exotica::PointToPlane Class Reference

PointToPlane TaskMap: Penalises the z-distance between two frames - or the distance of a point (represented by the Link frame) spanned by the normal represented through the z-axis of a second frame (represented by the Base frame). More...

#include <point_to_plane.h>

Inheritance diagram for exotica::PointToPlane:

Collaboration diagram for exotica::PointToPlane:

Public Member Functions
void	Instantiate (const PointToPlaneInitializer &init) 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
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 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< PointToPlaneInitializer >
void	InstantiateInternal (const Initializer &init) override
Initializer	GetInitializerTemplate () override
std::vector< Initializer >	GetAllTemplates () const override
const PointToPlaneInitializer &	GetParameters () const

Private Member Functions
void	PublishDebug ()

Private Attributes
ros::Publisher	debug_pub_

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< PointToPlaneInitializer >
PointToPlaneInitializer	parameters_

Detailed Description

PointToPlane TaskMap: Penalises the z-distance between two frames - or the distance of a point (represented by the Link frame) spanned by the normal represented through the z-axis of a second frame (represented by the Base frame).

This TaskMap returns the signed distance to the plane by default. In an unconstrained optimisation this would correspond to an equality constraint and force the distance to the plane to be minimised. In order to use the TaskMap as an inequality constraint, the parameter 'PositiveOnly' can be set to true. In this case, the TaskMap applies a ReLU-like activation ($x = \max(0, x)$) to the output.

Member Function Documentation

Instantiate()

void exotica::PointToPlane::Instantiate ( const PointToPlaneInitializer &  init )

overridevirtual

Reimplemented from exotica::Instantiable< PointToPlaneInitializer >.

PublishDebug()

void exotica::PointToPlane::PublishDebug ( )

private

TaskSpaceDim()

int exotica::PointToPlane::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Update() [1/3]

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

overridevirtual

Implements exotica::TaskMap.

Update() [2/3]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Update() [3/3]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Member Data Documentation

debug_pub_

ros::Publisher exotica::PointToPlane::debug_pub_

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_plane.h