Exotica
joint_pose.h
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29 
30 #ifndef EXOTICA_CORE_TASK_MAPS_IDENTITY_H_
31 #define EXOTICA_CORE_TASK_MAPS_IDENTITY_H_
32 
33 #include <exotica_core/task_map.h>
34 
35 #include <exotica_core_task_maps/joint_pose_initializer.h>
36 
37 namespace exotica
38 {
39 class JointPose : public TaskMap, public Instantiable<JointPoseInitializer>
40 {
41 public:
42  void AssignScene(ScenePtr scene) override;
43 
46  void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override;
47  int TaskSpaceDim() override;
48 
49  const std::vector<int>& get_joint_map() const;
50  const Eigen::VectorXd& get_joint_ref() const;
52 
53 private:
55  std::vector<int> joint_map_;
56  Eigen::VectorXd joint_ref_;
57  void Initialize();
58 };
59 } // namespace exotica
60 
61 #endif // EXOTICA_CORE_TASK_MAPS_IDENTITY_H_
exotica::JointPose::num_controlled_joints_
int num_controlled_joints_
Definition: joint_pose.h:54
exotica::TaskMap
Definition: task_map.h:52
exotica::JointPose::joint_map_
std::vector< int > joint_map_
! Number of controlled joints
Definition: joint_pose.h:55
exotica::JointPose::Update
void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) override
exotica::JointPose::get_joint_ref
const Eigen::VectorXd & get_joint_ref() const
exotica::Instantiable
Definition: property.h:110
exotica
Definition: cartpole_dynamics_solver.h:38
exotica::JointPose
Definition: joint_pose.h:39
exotica::ScenePtr
std::shared_ptr< Scene > ScenePtr
Definition: scene.h:246
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
Eigen::MatrixXdRef
Eigen::Ref< Eigen::MatrixXd > MatrixXdRef
Definition: conversions.h:55
exotica::HessianRef
Eigen::Ref< Hessian > HessianRef
Definition: conversions.h:160
exotica::JointPose::TaskSpaceDim
int TaskSpaceDim() override
exotica::JointPose::get_joint_map
const std::vector< int > & get_joint_map() const
exotica::JointPose::joint_ref_
Eigen::VectorXd joint_ref_
! Subset selection matrix
Definition: joint_pose.h:56
exotica::JointPose::set_joint_ref
void set_joint_ref(Eigen::VectorXdRefConst ref)
exotica::JointPose::Initialize
void Initialize()
! Joint reference value
exotica::JointPose::AssignScene
void AssignScene(ScenePtr scene) override
task_map.h