exotica Namespace Reference

Namespaces
	visualization

Classes
class	AbstractDDPSolver
class	AbstractDynamicsSolver
class	AbstractFeasibilityDrivenDDPSolver
class	AbstractTimeIndexedProblem
class	AICOSolver
	Solves motion planning problem using Approximate Inference Control method. More...
class	AllowedCollisionMatrix
class	AnalyticDDPSolver
struct	AttachedObject
class	AvoidLookAtSphere
	Avoids pointing end-effector at a given spherical object. More...
class	BayesianIKSolver
	Solves motion planning problem using Approximate Inference Control method. More...
class	BKPIECESolver
class	BoundedEndPoseProblem
	Bound constrained end-pose problem implementation. More...
class	BoundedTimeIndexedProblem
	Bound constrained time-indexed problem. More...
struct	BoxQPSolution
class	CartpoleDynamicsSolver
class	CenterOfMass
class	CollisionCheck
class	CollisionDistance
struct	CollisionProxy
class	CollisionScene
	The class of collision scene. More...
class	CollisionSceneFCLLatest
struct	ContinuousCollisionProxy
class	ContinuousJointPose
class	ControlKPIECESolver
class	ControlLimitedDDPSolver
class	ControlLimitedFeasibilityDrivenDDPSolver
class	ControlRegularization
class	ControlRRTSolver
class	Distance
class	DistanceToLine2D
class	DoubleIntegratorDynamicsSolver
class	DynamicTimeIndexedShootingProblem
class	EffAxisAlignment
class	EffBox
	Limits every given end-effector motion to a box in some reference frame. More...
class	EffFrame
class	EffOrientation
class	EffPosition
class	EffPositionXY
class	EffVelocity
class	EndPoseProblem
	Arbitrarily constrained end-pose problem implementation. More...
struct	EndPoseTask
class	ESTSolver
class	Exception
class	Factory
	Templated Object factory for Default-constructible classes. The Factory is itself a singleton. More...
class	FeasibilityDrivenDDPSolver
class	FeedbackMotionSolver
struct	FunctorBase
class	GazeAtConstraint
	Keeps a given point within field of view of the end-effector. More...
class	IKSolver
	Weighted and Regularized Pseudo-Inverse Inverse Kinematics Solver The solver solves a weighted and regularised pseudo-inverse problem. It uses backtracking line-search and adaptive regularization. More...
class	ILQGSolver
class	ILQRSolver
class	Initializer
class	InitializerBase
class	Instantiable
class	InstantiableBase
class	InteractionMesh
class	JointAccelerationBackwardDifference
	Time-derivative estimation by backward differencing. JointAccelerationBackwardDifference uses backward differencing to estimate the second time derivative of the joint state. More...
class	JointJerkBackwardDifference
	Time-derivative estimation by backward differencing. JointJerkBackwardDifference uses backward differencing to estimate the third time derivative of the joint state. More...
class	JointLimit
	Implementation of joint limits task map. Note: we dont want to always stay at the centre of the joint range, be lazy as long as the joint is not too close to the low/high limits. More...
class	JointPose
class	JointTorqueMinimizationProxy
class	JointVelocityBackwardDifference
	Time-derivative estimation by backward differencing. JointVelocityBackwardDifference uses backward differencing to estimate the first time derivative of the joint state. More...
class	JointVelocityLimit
	Joint Velocity Limit taskmap for time-indexed problems. Penalisations of joint velocity limit violation within a specified percentage of the velocity limit. More...
class	JointVelocityLimitConstraint
	Joint velocity limit task map for non time-indexed problems. More...
class	KinematicElement
struct	KinematicFrame
struct	KinematicFrameRequest
struct	KinematicResponse
	The KinematicResponse is the container to keep kinematic update data. The corresponding KinematicSolution is created from and indexes into a KinematicResponse. More...
class	KinematicSolution
	The KinematicSolution is created from - and maps into - a KinematicResponse. More...
struct	KinematicsRequest
class	KinematicTree
class	KPIECESolver
class	LazyPRMSolver
class	LBTRRTSolver
class	LevenbergMarquardtSolver
class	LookAt
	Points end-effector to look at a given target by aligning end-effector z-axis with the target. Looks at a target point by penalizing the vector which defines the orthogonal projection onto a defined line in the end-effector frame. More...
class	Manipulability
	Manipulability measure. The manipulability measure for a robot at a given joint configuration indicates dexterity, that is, how isotropic the robot's motion is with respect to the task space motion. The measure is high when the manipulator is capable of equal motion in all directions and low when the manipulator is close to a singularity. This task map implements Yoshikawa's manipulability measure. More...
class	MotionSolver
class	Object
class	OMPLControlSolver
class	OMPLDubinsRNStateSpace
class	OMPLRNProjection
class	OMPLRNStateSpace
class	OMPLSE2RNProjection
class	OMPLSE2RNStateSpace
class	OMPLSE3RNProjection
class	OMPLSE3RNStateSpace
class	OMPLSolver
class	OMPLStatePropagator
class	OMPLStateSpace
class	OMPLStateValidityChecker
class	OMPLTimeIndexedRNStateSpace
class	OMPLTimeIndexedRRTConnect
class	OMPLTimeIndexedStateValidityChecker
class	PendulumDynamicsSolver
class	PinocchioDynamicsSolver
class	PinocchioDynamicsSolverWithGravityCompensation
class	PlanningProblem
class	PointToLine
class	PointToPlane
	PointToPlane TaskMap: Penalises the z-distance between two frames - or the distance of a point (represented by the Link frame) spanned by the normal represented through the z-axis of a second frame (represented by the Base frame). More...
class	Printable
class	PRMSolver
class	Property
class	QuadrotorDynamicsSolver
	Quadrotor dynamics with quaternion representation Based on D. Mellinger, N. Michael, and V. Kumar, "Trajectory generation and control for precise aggressive maneuvers with quadrotors", Proceedings of the 12th International Symposium on Experimental Robotics (ISER 2010), 2010. Cf. https://journals.sagepub.com/doi/abs/10.1177/0278364911434236. More...
class	QuasiStatic
class	Registrar
	Registration Class for the object type: Also templated: More...
class	RosNode
class	RRTConnectSolver
class	RRTSolver
class	RRTStarSolver
class	SamplingProblem
struct	SamplingTask
class	Scene
	The class of EXOTica Scene. More...
class	Server
class	Setup
class	SinglePassMeanCovariance
class	SmoothCollisionDistance
class	SolveException
class	SphereCollision
class	SumOfPenetrations
struct	Task
struct	TaskIndexing
class	TaskMap
struct	TaskSpaceVector
struct	TaskVectorEntry
class	TestCout
class	TimeIndexedProblem
	Time-indexed problem with bound, joint velocity, and general equality/inequality constraints. More...
class	TimeIndexedRRTConnectSolver
class	TimeIndexedSamplingProblem
struct	TimeIndexedTask
class	Timer
class	Trajectory
class	UnconstrainedEndPoseProblem
class	UnconstrainedTimeIndexedProblem
	Unconstrained time-indexed problem. More...
class	Uncopyable
class	VariableSizeCollisionDistance
class	VisualElement
class	VisualizationMeshcat
class	VisualizationMoveIt
class	XMLLoader

Typedefs
typedef boost::function< ompl::base::PlannerPtr(const ompl::base::SpaceInformationPtr &si, const std::string &name)>	ConfiguredPlannerAllocator
typedef std::shared_ptr< CollisionScene >	CollisionScenePtr
typedef AbstractDynamicsSolver< double, Eigen::Dynamic, Eigen::Dynamic >	DynamicsSolver
typedef std::shared_ptr< exotica::DynamicsSolver >	DynamicsSolverPtr
typedef std::shared_ptr< exotica::MotionSolver >	MotionSolverPtr
typedef Factory< PlanningProblem >	PlanningProblemFac
typedef std::shared_ptr< PlanningProblem >	PlanningProblemPtr
typedef std::shared_ptr< const PlanningProblem >	PlanningProblemConstPtr
typedef std::shared_ptr< exotica::BoundedEndPoseProblem >	BoundedEndPoseProblemPtr
typedef std::shared_ptr< exotica::BoundedTimeIndexedProblem >	BoundedTimeIndexedProblemPtr
typedef std::shared_ptr< exotica::DynamicTimeIndexedShootingProblem >	DynamicTimeIndexedShootingProblemPtr
typedef std::shared_ptr< exotica::EndPoseProblem >	EndPoseProblemPtr
typedef std::shared_ptr< exotica::SamplingProblem >	SamplingProblemPtr
typedef std::shared_ptr< exotica::TimeIndexedProblem >	TimeIndexedProblemPtr
typedef std::shared_ptr< exotica::TimeIndexedSamplingProblem >	TimeIndexedSamplingProblemPtr
typedef std::shared_ptr< exotica::UnconstrainedEndPoseProblem >	UnconstrainedEndPoseProblemPtr
typedef std::shared_ptr< exotica::UnconstrainedTimeIndexedProblem >	UnconstrainedTimeIndexedProblemPtr
typedef std::shared_ptr< Scene >	ScenePtr
typedef std::shared_ptr< Server >	ServerPtr
typedef std::shared_ptr< Setup >	SetupPtr
typedef std::shared_ptr< TaskMap >	TaskMapPtr
	Task Map smart pointer. More...
typedef std::map< std::string, TaskMapPtr >	TaskMapMap
	The mapping by name of TaskMaps. More...
typedef std::vector< TaskMapPtr >	TaskMapVec
typedef struct exotica::BoxQPSolution	BoxQPSolution
typedef Eigen::Array< KDL::Frame, Eigen::Dynamic, 1 >	ArrayFrame
typedef Eigen::Array< KDL::Twist, Eigen::Dynamic, 1 >	ArrayTwist
typedef Eigen::Array< KDL::Jacobian, Eigen::Dynamic, 1 >	ArrayJacobian
typedef Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >	Hessian
typedef Eigen::Array< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 >	ArrayHessian
typedef Eigen::Ref< ArrayFrame >	ArrayFrameRef
typedef Eigen::Ref< ArrayTwist >	ArrayTwistRef
typedef Eigen::Ref< ArrayJacobian >	ArrayJacobianRef
typedef Eigen::Ref< Hessian >	HessianRef
typedef Eigen::Ref< ArrayHessian >	ArrayHessianRef
typedef Eigen::internal::ref_selector< ArrayFrame >::type	ArrayFrameRefConst
typedef Eigen::internal::ref_selector< ArrayTwist >::type	ArrayTwistRefConst
typedef Eigen::internal::ref_selector< ArrayJacobian >::type	ArrayJacobianRefConst
typedef Eigen::internal::ref_selector< Hessian >::type	HessianRefConst
typedef Eigen::internal::ref_selector< ArrayHessian >::type	ArrayHessianRefConst
typedef FunctorBase< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >	Functor

Enumerations
enum	Integrator { RK1 = 0, SymplecticEuler, RK2, RK4 }
enum	BaseType { FIXED = 0, FLOATING = 10, PLANAR = 20 }
enum	KinematicRequestFlags { KIN_FK = 0, KIN_J = 2, KIN_FK_VEL = 4, KIN_H = 8 }
enum	JointLimitType { LIMIT_POSITION_LOWER = 0, LIMIT_POSITION_UPPER = 1 }
enum	TerminationCriterion {   TerminationCriterion::NotStarted = -1, TerminationCriterion::IterationLimit, TerminationCriterion::BacktrackIterationLimit, TerminationCriterion::StepTolerance,   TerminationCriterion::FunctionTolerance, TerminationCriterion::GradientTolerance, TerminationCriterion::Divergence, TerminationCriterion::UserDefined,   TerminationCriterion::Convergence }
enum	ControlCostLossTermType {   Undefined = -1, L2 = 0, SmoothL1 = 1, Huber = 2,   PseudoHuber = 3 }
enum	RotationType {   RotationType::QUATERNION, RotationType::RPY, RotationType::ZYX, RotationType::ZYZ,   RotationType::ANGLE_AXIS, RotationType::MATRIX }
enum	ArgumentPosition {   ARG0 = 0, ARG1 = 1, ARG2 = 2, ARG3 = 3,   ARG4 = 4 }
	Argument position. Used as parameter to refer to an argument. More...

Functions
double	DetDiff2D (Eigen::VectorXdRefConst p1, Eigen::VectorXdRefConst p2, Eigen::VectorXdRefConst p)
	DetDiff2D Computes the 2D determinant (analogous to a 2D cross product) of a two vectors defined by P_1P_2 and P_1P. More...
std::list< int >	QuickHull (Eigen::MatrixXdRefConst points, std::list< int > &half_points, int p1, int p2)
std::list< int >	ConvexHull2D (Eigen::MatrixXdRefConst points)
void	PointToLineDistance (const Eigen::Vector2d &P1, const Eigen::Vector2d &P2, const Eigen::Vector2d &P3, double &d)
	Computes the signed distance between a point and a line defined by two points in 2D. More...
void	PointToLineDistanceDerivative (const Eigen::Vector2d &P1, const Eigen::Vector2d &P2, const Eigen::Vector2d &P3, const Eigen::MatrixXd &dP1_dq, const Eigen::MatrixXd &dP2_dq, const Eigen::MatrixXd &dP3_dq, Eigen::Ref< Eigen::MatrixXd > &derivative)
	Derivative of signed distance between a point and a line defined by two points in 2D. More...
template<typename T1 , typename T2 >
static void	inverseSymPosDef (T1 &Ainv, const T2 &A)
	Computes an inverse of a symmetric positive definite matrix. More...
template<typename T1 , typename T2 , typename T3 >
static void	AinvBSymPosDef (T1 &x, const T2 &A, const T3 &b)
	Computes the solution to the linear problem for symmetric positive definite matrix A. More...
KinematicRequestFlags	operator| (KinematicRequestFlags a, KinematicRequestFlags b)
KinematicRequestFlags	operator& (KinematicRequestFlags a, KinematicRequestFlags b)
BoxQPSolution	BoxQP (const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init, const double th_acceptstep, const int max_iterations, const double th_gradient_tolerance, const double lambda, bool use_polynomial_linesearch=true, bool use_cholesky_factorization=true)
BoxQPSolution	BoxQP (const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init)
BoxQPSolution	ExoticaBoxQP (const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init, const double gamma, const int max_iterations, const double epsilon, const double lambda, bool use_polynomial_linesearch=false, bool use_cholesky_factorization=false)
BoxQPSolution	ExoticaBoxQP (const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init)
KDL::Rotation	GetRotation (Eigen::VectorXdRefConst data, RotationType type)
Eigen::VectorXd	SetRotation (const KDL::Rotation &data, RotationType type)
int	GetRotationTypeLength (const RotationType &type)
RotationType	GetRotationTypeFromString (const std::string &rotation_type)
KDL::Frame	GetFrame (Eigen::VectorXdRefConst val)
KDL::Frame	GetFrameFromMatrix (Eigen::MatrixXdRefConst val)
Eigen::MatrixXd	GetFrame (const KDL::Frame &val)
Eigen::VectorXd	GetFrameAsVector (const KDL::Frame &val, RotationType type=RotationType::RPY)
Eigen::VectorXd	GetRotationAsVector (const KDL::Frame &val, RotationType type)
void	NormalizeQuaternionInConfigurationVector (Eigen::Ref< Eigen::VectorXd > q)
void	SetDefaultQuaternionInConfigurationVector (Eigen::Ref< Eigen::VectorXd > q)
bool	IsContainerType (std::string type)
bool	IsVectorType (std::string type)
bool	IsVectorContainerType (std::string type)
template<class Key , class Val >
std::vector< Val >	MapToVec (const std::map< Key, Val > &map)
template<class Key , class Val >
std::vector< Key >	GetKeysFromMap (const std::map< Key, Val > &map)
template<class Key , class Val >
std::vector< Val >	GetValuesFromMap (const std::map< Key, Val > &map)
template<class Key , class Val >
void	AppendMap (std::map< Key, Val > &orig, const std::map< Key, Val > &extra)
template<class Val >
void	AppendVector (std::vector< Val > &orig, const std::vector< Val > &extra)
std::string	Trim (const std::string &s)
template<typename T >
T	ToNumber (const std::string &val)
template<>
float	ToNumber< float > (const std::string &val)
template<>
double	ToNumber< double > (const std::string &val)
template<>
int	ToNumber< int > (const std::string &val)
template<typename T , const int S>
Eigen::Matrix< T, S, 1 >	ParseVector (const std::string value)
bool	ParseBool (const std::string value)
double	ParseDouble (const std::string value)
int	ParseInt (const std::string value)
std::vector< std::string >	ParseList (const std::string &value, char token=',')
std::vector< int >	ParseIntList (const std::string value)
std::vector< bool >	ParseBoolList (const std::string value)
Exception::ReportingType	operator| (Exception::ReportingType a, Exception::ReportingType b) noexcept
std::ostream &	operator<< (std::ostream &os, const Printable &s)
template<typename T >
std::ostream &	operator<< (std::ostream &os, const std::vector< T > &s)
template<typename I , typename T >
std::ostream &	operator<< (std::ostream &os, const std::map< I, T > &s)
std::string	ToString (const KDL::Frame &s)
std::string	ToString (const Eigen::Isometry3d &s)
void	PrintDimensions (const std::string &name, const Eigen::Ref< const Eigen::MatrixXd > m)
double	huber_cost (double x, double beta)
double	huber_jacobian (double x, double beta)
double	huber_hessian (double x, double beta)
double	smooth_l1_cost (double x, double beta)
double	smooth_l1_jacobian (double x, double beta)
double	smooth_l1_hessian (double x, double beta)
double	pseudo_huber_cost (double x, double beta)
double	pseudo_huber_jacobian (double x, double beta)
double	pseudo_huber_hessian (double x, double beta)
void	Sleep (double t)
std_msgs::ColorRGBA	RandomColor ()
	RandomColor Generates random opaque color. More...
std_msgs::ColorRGBA	GetColor (double r, double g, double b, double a=1.0)
std_msgs::ColorRGBA	GetColor (const Eigen::Vector4d &rgba)
void	LoadOBJ (const std::string &data, Eigen::VectorXi &tri, Eigen::VectorXd &vert)
	LoadOBJ Loads mesh data from an OBJ file. More...
std::shared_ptr< octomap::OcTree >	LoadOctree (const std::string &file_path)
std::shared_ptr< shapes::Shape >	LoadOctreeAsShape (const std::string &file_path)
void	SaveMatrix (std::string file_name, const Eigen::Ref< const Eigen::MatrixXd > mat)
template<typename T >
std::vector< std::string >	GetKeys (std::map< std::string, T > map)
std::string	GetTypeName (const std::type_info &type)
std::string	ParsePath (const std::string &path)
std::string	LoadFile (const std::string &path)
bool	PathExists (const std::string &path)

Variables
constexpr double	inf = std::numeric_limits<double>::infinity()
constexpr double	pi = M_PI
const char	version []
const char	branch []

Detailed Description

TODO: remove this pragma once Pinocchio removes neutralConfiguration/ and fixes their deprecation warnings. (Relates to #547) fwd.hpp needs to be included first (before Boost, which comes with ROS), else everything breaks for Pinocchio >=2.1.5

Typedef Documentation

ArrayFrame

typedef Eigen::Array<KDL::Frame, Eigen::Dynamic, 1> exotica::ArrayFrame

ArrayFrameRef

typedef Eigen::Ref<ArrayFrame> exotica::ArrayFrameRef

ArrayFrameRefConst

typedef Eigen::internal::ref_selector<ArrayFrame>::type exotica::ArrayFrameRefConst

ArrayHessian

typedef Eigen::Array<Eigen::Array<Eigen::MatrixXd, Eigen::Dynamic, 1>, Eigen::Dynamic, 1> exotica::ArrayHessian

ArrayHessianRef

typedef Eigen::Ref<ArrayHessian> exotica::ArrayHessianRef

ArrayHessianRefConst

typedef Eigen::internal::ref_selector<ArrayHessian>::type exotica::ArrayHessianRefConst

ArrayJacobian

typedef Eigen::Array<KDL::Jacobian, Eigen::Dynamic, 1> exotica::ArrayJacobian

ArrayJacobianRef

typedef Eigen::Ref<ArrayJacobian> exotica::ArrayJacobianRef

ArrayJacobianRefConst

typedef Eigen::internal::ref_selector<ArrayJacobian>::type exotica::ArrayJacobianRefConst

ArrayTwist

typedef Eigen::Array<KDL::Twist, Eigen::Dynamic, 1> exotica::ArrayTwist

ArrayTwistRef

typedef Eigen::Ref<ArrayTwist> exotica::ArrayTwistRef

ArrayTwistRefConst

typedef Eigen::internal::ref_selector<ArrayTwist>::type exotica::ArrayTwistRefConst

BoundedEndPoseProblemPtr

typedef std::shared_ptr<exotica::BoundedEndPoseProblem> exotica::BoundedEndPoseProblemPtr

BoundedTimeIndexedProblemPtr

typedef std::shared_ptr<exotica::BoundedTimeIndexedProblem> exotica::BoundedTimeIndexedProblemPtr

BoxQPSolution

typedef struct exotica::BoxQPSolution exotica::BoxQPSolution

CollisionScenePtr

typedef std::shared_ptr<CollisionScene> exotica::CollisionScenePtr

ConfiguredPlannerAllocator

typedef boost::function<ompl::base::PlannerPtr(const ompl::base::SpaceInformationPtr &si, const std::string &name)> exotica::ConfiguredPlannerAllocator

DynamicsSolver

typedef AbstractDynamicsSolver< double, Eigen::Dynamic, Eigen::Dynamic > exotica::DynamicsSolver

DynamicsSolverPtr

typedef std::shared_ptr<exotica::DynamicsSolver> exotica::DynamicsSolverPtr

DynamicTimeIndexedShootingProblemPtr

typedef std::shared_ptr<exotica::DynamicTimeIndexedShootingProblem> exotica::DynamicTimeIndexedShootingProblemPtr

EndPoseProblemPtr

typedef std::shared_ptr<exotica::EndPoseProblem> exotica::EndPoseProblemPtr

Functor

typedef FunctorBase<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic> exotica::Functor

Hessian

typedef Eigen::Array<Eigen::MatrixXd, Eigen::Dynamic, 1> exotica::Hessian

HessianRef

typedef Eigen::Ref<Hessian> exotica::HessianRef

HessianRefConst

typedef Eigen::internal::ref_selector<Hessian>::type exotica::HessianRefConst

MotionSolverPtr

typedef std::shared_ptr<exotica::MotionSolver> exotica::MotionSolverPtr

PlanningProblemConstPtr

typedef std::shared_ptr<const PlanningProblem> exotica::PlanningProblemConstPtr

PlanningProblemFac

typedef Factory<PlanningProblem> exotica::PlanningProblemFac

PlanningProblemPtr

typedef std::shared_ptr<PlanningProblem> exotica::PlanningProblemPtr

SamplingProblemPtr

typedef std::shared_ptr<exotica::SamplingProblem> exotica::SamplingProblemPtr

ScenePtr

typedef std::shared_ptr<Scene> exotica::ScenePtr

ServerPtr

typedef std::shared_ptr<Server> exotica::ServerPtr

SetupPtr

typedef std::shared_ptr<Setup> exotica::SetupPtr

TaskMapMap

typedef std::map<std::string, TaskMapPtr> exotica::TaskMapMap

The mapping by name of TaskMaps.

TaskMapPtr

typedef std::shared_ptr<TaskMap> exotica::TaskMapPtr

Task Map smart pointer.

TaskMapVec

typedef std::vector<TaskMapPtr> exotica::TaskMapVec

TimeIndexedProblemPtr

typedef std::shared_ptr<exotica::TimeIndexedProblem> exotica::TimeIndexedProblemPtr

TimeIndexedSamplingProblemPtr

typedef std::shared_ptr<exotica::TimeIndexedSamplingProblem> exotica::TimeIndexedSamplingProblemPtr

UnconstrainedEndPoseProblemPtr

typedef std::shared_ptr<exotica::UnconstrainedEndPoseProblem> exotica::UnconstrainedEndPoseProblemPtr

UnconstrainedTimeIndexedProblemPtr

typedef std::shared_ptr<exotica::UnconstrainedTimeIndexedProblem> exotica::UnconstrainedTimeIndexedProblemPtr

Enumeration Type Documentation

ArgumentPosition

enum exotica::ArgumentPosition

Argument position. Used as parameter to refer to an argument.

Enumerator
ARG0
ARG1
ARG2
ARG3
ARG4

BaseType

enum exotica::BaseType

Enumerator
FIXED
FLOATING
PLANAR

ControlCostLossTermType

enum exotica::ControlCostLossTermType

Enumerator
Undefined
L2
SmoothL1
Huber
PseudoHuber

Integrator

enum exotica::Integrator

Enumerator
RK1	Forward Euler (explicit)
SymplecticEuler	Semi-Implicit Euler.
RK2	Explicit trapezoid rule.
RK4	Runge-Kutta 4.

JointLimitType

enum exotica::JointLimitType

Enumerator
LIMIT_POSITION_LOWER
LIMIT_POSITION_UPPER

KinematicRequestFlags

enum exotica::KinematicRequestFlags

Enumerator
KIN_FK
KIN_J
KIN_FK_VEL
KIN_H

RotationType

enum exotica::RotationType

strong

Enumerator
QUATERNION
RPY
ZYX
ZYZ
ANGLE_AXIS
MATRIX

TerminationCriterion

enum exotica::TerminationCriterion

strong

Enumerator
NotStarted
IterationLimit
BacktrackIterationLimit
StepTolerance
FunctionTolerance
GradientTolerance
Divergence
UserDefined
Convergence

Function Documentation

AinvBSymPosDef()

template<typename T1 , typename T2 , typename T3 >

static void exotica::AinvBSymPosDef ( T1 &  x, const T2 &  A, const T3 &  b  )

inlinestatic

Computes the solution to the linear problem for symmetric positive definite matrix A.

AppendMap()

template<class Key , class Val >

void exotica::AppendMap	(	std::map< Key, Val > &	orig,
		const std::map< Key, Val > &	extra
	)

AppendVector()

template<class Val >

void exotica::AppendVector	(	std::vector< Val > &	orig,
		const std::vector< Val > &	extra
	)

BoxQP() [1/2]

BoxQPSolution exotica::BoxQP ( const Eigen::MatrixXd &  H, const Eigen::VectorXd &  q, const Eigen::VectorXd &  b_low, const Eigen::VectorXd &  b_high, const Eigen::VectorXd &  x_init  )

inline

BoxQP() [2/2]

BoxQPSolution exotica::BoxQP ( const Eigen::MatrixXd &  H, const Eigen::VectorXd &  q, const Eigen::VectorXd &  b_low, const Eigen::VectorXd &  b_high, const Eigen::VectorXd &  x_init, const double  th_acceptstep, const int  max_iterations, const double  th_gradient_tolerance, const double  lambda, bool  use_polynomial_linesearch = true, bool  use_cholesky_factorization = true  )

inline

ConvexHull2D()

std::list<int> exotica::ConvexHull2D

(

Eigen::MatrixXdRefConst

points

)

DetDiff2D()

double exotica::DetDiff2D	(	Eigen::VectorXdRefConst	p1,
		Eigen::VectorXdRefConst	p2,
		Eigen::VectorXdRefConst	p
	)

DetDiff2D Computes the 2D determinant (analogous to a 2D cross product) of a two vectors defined by P_1P_2 and P_1P.

ExoticaBoxQP() [1/2]

BoxQPSolution exotica::ExoticaBoxQP ( const Eigen::MatrixXd &  H, const Eigen::VectorXd &  q, const Eigen::VectorXd &  b_low, const Eigen::VectorXd &  b_high, const Eigen::VectorXd &  x_init  )

inline

ExoticaBoxQP() [2/2]

BoxQPSolution exotica::ExoticaBoxQP ( const Eigen::MatrixXd &  H, const Eigen::VectorXd &  q, const Eigen::VectorXd &  b_low, const Eigen::VectorXd &  b_high, const Eigen::VectorXd &  x_init, const double  gamma, const int  max_iterations, const double  epsilon, const double  lambda, bool  use_polynomial_linesearch = false, bool  use_cholesky_factorization = false  )

inline

GetColor() [1/2]

std_msgs::ColorRGBA exotica::GetColor ( const Eigen::Vector4d &  rgba )

inline

GetColor() [2/2]

std_msgs::ColorRGBA exotica::GetColor ( double  r, double  g, double  b, double  a = 1.0  )

inline

GetFrame() [1/2]

Eigen::MatrixXd exotica::GetFrame

(

const KDL::Frame &

val

)

GetFrame() [2/2]

KDL::Frame exotica::GetFrame

(

Eigen::VectorXdRefConst

val

)

GetFrameAsVector()

Eigen::VectorXd exotica::GetFrameAsVector	(	const KDL::Frame &	val,
		RotationType	type = RotationType::RPY
	)

GetFrameFromMatrix()

KDL::Frame exotica::GetFrameFromMatrix

(

Eigen::MatrixXdRefConst

val

)

GetKeys()

template<typename T >

std::vector<std::string> exotica::GetKeys

(

std::map< std::string, T >

map

)

GetKeysFromMap()

template<class Key , class Val >

std::vector<Key> exotica::GetKeysFromMap

(

const std::map< Key, Val > &

map

)

GetRotation()

KDL::Rotation exotica::GetRotation	(	Eigen::VectorXdRefConst	data,
		RotationType	type
	)

GetRotationAsVector()

Eigen::VectorXd exotica::GetRotationAsVector	(	const KDL::Frame &	val,
		RotationType	type
	)

GetRotationTypeFromString()

RotationType exotica::GetRotationTypeFromString ( const std::string &  rotation_type )

inline

GetRotationTypeLength()

int exotica::GetRotationTypeLength ( const RotationType &  type )

inline

GetTypeName()

std::string exotica::GetTypeName

(

const std::type_info &

type

)

GetValuesFromMap()

template<class Key , class Val >

std::vector<Val> exotica::GetValuesFromMap

(

const std::map< Key, Val > &

map

)

huber_cost()

double exotica::huber_cost ( double  x, double  beta  )

inline

huber_hessian()

double exotica::huber_hessian ( double  x, double  beta  )

inline

huber_jacobian()

double exotica::huber_jacobian ( double  x, double  beta  )

inline

inverseSymPosDef()

template<typename T1 , typename T2 >

static void exotica::inverseSymPosDef ( T1 &  Ainv, const T2 &  A  )

inlinestatic

Computes an inverse of a symmetric positive definite matrix.

Parameters

Ainv	Resulting inverted matrix (using Cholesky factorization).
A	A symmetric positive definite matrix to be inverted.

IsContainerType()

bool exotica::IsContainerType ( std::string  type )

inline

IsVectorContainerType()

bool exotica::IsVectorContainerType ( std::string  type )

inline

IsVectorType()

bool exotica::IsVectorType ( std::string  type )

inline

LoadFile()

std::string exotica::LoadFile

(

const std::string &

path

)

LoadOBJ()

void exotica::LoadOBJ	(	const std::string &	data,
		Eigen::VectorXi &	tri,
		Eigen::VectorXd &	vert
	)

LoadOBJ Loads mesh data from an OBJ file.

Parameters

file_name	File name
tri	Returned vertex indices of triangles
vert	Vertex positions

LoadOctree()

std::shared_ptr<octomap::OcTree> exotica::LoadOctree

(

const std::string &

file_path

)

LoadOctreeAsShape()

std::shared_ptr<shapes::Shape> exotica::LoadOctreeAsShape

(

const std::string &

file_path

)

MapToVec()

template<class Key , class Val >

std::vector<Val> exotica::MapToVec

(

const std::map< Key, Val > &

map

)

NormalizeQuaternionInConfigurationVector()

void exotica::NormalizeQuaternionInConfigurationVector ( Eigen::Ref< Eigen::VectorXd >  q )

inline

operator&()

KinematicRequestFlags exotica::operator& ( KinematicRequestFlags  a, KinematicRequestFlags  b  )

inline

operator<<() [1/3]

std::ostream& exotica::operator<<	(	std::ostream &	os,
		const Printable &	s
	)

operator<<() [2/3]

template<typename I , typename T >

std::ostream& exotica::operator<<	(	std::ostream &	os,
		const std::map< I, T > &	s
	)

operator<<() [3/3]

template<typename T >

std::ostream& exotica::operator<<	(	std::ostream &	os,
		const std::vector< T > &	s
	)

operator|() [1/2]

Exception::ReportingType exotica::operator| ( Exception::ReportingType  a, Exception::ReportingType  b  )

inlinenoexcept

operator|() [2/2]

KinematicRequestFlags exotica::operator| ( KinematicRequestFlags  a, KinematicRequestFlags  b  )

inline

ParseBool()

bool exotica::ParseBool ( const std::string  value )

inline

ParseBoolList()

std::vector<bool> exotica::ParseBoolList ( const std::string  value )

inline

ParseDouble()

double exotica::ParseDouble ( const std::string  value )

inline

ParseInt()

int exotica::ParseInt ( const std::string  value )

inline

ParseIntList()

std::vector<int> exotica::ParseIntList ( const std::string  value )

inline

ParseList()

std::vector<std::string> exotica::ParseList ( const std::string &  value, char  token = ','  )

inline

ParsePath()

std::string exotica::ParsePath

(

const std::string &

path

)

ParseVector()

template<typename T , const int S>

Eigen::Matrix<T, S, 1> exotica::ParseVector ( const std::string  value )

inline

PathExists()

bool exotica::PathExists

(

const std::string &

path

)

PointToLineDistance()

void exotica::PointToLineDistance	(	const Eigen::Vector2d &	P1,
		const Eigen::Vector2d &	P2,
		const Eigen::Vector2d &	P3,
		double &	d
	)

Computes the signed distance between a point and a line defined by two points in 2D.

Parameters

P1	First point defining the line
P2	Second point defining the line
P3	Query point
d	Signed distance

PointToLineDistanceDerivative()

void exotica::PointToLineDistanceDerivative	(	const Eigen::Vector2d &	P1,
		const Eigen::Vector2d &	P2,
		const Eigen::Vector2d &	P3,
		const Eigen::MatrixXd &	dP1_dq,
		const Eigen::MatrixXd &	dP2_dq,
		const Eigen::MatrixXd &	dP3_dq,
		Eigen::Ref< Eigen::MatrixXd > &	derivative
	)

Derivative of signed distance between a point and a line defined by two points in 2D.

PrintDimensions()

void exotica::PrintDimensions	(	const std::string &	name,
		const Eigen::Ref< const Eigen::MatrixXd >	m
	)

pseudo_huber_cost()

double exotica::pseudo_huber_cost ( double  x, double  beta  )

inline

pseudo_huber_hessian()

double exotica::pseudo_huber_hessian ( double  x, double  beta  )

inline

pseudo_huber_jacobian()

double exotica::pseudo_huber_jacobian ( double  x, double  beta  )

inline

QuickHull()

std::list<int> exotica::QuickHull	(	Eigen::MatrixXdRefConst	points,
		std::list< int > &	half_points,
		int	p1,
		int	p2
	)

RandomColor()

std_msgs::ColorRGBA exotica::RandomColor

(

)

RandomColor Generates random opaque color.

Returns

Random color

SaveMatrix()

void exotica::SaveMatrix	(	std::string	file_name,
		const Eigen::Ref< const Eigen::MatrixXd >	mat
	)

SetDefaultQuaternionInConfigurationVector()

void exotica::SetDefaultQuaternionInConfigurationVector ( Eigen::Ref< Eigen::VectorXd >  q )

inline

SetRotation()

Eigen::VectorXd exotica::SetRotation	(	const KDL::Rotation &	data,
		RotationType	type
	)

Sleep()

void exotica::Sleep ( double  t )

inline

smooth_l1_cost()

double exotica::smooth_l1_cost ( double  x, double  beta  )

inline

smooth_l1_hessian()

double exotica::smooth_l1_hessian ( double  x, double  beta  )

inline

smooth_l1_jacobian()

double exotica::smooth_l1_jacobian ( double  x, double  beta  )

inline

ToNumber()

template<typename T >

T exotica::ToNumber

(

const std::string &

val

)

ToNumber< double >()

template<>

double exotica::ToNumber< double > ( const std::string &  val )

inline

ToNumber< float >()

template<>

float exotica::ToNumber< float > ( const std::string &  val )

inline

ToNumber< int >()

template<>

int exotica::ToNumber< int > ( const std::string &  val )

inline

ToString() [1/2]

std::string exotica::ToString

(

const Eigen::Isometry3d &

s

)

ToString() [2/2]

std::string exotica::ToString

(

const KDL::Frame &

s

)

Trim()

std::string exotica::Trim ( const std::string &  s )

inline

Variable Documentation

branch

const char exotica::branch[]

inf

constexpr double exotica::inf = std::numeric_limits<double>::infinity()

constexpr

pi

constexpr double exotica::pi = M_PI

constexpr

version

const char exotica::version[]