Exotica
eff_frame.h
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29 
30 #ifndef EXOTICA_CORE_TASK_MAPS_EFF_FRAME_H_
31 #define EXOTICA_CORE_TASK_MAPS_EFF_FRAME_H_
32 
33 #include <exotica_core/task_map.h>
34 
35 #include <exotica_core_task_maps/eff_frame_initializer.h>
36 
37 namespace exotica
38 {
39 class EffFrame : public TaskMap, public Instantiable<EffFrameInitializer>
40 {
41 public:
42  void Instantiate(const EffFrameInitializer& init) override;
43 
46  void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override;
47 
48  int TaskSpaceDim() override;
49  int TaskSpaceJacobianDim() override;
50 
51  std::vector<TaskVectorEntry> GetLieGroupIndices() override;
52  const RotationType& get_rotation_type() const;
53 
54 private:
58 };
59 } // namespace exotica
60 
61 #endif // EXOTICA_CORE_TASK_MAPS_EFF_FRAME_H_
exotica::EffFrame::get_rotation_type
const RotationType & get_rotation_type() const
exotica::TaskMap
Definition: task_map.h:52
exotica::EffFrame::Instantiate
void Instantiate(const EffFrameInitializer &init) override
exotica::Instantiable
Definition: property.h:110
exotica
Definition: cartpole_dynamics_solver.h:38
exotica::EffFrame::rotation_type_
RotationType rotation_type_
Definition: eff_frame.h:57
Eigen::VectorXdRef
Eigen::Ref< Eigen::VectorXd > VectorXdRef
Definition: conversions.h:54
Eigen::VectorXdRefConst
const typedef Eigen::Ref< const Eigen::VectorXd > & VectorXdRefConst
Convenience wrapper for storing references to sub-matrices/vectors.
Definition: conversions.h:52
exotica::RotationType::RPY
@ RPY
Eigen::MatrixXdRef
Eigen::Ref< Eigen::MatrixXd > MatrixXdRef
Definition: conversions.h:55
exotica::HessianRef
Eigen::Ref< Hessian > HessianRef
Definition: conversions.h:160
exotica::EffFrame
Definition: eff_frame.h:39
exotica::EffFrame::TaskSpaceDim
int TaskSpaceDim() override
exotica::EffFrame::TaskSpaceJacobianDim
int TaskSpaceJacobianDim() override
exotica::EffFrame::big_stride_
int big_stride_
Definition: eff_frame.h:55
task_map.h
exotica::EffFrame::GetLieGroupIndices
std::vector< TaskVectorEntry > GetLieGroupIndices() override
exotica::RotationType
RotationType
Definition: conversions.h:79
exotica::EffFrame::Update
void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
exotica::EffFrame::small_stride_
int small_stride_
Definition: eff_frame.h:56