame of defined line More...
ros::Publisher	pub_marker_
	publish marker for RViz More...
ros::Publisher	pub_marker_label_
	marker label More...
bool	visualize_

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< PointToLineInitializer >
PointToLineInitializer	parameters_

Constructor & Destructor Documentation

PointToLine()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW exotica::PointToLine::PointToLine

(

)

~PointToLine()

virtual exotica::PointToLine::~PointToLine ( )

virtual

Member Function Documentation

Direction()

Eigen::Vector3d exotica::PointToLine::Direction ( const Eigen::Vector3d &  point )

private

direction computes the vector from a point to its projection on a line

Parameters

point

point in base frame

Returns

3D vector from #point to its projection on #line

GetEndPoint()

Eigen::Vector3d exotica::PointToLine::GetEndPoint

(

)

Instantiate()

void exotica::PointToLine::Instantiate ( const PointToLineInitializer &  init )

overridevirtual

Reimplemented from exotica::Instantiable< PointToLineInitializer >.

SetEndPoint()

void exotica::PointToLine::SetEndPoint

(

const Eigen::Vector3d &

point

)

TaskSpaceDim()

int exotica::PointToLine::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Update() [1/2]

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

overridevirtual

Implements exotica::TaskMap.

Update() [2/2]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Member Data Documentation

base_name_

std::string exotica::PointToLine::base_name_

private

frame of defined line

infinite_

bool exotica::PointToLine::infinite_

private

true: vector from start to end defines the direction of and infinite line false: start and end define a line segment

line_

Eigen::Vector3d exotica::PointToLine::line_

private

vector from start to end point of line

line_end_

Eigen::Vector3d exotica::PointToLine::line_end_

private

end point of line in base frame

line_start_

Eigen::Vector3d exotica::PointToLine::line_start_

private

start point of line in base frame

link_name_

std::string exotica::PointToLine::link_name_

private

frame of defined point

pub_marker_

ros::Publisher exotica::PointToLine::pub_marker_

private

publish marker for RViz

pub_marker_label_

ros::Publisher exotica::PointToLine::pub_marker_label_

private

marker label

visualize_

bool exotica::PointToLine::visualize_

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/point_to_line.h