Public Member Functions | Public Attributes | List of all members
exotica::TimeIndexedTask Struct Reference

#include <tasks.h>

Inheritance diagram for exotica::TimeIndexedTask:
Inheritance graph
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Public Member Functions

Eigen::VectorXd GetGoal (const std::string &task_name, int t) const
 
double GetRho (const std::string &task_name, int t) const
 
Eigen::MatrixXd GetS (const std::string &task_name, int t) const
 
Eigen::VectorXd GetTaskError (const std::string &task_name, int t) const
 
virtual void Initialize (const std::vector< exotica::Initializer > &inits, std::shared_ptr< PlanningProblem > prob, TaskSpaceVector &Phi)
 
void ReinitializeVariables (int _T, std::shared_ptr< PlanningProblem > _prob, const TaskSpaceVector &_Phi)
 
void SetGoal (const std::string &task_name, Eigen::VectorXdRefConst goal, int t)
 
void SetRho (const std::string &task_name, const double rho_in, int t)
 
 TimeIndexedTask ()=default
 
void Update (const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_dPhi_dx, Eigen::MatrixXdRefConst big_dPhi_du, HessianRefConst big_ddPhi_ddx, HessianRefConst big_ddPhi_ddu, HessianRefConst big_ddPhi_dxdu, int t)
 
void Update (const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_dPhi_dx, Eigen::MatrixXdRefConst big_dPhi_du, int t)
 
void Update (const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_jacobian, HessianRefConst big_hessian, int t)
 
void Update (const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_jacobian, int t)
 
void Update (const TaskSpaceVector &big_Phi, int t)
 
void UpdateS ()
 
void ValidateTimeIndex (int &t_in) const
 
virtual ~TimeIndexedTask ()=default
 
- Public Member Functions inherited from exotica::Task
 Task ()=default
 
virtual ~Task ()=default
 

Public Attributes

std::vector< HessianddPhi_ddu
 
std::vector< HessianddPhi_ddx
 
std::vector< HessianddPhi_dxdu
 
std::vector< Eigen::MatrixXd > dPhi_du
 
std::vector< Eigen::MatrixXd > dPhi_dx
 
std::vector< Hessianhessian
 
std::vector< Eigen::MatrixXd > jacobian
 
std::vector< TaskSpaceVectorPhi
 
std::vector< Eigen::VectorXd > rho
 
std::vector< Eigen::MatrixXd > S
 
int T
 
std::vector< TaskSpaceVectory
 
std::vector< Eigen::VectorXd > ydiff
 
- Public Attributes inherited from exotica::Task
std::vector< TaskIndexingindexing
 
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 75 of file tasks.h.

Constructor & Destructor Documentation

exotica::TimeIndexedTask::TimeIndexedTask ( )
default
virtual exotica::TimeIndexedTask::~TimeIndexedTask ( )
virtualdefault

Member Function Documentation

Eigen::VectorXd exotica::TimeIndexedTask::GetGoal ( const std::string &  task_name,
int  t 
) const

Definition at line 340 of file tasks.cpp.

double exotica::TimeIndexedTask::GetRho ( const std::string &  task_name,
int  t 
) const

Definition at line 368 of file tasks.cpp.

Eigen::MatrixXd exotica::TimeIndexedTask::GetS ( const std::string &  task_name,
int  t 
) const

Definition at line 394 of file tasks.cpp.

Eigen::VectorXd exotica::TimeIndexedTask::GetTaskError ( const std::string &  task_name,
int  t 
) const

Definition at line 381 of file tasks.cpp.

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

Reimplemented from exotica::Task.

Definition at line 228 of file tasks.cpp.

void exotica::TimeIndexedTask::ReinitializeVariables ( int  _T,
std::shared_ptr< PlanningProblem _prob,
const TaskSpaceVector _Phi 
)

Definition at line 408 of file tasks.cpp.

void exotica::TimeIndexedTask::SetGoal ( const std::string &  task_name,
Eigen::VectorXdRefConst  goal,
int  t 
)

Definition at line 325 of file tasks.cpp.

void exotica::TimeIndexedTask::SetRho ( const std::string &  task_name,
const double  rho_in,
int  t 
)

Definition at line 353 of file tasks.cpp.

void exotica::TimeIndexedTask::Update ( const TaskSpaceVector big_Phi,
Eigen::MatrixXdRefConst  big_dPhi_dx,
Eigen::MatrixXdRefConst  big_dPhi_du,
HessianRefConst  big_ddPhi_ddx,
HessianRefConst  big_ddPhi_ddu,
HessianRefConst  big_ddPhi_dxdu,
int  t 
)

Definition at line 249 of file tasks.cpp.

void exotica::TimeIndexedTask::Update ( const TaskSpaceVector big_Phi,
Eigen::MatrixXdRefConst  big_dPhi_dx,
Eigen::MatrixXdRefConst  big_dPhi_du,
int  t 
)

Definition at line 269 of file tasks.cpp.

void exotica::TimeIndexedTask::Update ( const TaskSpaceVector big_Phi,
Eigen::MatrixXdRefConst  big_jacobian,
HessianRefConst  big_hessian,
int  t 
)

Definition at line 283 of file tasks.cpp.

void exotica::TimeIndexedTask::Update ( const TaskSpaceVector big_Phi,
Eigen::MatrixXdRefConst  big_jacobian,
int  t 
)

Definition at line 294 of file tasks.cpp.

void exotica::TimeIndexedTask::Update ( const TaskSpaceVector big_Phi,
int  t 
)

Definition at line 304 of file tasks.cpp.

void exotica::TimeIndexedTask::UpdateS ( )

Definition at line 234 of file tasks.cpp.

void exotica::TimeIndexedTask::ValidateTimeIndex ( int &  t_in) const
inline

Definition at line 313 of file tasks.cpp.

Member Data Documentation

std::vector<Hessian> exotica::TimeIndexedTask::ddPhi_ddu

Definition at line 118 of file tasks.h.

std::vector<Hessian> exotica::TimeIndexedTask::ddPhi_ddx

Definition at line 117 of file tasks.h.

std::vector<Hessian> exotica::TimeIndexedTask::ddPhi_dxdu

Definition at line 119 of file tasks.h.

std::vector<Eigen::MatrixXd> exotica::TimeIndexedTask::dPhi_du

Definition at line 122 of file tasks.h.

std::vector<Eigen::MatrixXd> exotica::TimeIndexedTask::dPhi_dx

Definition at line 121 of file tasks.h.

std::vector<Hessian> exotica::TimeIndexedTask::hessian

Definition at line 116 of file tasks.h.

std::vector<Eigen::MatrixXd> exotica::TimeIndexedTask::jacobian

Definition at line 120 of file tasks.h.

std::vector<TaskSpaceVector> exotica::TimeIndexedTask::Phi

Definition at line 115 of file tasks.h.

std::vector<Eigen::VectorXd> exotica::TimeIndexedTask::rho

Definition at line 112 of file tasks.h.

std::vector<Eigen::MatrixXd> exotica::TimeIndexedTask::S

Definition at line 123 of file tasks.h.

int exotica::TimeIndexedTask::T

Definition at line 124 of file tasks.h.

std::vector<TaskSpaceVector> exotica::TimeIndexedTask::y

Definition at line 113 of file tasks.h.

std::vector<Eigen::VectorXd> exotica::TimeIndexedTask::ydiff

Definition at line 114 of file tasks.h.


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


exotica_core
Author(s): Yiming Yang, Michael Camilleri
autogenerated on Sat Apr 10 2021 02:34:50