#include <sphere_collision.h>

Inheritance diagram for exotica::SphereCollision:

Collaboration diagram for exotica::SphereCollision:

Public Member Functions
void	Instantiate (const SphereCollisionInitializer &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

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< SphereCollisionInitializer >
void	InstantiateInternal (const Initializer &init) override

Initializer	GetInitializerTemplate () override

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

const SphereCollisionInitializer &	GetParameters () const

Private Member Functions
double	Distance (const KDL::Frame &eff_A, const KDL::Frame &eff_B, double r_A, double r_B)

void	Jacobian (const KDL::Frame &eff_A, const KDL::Frame &eff_B, const KDL::Jacobian &jacA, const KDL::Jacobian &jacB, double r_A, double r_B, Eigen::Block< Eigen::Ref< Eigen::MatrixXd >, 1, -1, false > ret)

Private Attributes
std::map< std::string, std::vector< int > >	groups_

std::vector< double >	radiuses_

visualization_msgs::MarkerArray	debug_msg_

ros::Publisher	debug_pub_

double	eps_

int	dim_

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< SphereCollisionInitializer >
SphereCollisionInitializer	parameters_

Member Function Documentation

◆ Distance()

double exotica::SphereCollision::Distance	(	const KDL::Frame &	eff_A,
		const KDL::Frame &	eff_B,
		double	r_A,
		double	r_B
	)

private

◆ Instantiate()

void exotica::SphereCollision::Instantiate ( const SphereCollisionInitializer & init )

overridevirtual

Reimplemented from exotica::Instantiable< SphereCollisionInitializer >.

◆ Jacobian()

void exotica::SphereCollision::Jacobian	(	const KDL::Frame &	eff_A,
		const KDL::Frame &	eff_B,
		const KDL::Jacobian &	jacA,
		const KDL::Jacobian &	jacB,
		double	r_A,
		double	r_B,
		Eigen::Block< Eigen::Ref< Eigen::MatrixXd >, 1, -1, false >	ret
	)

private

◆ TaskSpaceDim()

int exotica::SphereCollision::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

◆ Update() [1/2]

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

overridevirtual

Implements exotica::TaskMap.

◆ Update() [2/2]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Member Data Documentation

◆ debug_msg_

visualization_msgs::MarkerArray exotica::SphereCollision::debug_msg_

private

◆ debug_pub_

ros::Publisher exotica::SphereCollision::debug_pub_

private

◆ dim_

int exotica::SphereCollision::dim_

private

◆ eps_

double exotica::SphereCollision::eps_

private

◆ groups_

std::map<std::string, std::vector<int> > exotica::SphereCollision::groups_

private

◆ radiuses_

std::vector<double> exotica::SphereCollision::radiuses_

private

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

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Member Function Documentation

◆ Distance()

◆ Instantiate()

◆ Jacobian()

◆ TaskSpaceDim()

◆ Update() [1/2]

◆ Update() [2/2]

Member Data Documentation

◆ debug_msg_

◆ debug_pub_

◆ dim_

◆ eps_

◆ groups_

◆ radiuses_