Namespaces
	visualization

Classes
class	AbstractDynamicsSolver

class	AbstractTimeIndexedProblem

class	AICOSolver
	Solves motion planning problem using Approximate Inference Control method. More...

class	AllowedCollisionMatrix

struct	AttachedObject

class	BayesianIKSolver
	Solves motion planning problem using Approximate Inference Control method. More...

class	BoundedEndPoseProblem

class	BoundedTimeIndexedProblem

struct	BoxQPSolution

struct	CollisionProxy

class	CollisionScene

struct	ContinuousCollisionProxy

class	DynamicTimeIndexedShootingProblem

class	EndPoseProblem

struct	EndPoseTask

class	Exception

class	Factory

class	FeedbackMotionSolver

struct	FunctorBase

class	Initializer

class	InitializerBase

class	Instantiable

class	InstantiableBase

class	KinematicElement

struct	KinematicFrame

struct	KinematicFrameRequest

struct	KinematicResponse

class	KinematicSolution

struct	KinematicsRequest

class	KinematicTree

class	MotionSolver

class	Object

class	PlanningProblem

class	Printable

class	Property

class	Registrar

class	RosNode

class	SamplingProblem

struct	SamplingTask

class	Scene

class	Server

class	Setup

class	SinglePassMeanCovariance

class	SolveException

struct	Task

struct	TaskIndexing

class	TaskMap

struct	TaskSpaceVector

struct	TaskVectorEntry

class	TestCout

class	TimeIndexedProblem

class	TimeIndexedSamplingProblem

struct	TimeIndexedTask

class	Timer

class	Trajectory

class	UnconstrainedEndPoseProblem

class	UnconstrainedTimeIndexedProblem

class	Uncopyable

class	VisualElement

class	VisualizationMeshcat

class	VisualizationMoveIt

class	XMLLoader

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

typedef Eigen::Ref< ArrayFrame >	ArrayFrameRef

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

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

typedef Eigen::Ref< ArrayHessian >	ArrayHessianRef

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

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

typedef Eigen::Ref< ArrayJacobian >	ArrayJacobianRef

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

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

typedef Eigen::Ref< ArrayTwist >	ArrayTwistRef

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

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

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

typedef struct exotica::BoxQPSolution	BoxQPSolution

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::DynamicTimeIndexedShootingProblem >	DynamicTimeIndexedShootingProblemPtr

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

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

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

typedef Eigen::Ref< Hessian >	HessianRef

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

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

typedef std::shared_ptr< const PlanningProblem >	PlanningProblemConstPtr

typedef Factory< PlanningProblem >	PlanningProblemFac

typedef std::shared_ptr< PlanningProblem >	PlanningProblemPtr

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

typedef std::shared_ptr< Scene >	ScenePtr

typedef std::shared_ptr< Server >	ServerPtr

typedef std::shared_ptr< Setup >	SetupPtr

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

typedef std::shared_ptr< TaskMap >	TaskMapPtr

typedef std::vector< TaskMapPtr >	TaskMapVec

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

Enumerations
enum	ArgumentPosition

enum	BaseType

enum	ControlCostLossTermType

enum	Integrator

enum	JointLimitType

enum	KinematicRequestFlags

enum	RotationType { RotationType::QUATERNION, RotationType::RPY, RotationType::ZYX, RotationType::ZYZ, RotationType::ANGLE_AXIS, RotationType::MATRIX }

enum	TerminationCriterion { TerminationCriterion::NotStarted, TerminationCriterion::IterationLimit, TerminationCriterion::BacktrackIterationLimit, TerminationCriterion::StepTolerance, TerminationCriterion::FunctionTolerance, TerminationCriterion::GradientTolerance, TerminationCriterion::Divergence, TerminationCriterion::UserDefined, TerminationCriterion::Convergence }

Functions
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...

void	appendChildXML (Initializer &parent, std::string &name, bool isAttribute, tinyxml2::XMLHandle &tag, const std::string &prefix)

void	AppendInitializer (std::shared_ptr< InstantiableBase > it, std::vector< Initializer > &ret)

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

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

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	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	ExoticaBoxQP (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)

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

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

Eigen::MatrixXd	GetFrame (const KDL::Frame &val)

KDL::Frame	GetFrame (Eigen::VectorXdRefConst val)

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

KDL::Frame	GetFrameFromMatrix (Eigen::MatrixXdRefConst val)

std::vector< std::string >	GetKeys (std::map< std::string, T > map)

std::vector< Key >	GetKeysFromMap (const std::map< Key, Val > &map)

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

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

RotationType	GetRotationTypeFromString (const std::string &rotation_type)

int	GetRotationTypeLength (const RotationType &type)

std::string	GetTypeName (const std::type_info &type)

std::vector< Val >	GetValuesFromMap (const std::map< Key, Val > &map)

double	huber_cost (double x, double beta)

double	huber_hessian (double x, double beta)

double	huber_jacobian (double x, double beta)

template<typename T1 , typename T2 >
static void	inverseSymPosDef (T1 &Ainv, const T2 &A)
	Computes an inverse of a symmetric positive definite matrix. More...

bool	IsContainerType (std::string type)

bool	IsRobotLink (std::shared_ptr< KinematicElement > e)

bool	IsVectorContainerType (std::string type)

bool	IsVectorType (std::string type)

std::string	LoadFile (const std::string &path)

robot_model::RobotModelPtr	LoadModelImpl (const std::string &urdf, const std::string &srdf)

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

std::shared_ptr< octomap::OcTree >	LoadOctree (const std::string &file_path)

std::shared_ptr< shapes::Shape >	LoadOctreeAsShape (const std::string &file_path)

std::vector< Val >	MapToVec (const std::map< Key, Val > &map)

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

KinematicRequestFlags	operator& (KinematicRequestFlags a, KinematicRequestFlags b)

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

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

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

Exception::ReportingType	operator\| (Exception::ReportingType a, Exception::ReportingType b) noexcept

KinematicRequestFlags	operator\| (KinematicRequestFlags a, KinematicRequestFlags b)

bool	ParseBool (const std::string value)

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

double	ParseDouble (const std::string value)

int	ParseInt (const std::string value)

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

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

std::string	ParsePath (const std::string &path)

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

bool	parseXML (tinyxml2::XMLHandle &tag, Initializer &parent, const std::string &prefix)

bool	PathExists (const std::string &path)

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

double	pseudo_huber_cost (double x, double beta)

double	pseudo_huber_hessian (double x, double beta)

double	pseudo_huber_jacobian (double x, double beta)

std_msgs::ColorRGBA	RandomColor ()

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

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

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

void	Sleep (double t)

double	smooth_l1_cost (double x, double beta)

double	smooth_l1_hessian (double x, double beta)

double	smooth_l1_jacobian (double x, double beta)

T	ToNumber (const std::string &)

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

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

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

std::string	ToString (const Eigen::Isometry3d &s)

std::string	ToString (const KDL::Frame &s)

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

Variables
	ARG0

	ARG1

	ARG2

	ARG3

	ARG4

const char	branch []

	FIXED

	FLOATING

	Huber

constexpr double	inf

	KIN_FK

	KIN_FK_VEL

	KIN_H

	KIN_J

	L2

	LIMIT_POSITION_LOWER

	LIMIT_POSITION_UPPER

constexpr double	pi

	PLANAR

	PseudoHuber

	RK1

	RK2

	RK4

	SmoothL1

	SymplecticEuler

	Undefined

const char	version []

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 $x=Ab$ for symmetric positive definite matrix A.

Definition at line 49 of file math_operations.h.

◆ 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.

Definition at line 42 of file math_operations.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Function Documentation

◆ AinvBSymPosDef()

◆ inverseSymPosDef()