exotica::EndPoseTask Struct Reference

#include <tasks.h>

Inheritance diagram for exotica::EndPoseTask:

Public Member Functions
	EndPoseTask ()=default
Eigen::VectorXd	GetGoal (const std::string &task_name) const
double	GetRho (const std::string &task_name) const
Eigen::MatrixXd	GetS (const std::string &task_name) const
Eigen::VectorXd	GetTaskError (const std::string &task_name) const
virtual void	Initialize (const std::vector< exotica::Initializer > &inits, std::shared_ptr< PlanningProblem > prob, TaskSpaceVector &Phi)
void	SetGoal (const std::string &task_name, Eigen::VectorXdRefConst goal)
void	SetRho (const std::string &task_name, const double rho_in)
void	Update (const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_jacobian, HessianRefConst big_hessian)
void	Update (const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_jacobian)
void	Update (const TaskSpaceVector &big_Phi)
void	UpdateS ()
virtual	~EndPoseTask ()=default
Public Member Functions inherited from exotica::Task
	Task ()=default
virtual	~Task ()=default

Public Attributes
Hessian	hessian
Eigen::MatrixXd	jacobian
TaskSpaceVector	Phi
Eigen::VectorXd	rho
Eigen::MatrixXd	S
TaskSpaceVector	y
Eigen::VectorXd	ydiff
Public Attributes inherited from exotica::Task
std::vector< TaskIndexing >	indexing
int	length_jacobian
int	length_Phi
int	num_tasks
TaskMapMap	task_maps
TaskMapVec	tasks
double	tolerance = 0.0

Additional Inherited Members
Protected Attributes inherited from exotica::Task
std::vector< TaskInitializer >	task_initializers_

Detailed Description

Definition at line 127 of file tasks.h.

Constructor & Destructor Documentation

exotica::EndPoseTask::EndPoseTask ( )

default

virtual exotica::EndPoseTask::~EndPoseTask ( )

virtualdefault

Member Function Documentation

Eigen::VectorXd exotica::EndPoseTask::GetGoal

(

const std::string &

task_name

)

const

Definition at line 179 of file tasks.cpp.

double exotica::EndPoseTask::GetRho

(

const std::string &

task_name

)

const

Definition at line 191 of file tasks.cpp.

Eigen::MatrixXd exotica::EndPoseTask::GetS

(

const std::string &

task_name

)

const

Definition at line 203 of file tasks.cpp.

Eigen::VectorXd exotica::EndPoseTask::GetTaskError

(

const std::string &

task_name

)

const

Definition at line 216 of file tasks.cpp.

void exotica::EndPoseTask::Initialize ( const std::vector< exotica::Initializer > &  inits, std::shared_ptr< PlanningProblem >  prob, TaskSpaceVector &  Phi  )

virtual

Reimplemented from exotica::Task.

Definition at line 68 of file tasks.cpp.

void exotica::EndPoseTask::SetGoal	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal
	)

Definition at line 151 of file tasks.cpp.

void exotica::EndPoseTask::SetRho	(	const std::string &	task_name,
		const double	rho_in
	)

Definition at line 165 of file tasks.cpp.

void exotica::EndPoseTask::Update	(	const TaskSpaceVector &	big_Phi,
		Eigen::MatrixXdRefConst	big_jacobian,
		HessianRefConst	big_hessian
	)

Definition at line 121 of file tasks.cpp.

void exotica::EndPoseTask::Update	(	const TaskSpaceVector &	big_Phi,
		Eigen::MatrixXdRefConst	big_jacobian
	)

Definition at line 132 of file tasks.cpp.

void exotica::EndPoseTask::Update

(

const TaskSpaceVector &

big_Phi

)

Definition at line 142 of file tasks.cpp.

void exotica::EndPoseTask::UpdateS

(

)

Definition at line 109 of file tasks.cpp.

Member Data Documentation

Hessian exotica::EndPoseTask::hessian

Definition at line 152 of file tasks.h.

Eigen::MatrixXd exotica::EndPoseTask::jacobian

Definition at line 151 of file tasks.h.

TaskSpaceVector exotica::EndPoseTask::Phi

Definition at line 150 of file tasks.h.

Eigen::VectorXd exotica::EndPoseTask::rho

Definition at line 147 of file tasks.h.

Eigen::MatrixXd exotica::EndPoseTask::S

Definition at line 153 of file tasks.h.

TaskSpaceVector exotica::EndPoseTask::y

Definition at line 148 of file tasks.h.

Eigen::VectorXd exotica::EndPoseTask::ydiff

Definition at line 149 of file tasks.h.

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

• tasks.h
• tasks.cpp