Exotica
task_space_vector.h
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29 
30 #ifndef EXOTICA_CORE_TASK_SPACE_VECTOR_H_
31 #define EXOTICA_CORE_TASK_SPACE_VECTOR_H_
32 
34 #include <Eigen/Dense>
35 #include <kdl/frames.hpp>
36 #include <vector>
37 
38 namespace exotica
39 {
41 {
43  int id = 0;
44 
46  TaskVectorEntry(int _id, RotationType _type);
47  static std::vector<TaskVectorEntry> reindex(const std::vector<TaskVectorEntry>& _map, int _old_start, int _new_start);
48 };
49 
51 {
54  TaskSpaceVector& operator=(std::initializer_list<double> other);
55  Eigen::VectorXd operator-(const TaskSpaceVector& other);
56  void SetZero(const int n);
57 
58  Eigen::VectorXd data;
59  std::vector<TaskVectorEntry> map;
60 };
61 } // namespace exotica
62 
63 #endif // EXOTICA_CORE_TASK_SPACE_VECTOR_H_
exotica::TaskVectorEntry::TaskVectorEntry
TaskVectorEntry()
exotica::TaskVectorEntry::reindex
static std::vector< TaskVectorEntry > reindex(const std::vector< TaskVectorEntry > &_map, int _old_start, int _new_start)
exotica
Definition: cartpole_dynamics_solver.h:38
conversions.h
exotica::RotationType::RPY
@ RPY
exotica::TaskSpaceVector
Definition: task_space_vector.h:50
exotica::TaskSpaceVector::~TaskSpaceVector
~TaskSpaceVector()
exotica::TaskSpaceVector::map
std::vector< TaskVectorEntry > map
Definition: task_space_vector.h:59
exotica::TaskSpaceVector::TaskSpaceVector
TaskSpaceVector()
exotica::TaskVectorEntry
Definition: task_space_vector.h:40
exotica::TaskVectorEntry::type
RotationType type
Definition: task_space_vector.h:42
exotica::TaskSpaceVector::operator-
Eigen::VectorXd operator-(const TaskSpaceVector &other)
exotica::TaskSpaceVector::operator=
TaskSpaceVector & operator=(std::initializer_list< double > other)
exotica::TaskSpaceVector::data
Eigen::VectorXd data
Definition: task_space_vector.h:58
exotica::RotationType
RotationType
Definition: conversions.h:79
exotica::TaskSpaceVector::SetZero
void SetZero(const int n)