#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

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

virtual

Definition at line 37 of file task_map.cpp.

std::vector< KinematicFrameRequest > exotica::TaskMap::GetFrames ( ) const

Definition at line 57 of file task_map.cpp.

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

inlinevirtual

Definition at line 75 of file task_map.h.

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

virtual

Reimplemented from exotica::InstantiableBase.

Definition at line 42 of file task_map.cpp.

virtual void exotica::TaskMap::PreUpdate ( )

inlinevirtual

Definition at line 74 of file task_map.h.

virtual int exotica::TaskMap::TaskSpaceDim ( )

pure virtual

virtual int exotica::TaskMap::TaskSpaceJacobianDim ( )

inlinevirtual

Definition at line 73 of file task_map.h.

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

pure virtual

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

virtual

Definition at line 62 of file task_map.cpp.

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.

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

virtual

Definition at line 112 of file task_map.cpp.

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.

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

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

protected

Definition at line 87 of file task_map.h.

int exotica::TaskMap::id = -1

Definition at line 79 of file task_map.h.

bool exotica::TaskMap::is_used = false

Definition at line 84 of file task_map.h.

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

Definition at line 78 of file task_map.h.

int exotica::TaskMap::length = -1

Definition at line 81 of file task_map.h.

int exotica::TaskMap::length_jacobian = -1

Definition at line 83 of file task_map.h.

ScenePtr exotica::TaskMap::scene_ = nullptr

protected

Definition at line 88 of file task_map.h.

int exotica::TaskMap::start = -1

Definition at line 80 of file task_map.h.

int exotica::TaskMap::start_jacobian = -1

Definition at line 82 of file task_map.h.

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

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

Member Data Documentation