Exotica
look_at.h
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29 
30 #ifndef EXOTICA_CORE_TASK_MAPS_LOOKAT_H_
31 #define EXOTICA_CORE_TASK_MAPS_LOOKAT_H_
32 
33 #include <exotica_core/task_map.h>
34 
35 #include <exotica_core_task_maps/look_at_initializer.h>
36 
37 namespace exotica
38 {
59 class LookAt : public TaskMap, public Instantiable<LookAtInitializer>
60 {
61 public:
64  int TaskSpaceDim() override;
65 };
66 } // namespace exotica
67 
68 #endif // EXOTICA_CORE_TASK_MAPS_LOOKAT_H_
exotica::TaskMap
Definition: task_map.h:52
exotica::LookAt::TaskSpaceDim
int TaskSpaceDim() override
exotica::Instantiable
Definition: property.h:110
exotica
Definition: cartpole_dynamics_solver.h:38
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
task_map.h
exotica::LookAt::Update
void Update(Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
exotica::LookAt
Points end-effector to look at a given target by aligning end-effector z-axis with the target....
Definition: look_at.h:59