exotica::TaskMap Class Reference

#include <task_map.h>

Inheritance diagram for exotica::TaskMap:

Public Member Functions
virtual void	AssignScene (ScenePtr scene)
std::vector< KinematicFrameRequest >	GetFrames () const
virtual std::vector< TaskVectorEntry >	GetLieGroupIndices ()
virtual void	InstantiateBase (const Initializer &init)
virtual void	PreUpdate ()
virtual int	TaskSpaceDim ()=0
virtual int	TaskSpaceJacobianDim ()
virtual void	Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi)=0
virtual void	Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian)
virtual void	Update (Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian)
virtual void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi)
virtual void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du)
virtual void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du, HessianRef ddphi_ddx, HessianRef ddphi_ddu, HessianRef ddphi_dxdu)
Public Member Functions inherited from exotica::Object
std::string	GetObjectName ()
void	InstantiateObject (const Initializer &init)
	Object ()
virtual std::string	Print (const std::string &prepend) const
virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...
virtual	~Object ()
Public Member Functions inherited from exotica::InstantiableBase
virtual std::vector< Initializer >	GetAllTemplates () const =0
virtual Initializer	GetInitializerTemplate ()=0
	InstantiableBase ()=default
virtual void	InstantiateInternal (const Initializer &init)=0
virtual	~InstantiableBase ()=default

Public Attributes
int	id = -1
bool	is_used = false
std::vector< KinematicSolution >	kinematics = std::vector<KinematicSolution>(1)
int	length = -1
int	length_jacobian = -1
int	start = -1
int	start_jacobian = -1
Public Attributes inherited from exotica::Object
bool	debug_
std::string	ns_
std::string	object_name_

Protected Attributes
std::vector< KinematicFrameRequest >	frames_
ScenePtr	scene_ = nullptr

Additional Inherited Members
Private Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default
	~Uncopyable ()=default

Detailed Description

Definition at line 52 of file task_map.h.

Member Function Documentation

AssignScene()

void exotica::TaskMap::AssignScene ( ScenePtr  scene )

virtual

Definition at line 37 of file task_map.cpp.

GetFrames()

std::vector< KinematicFrameRequest > exotica::TaskMap::GetFrames

(

)

const

Definition at line 57 of file task_map.cpp.

GetLieGroupIndices()

virtual std::vector<TaskVectorEntry> exotica::TaskMap::GetLieGroupIndices ( )

inlinevirtual

Definition at line 75 of file task_map.h.

InstantiateBase()

void exotica::TaskMap::InstantiateBase ( const Initializer &  init )

virtual

Reimplemented from exotica::InstantiableBase.

Definition at line 42 of file task_map.cpp.

PreUpdate()

virtual void exotica::TaskMap::PreUpdate ( )

inlinevirtual

Definition at line 74 of file task_map.h.

TaskSpaceDim()

virtual int exotica::TaskMap::TaskSpaceDim ( )

pure virtual

TaskSpaceJacobianDim()

virtual int exotica::TaskMap::TaskSpaceJacobianDim ( )

inlinevirtual

Definition at line 73 of file task_map.h.

Update() [1/6]

virtual void exotica::TaskMap::Update ( Eigen::VectorXdRefConst  q, Eigen::VectorXdRef  phi  )

pure virtual

Update() [2/6]

void exotica::TaskMap::Update ( Eigen::VectorXdRefConst  q, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  jacobian  )

virtual

Definition at line 62 of file task_map.cpp.

Update() [3/6]

void exotica::TaskMap::Update ( Eigen::VectorXdRefConst  q, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  jacobian, HessianRef  hessian  )

virtual

Definition at line 101 of file task_map.cpp.

Update() [4/6]

void exotica::TaskMap::Update ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRefConst  u, Eigen::VectorXdRef  phi  )

virtual

Definition at line 112 of file task_map.cpp.

Update() [5/6]

void exotica::TaskMap::Update ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRefConst  u, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  dphi_dx, Eigen::MatrixXdRef  dphi_du  )

virtual

Definition at line 118 of file task_map.cpp.

Update() [6/6]

void exotica::TaskMap::Update ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRefConst  u, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  dphi_dx, Eigen::MatrixXdRef  dphi_du, HessianRef  ddphi_ddx, HessianRef  ddphi_ddu, HessianRef  ddphi_dxdu  )

virtual

Definition at line 125 of file task_map.cpp.

Member Data Documentation

frames_

std::vector<KinematicFrameRequest> exotica::TaskMap::frames_

protected

Definition at line 87 of file task_map.h.

id

int exotica::TaskMap::id = -1

Definition at line 79 of file task_map.h.

is_used

bool exotica::TaskMap::is_used = false

Definition at line 84 of file task_map.h.

kinematics

std::vector<KinematicSolution> exotica::TaskMap::kinematics = std::vector<KinematicSolution>(1)

Definition at line 78 of file task_map.h.

length

int exotica::TaskMap::length = -1

Definition at line 81 of file task_map.h.

length_jacobian

int exotica::TaskMap::length_jacobian = -1

Definition at line 83 of file task_map.h.

scene_

ScenePtr exotica::TaskMap::scene_ = nullptr

protected

Definition at line 88 of file task_map.h.

start

int exotica::TaskMap::start = -1

Definition at line 80 of file task_map.h.

start_jacobian

int exotica::TaskMap::start_jacobian = -1

Definition at line 82 of file task_map.h.

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The documentation for this class was generated from the following files:

• task_map.h
• task_map.cpp