task_map.h
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29 
30 #ifndef EXOTICA_CORE_TASK_MAP_H_
31 #define EXOTICA_CORE_TASK_MAP_H_
32 
33 #include <map>
34 #include <string>
35 #include <vector>
36 
37 #include <Eigen/Dense> // Generally dense manipulations should be enough
38 
39 #include <exotica_core/factory.h> // The Factory template
40 #include <exotica_core/object.h> // The EXOTica base class
41 #include <exotica_core/property.h>
42 #include <exotica_core/scene.h>
44 
48 #define REGISTER_TASKMAP_TYPE(TYPE, DERIV) EXOTICA_CORE_REGISTER(exotica::TaskMap, TYPE, DERIV)
49 
50 namespace exotica
51 {
52 class TaskMap : public Object, Uncopyable, public virtual InstantiableBase
53 {
54 public:
55  virtual void InstantiateBase(const Initializer& init);
56 
57  virtual void AssignScene(ScenePtr scene);
58 
59  // Kinematic-only task maps (traditional) use the following update methods:
60  // x renamed to q in declaration: configuration only
61  virtual void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi) = 0;
63  virtual void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian);
64 
65  //------------- New TaskMap API -------------
66  // x => full state of q,v
67  // u => controls
70  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);
71 
72  virtual int TaskSpaceDim() = 0;
73  virtual int TaskSpaceJacobianDim() { return TaskSpaceDim(); }
74  virtual void PreUpdate() {}
75  virtual std::vector<TaskVectorEntry> GetLieGroupIndices() { return std::vector<TaskVectorEntry>(); }
76  std::vector<KinematicFrameRequest> GetFrames() const;
77 
78  std::vector<KinematicSolution> kinematics = std::vector<KinematicSolution>(1);
79  int id = -1;
80  int start = -1;
81  int length = -1;
82  int start_jacobian = -1;
83  int length_jacobian = -1;
84  bool is_used = false;
85 
86 protected:
87  std::vector<KinematicFrameRequest> frames_;
88  ScenePtr scene_ = nullptr;
89 };
90 
91 // Typedefines for some common functionality
92 typedef std::shared_ptr<TaskMap> TaskMapPtr;
93 typedef std::map<std::string, TaskMapPtr> TaskMapMap;
94 typedef std::vector<TaskMapPtr> TaskMapVec;
95 } // namespace exotica
96 
97 #endif // EXOTICA_CORE_TASK_MAP_H_
std::shared_ptr< TaskMap > TaskMapPtr
Task Map smart pointer.
Definition: task_map.h:92
std::vector< KinematicFrameRequest > frames_
Definition: task_map.h:87
Eigen::Ref< Eigen::VectorXd > VectorXdRef
Definition: conversions.h:54
std::vector< TaskMapPtr > TaskMapVec
Definition: task_map.h:94
int length_jacobian
Definition: task_map.h:83
ScenePtr scene_
Definition: task_map.h:88
std::shared_ptr< Scene > ScenePtr
Definition: scene.h:246
virtual void AssignScene(ScenePtr scene)
Definition: task_map.cpp:37
virtual int TaskSpaceJacobianDim()
Definition: task_map.h:73
virtual void Update(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi)=0
const Eigen::Ref< const Eigen::VectorXd > & VectorXdRefConst
Convenience wrapper for storing references to sub-matrices/vectors.
Definition: conversions.h:52
Eigen::Ref< Hessian > HessianRef
Definition: conversions.h:160
virtual std::vector< TaskVectorEntry > GetLieGroupIndices()
Definition: task_map.h:75
Eigen::Ref< Eigen::MatrixXd > MatrixXdRef
Definition: conversions.h:55
std::vector< KinematicFrameRequest > GetFrames() const
Definition: task_map.cpp:57
virtual void PreUpdate()
Definition: task_map.h:74
virtual int TaskSpaceDim()=0
std::map< std::string, TaskMapPtr > TaskMapMap
The mapping by name of TaskMaps.
Definition: task_map.h:93
int start_jacobian
Definition: task_map.h:82
double x
virtual void InstantiateBase(const Initializer &init)
Definition: task_map.cpp:42


exotica_core
Author(s): Yiming Yang, Michael Camilleri
autogenerated on Sat Apr 10 2021 02:34:49