exotica::TaskMap Class Reference

#include <task_map.h>

Inheritance diagram for exotica::TaskMap:

Collaboration diagram for exotica::TaskMap:

Public Member Functions
virtual void	InstantiateBase (const Initializer &init)
virtual void	AssignScene (ScenePtr scene)
virtual void	Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi)=0
virtual void	Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian)
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	TaskSpaceDim ()=0
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 Initializer	GetInitializerTemplate ()=0
virtual void	InstantiateInternal (const Initializer &init)=0
virtual std::vector< Initializer >	GetAllTemplates () const =0

Public Attributes
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
std::vector< KinematicFrameRequest >	frames_
ScenePtr	scene_ = nullptr

Additional Inherited Members
Private Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default
	~Uncopyable ()=default

Member Function Documentation

AssignScene()

virtual void exotica::TaskMap::AssignScene ( ScenePtr  scene )

virtual

Reimplemented in exotica::JointJerkBackwardDifference, exotica::JointAccelerationBackwardDifference, exotica::JointVelocityBackwardDifference, exotica::InteractionMesh, exotica::QuasiStatic, exotica::EffAxisAlignment, exotica::JointVelocityLimit, exotica::JointVelocityLimitConstraint, exotica::CollisionDistance, exotica::JointLimit, exotica::SmoothCollisionDistance, exotica::SumOfPenetrations, exotica::VariableSizeCollisionDistance, exotica::CenterOfMass, exotica::CollisionCheck, exotica::ContinuousJointPose, exotica::ControlRegularization, exotica::JointPose, and exotica::DistanceToLine2D.

GetFrames()

std::vector<KinematicFrameRequest> exotica::TaskMap::GetFrames

(

)

const

GetLieGroupIndices()

virtual std::vector<TaskVectorEntry> exotica::TaskMap::GetLieGroupIndices ( )

inlinevirtual

Reimplemented in exotica::EffFrame, and exotica::EffOrientation.

InstantiateBase()

virtual void exotica::TaskMap::InstantiateBase ( const Initializer &  init )

virtual

Reimplemented from exotica::InstantiableBase.

PreUpdate()

virtual void exotica::TaskMap::PreUpdate ( )

inlinevirtual

TaskSpaceDim()

virtual int exotica::TaskMap::TaskSpaceDim ( )

pure virtual

Implemented in exotica::AvoidLookAtSphere, exotica::JointJerkBackwardDifference, exotica::Manipulability, exotica::JointAccelerationBackwardDifference, exotica::LookAt, exotica::JointVelocityBackwardDifference, exotica::GazeAtConstraint, exotica::JointLimit, exotica::JointVelocityLimitConstraint, exotica::PointToPlane, exotica::InteractionMesh, exotica::ControlRegularization, exotica::EffAxisAlignment, exotica::JointVelocityLimit, exotica::QuasiStatic, exotica::EffBox, exotica::PointToLine, exotica::SmoothCollisionDistance, exotica::CollisionDistance, exotica::VariableSizeCollisionDistance, exotica::CenterOfMass, exotica::EffFrame, exotica::EffOrientation, exotica::SphereCollision, exotica::SumOfPenetrations, exotica::ContinuousJointPose, exotica::EffVelocity, exotica::JointPose, exotica::JointTorqueMinimizationProxy, exotica::CollisionCheck, exotica::Distance, exotica::EffPosition, exotica::EffPositionXY, and exotica::DistanceToLine2D.

TaskSpaceJacobianDim()

virtual int exotica::TaskMap::TaskSpaceJacobianDim ( )

inlinevirtual

Reimplemented in exotica::EffFrame, and exotica::EffOrientation.

Update() [1/6]

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

pure virtual

Implemented in exotica::AvoidLookAtSphere, exotica::Manipulability, exotica::JointJerkBackwardDifference, exotica::JointAccelerationBackwardDifference, exotica::LookAt, exotica::JointVelocityBackwardDifference, exotica::GazeAtConstraint, exotica::JointVelocityLimitConstraint, exotica::InteractionMesh, exotica::QuasiStatic, exotica::EffBox, exotica::JointVelocityLimit, exotica::PointToLine, exotica::CollisionDistance, exotica::SmoothCollisionDistance, exotica::SumOfPenetrations, exotica::VariableSizeCollisionDistance, exotica::CenterOfMass, exotica::SphereCollision, exotica::EffVelocity, exotica::CollisionCheck, exotica::ContinuousJointPose, exotica::EffFrame, exotica::EffOrientation, exotica::JointTorqueMinimizationProxy, exotica::EffPosition, exotica::EffPositionXY, exotica::PointToPlane, exotica::EffAxisAlignment, exotica::JointLimit, exotica::ControlRegularization, exotica::JointPose, exotica::Distance, and exotica::DistanceToLine2D.

Update() [2/6]

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

virtual

Reimplemented in exotica::AvoidLookAtSphere, exotica::JointJerkBackwardDifference, exotica::JointAccelerationBackwardDifference, exotica::LookAt, exotica::JointVelocityBackwardDifference, exotica::GazeAtConstraint, exotica::JointVelocityLimitConstraint, exotica::InteractionMesh, exotica::QuasiStatic, exotica::EffBox, exotica::JointVelocityLimit, exotica::PointToLine, exotica::CenterOfMass, exotica::SphereCollision, exotica::EffVelocity, exotica::ContinuousJointPose, exotica::EffFrame, exotica::EffOrientation, exotica::EffPosition, exotica::EffPositionXY, exotica::CollisionDistance, exotica::SmoothCollisionDistance, exotica::VariableSizeCollisionDistance, exotica::PointToPlane, exotica::EffAxisAlignment, exotica::JointLimit, exotica::ControlRegularization, exotica::JointPose, exotica::Distance, and exotica::DistanceToLine2D.

Update() [3/6]

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

virtual

Reimplemented in exotica::ContinuousJointPose, exotica::EffFrame, exotica::EffOrientation, exotica::EffPosition, exotica::EffPositionXY, exotica::PointToPlane, exotica::JointLimit, exotica::ControlRegularization, exotica::JointPose, and exotica::Distance.

Update() [4/6]

virtual void exotica::TaskMap::Update ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRefConst  u, Eigen::VectorXdRef  phi  )

virtual

Reimplemented in exotica::JointLimit, and exotica::ControlRegularization.

Update() [5/6]

virtual void exotica::TaskMap::Update ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRefConst  u, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  dphi_dx, Eigen::MatrixXdRef  dphi_du  )

virtual

Reimplemented in exotica::JointLimit, and exotica::ControlRegularization.

Update() [6/6]

virtual void exotica::TaskMap::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

Reimplemented in exotica::JointLimit, and exotica::ControlRegularization.

Member Data Documentation

frames_

std::vector<KinematicFrameRequest> exotica::TaskMap::frames_

protected

id

int exotica::TaskMap::id = -1

is_used

bool exotica::TaskMap::is_used = false

kinematics

std::vector<KinematicSolution> exotica::TaskMap::kinematics = std::vector<KinematicSolution>(1)

length

int exotica::TaskMap::length = -1

length_jacobian

int exotica::TaskMap::length_jacobian = -1

scene_

ScenePtr exotica::TaskMap::scene_ = nullptr

protected

start

int exotica::TaskMap::start = -1

start_jacobian

int exotica::TaskMap::start_jacobian = -1

---

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

• /tmp/exotica/exotica_core/include/exotica_core/task_map.h