#include <center_of_mass.h>

Inheritance diagram for exotica::CenterOfMass:

[legend]

Public Member Functions
void	AssignScene (ScenePtr scene) override

int	TaskSpaceDim () override

void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override

void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override

Public Member Functions inherited from exotica::TaskMap
std::vector< KinematicFrameRequest >	GetFrames () const

virtual std::vector< TaskVectorEntry >	GetLieGroupIndices ()

virtual void	InstantiateBase (const Initializer &init)

virtual void	PreUpdate ()

virtual int	TaskSpaceJacobianDim ()

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)

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)

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

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

virtual	~Object ()

Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

Public Member Functions inherited from exotica::Instantiable< CenterOfMassInitializer >
std::vector< Initializer >	GetAllTemplates () const override

Initializer	GetInitializerTemplate () override

const CenterOfMassInitializer &	GetParameters () const

virtual void	Instantiate (const CenterOfMassInitializer &init)

void	InstantiateInternal (const Initializer &init) override

Private Member Functions
void	Initialize ()

void	InitializeDebug ()

Private Attributes
visualization_msgs::Marker	com_links_marker_

ros::Publisher	com_links_pub_

visualization_msgs::Marker	com_marker_

ros::Publisher	com_pub_

int	dim_

bool	enable_z_

visualization_msgs::Marker	goal_marker_

ros::Publisher	goal_pub_

Eigen::VectorXd	mass_

Additional Inherited Members
Public Attributes inherited from exotica::TaskMap
int	id

bool	is_used

std::vector< KinematicSolution >	kinematics

int	length

int	length_jacobian

int	start

int	start_jacobian

Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

Protected Attributes inherited from exotica::TaskMap
std::vector< KinematicFrameRequest >	frames_

ScenePtr	scene_

Protected Attributes inherited from exotica::Instantiable< CenterOfMassInitializer >
CenterOfMassInitializer	parameters_

Detailed Description

Definition at line 41 of file center_of_mass.h.

Member Function Documentation

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 178 of file center_of_mass.cpp.

void exotica::CenterOfMass::Initialize ( )

private

Definition at line 146 of file center_of_mass.cpp.

void exotica::CenterOfMass::InitializeDebug ( )

private

Definition at line 184 of file center_of_mass.cpp.

int exotica::CenterOfMass::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 141 of file center_of_mass.cpp.

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 37 of file center_of_mass.cpp.

void exotica::CenterOfMass::Update	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRef	phi,
		Eigen::MatrixXdRef	jacobian
	)

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 70 of file center_of_mass.cpp.

Member Data Documentation

visualization_msgs::Marker exotica::CenterOfMass::com_links_marker_

private

Definition at line 58 of file center_of_mass.h.

ros::Publisher exotica::CenterOfMass::com_links_pub_

private

Definition at line 55 of file center_of_mass.h.

visualization_msgs::Marker exotica::CenterOfMass::com_marker_

private

Definition at line 59 of file center_of_mass.h.

ros::Publisher exotica::CenterOfMass::com_pub_

private

Definition at line 56 of file center_of_mass.h.

int exotica::CenterOfMass::dim_

private

Definition at line 62 of file center_of_mass.h.

bool exotica::CenterOfMass::enable_z_

private

Definition at line 61 of file center_of_mass.h.

visualization_msgs::Marker exotica::CenterOfMass::goal_marker_

private

Definition at line 60 of file center_of_mass.h.

ros::Publisher exotica::CenterOfMass::goal_pub_

private

Definition at line 57 of file center_of_mass.h.

Eigen::VectorXd exotica::CenterOfMass::mass_

private

Definition at line 54 of file center_of_mass.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

Member Data Documentation