#include <eff_axis_alignment.h>

Inheritance diagram for exotica::EffAxisAlignment:

[legend]

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW void	AssignScene (ScenePtr scene) override

Eigen::Vector3d	GetAxis (const std::string &frame_name) const

Eigen::Vector3d	GetDirection (const std::string &frame_name) const

void	SetAxis (const std::string &frame_name, const Eigen::Vector3d &axis_in)

void	SetDirection (const std::string &frame_name, const Eigen::Vector3d &dir_in)

int	TaskSpaceDim () override

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

void	Update (Eigen::VectorXdRefConst q, 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< EffAxisAlignmentInitializer >
std::vector< Initializer >	GetAllTemplates () const override

Initializer	GetInitializerTemplate () override

const EffAxisAlignmentInitializer &	GetParameters () const

virtual void	Instantiate (const EffAxisAlignmentInitializer &init)

void	InstantiateInternal (const Initializer &init) override

Public Attributes
int	N

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_

Private Member Functions
void	Initialize ()

Private Attributes
Eigen::Matrix3Xd	axis_

Eigen::Matrix3Xd	dir_

Eigen::Vector3d	link_axis_position_in_base_

Eigen::Vector3d	link_position_in_base_

visualization_msgs::MarkerArray	msg_debug_

int	n_frames_

ros::Publisher	pub_debug_

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

ScenePtr	scene_

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

Detailed Description

Definition at line 42 of file eff_axis_alignment.h.

Member Function Documentation

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 111 of file eff_axis_alignment.cpp.

Eigen::Vector3d exotica::EffAxisAlignment::GetAxis ( const std::string & frame_name ) const

Definition at line 201 of file eff_axis_alignment.cpp.

Eigen::Vector3d exotica::EffAxisAlignment::GetDirection ( const std::string & frame_name ) const

Definition at line 176 of file eff_axis_alignment.cpp.

void exotica::EffAxisAlignment::Initialize ( )

private

Definition at line 39 of file eff_axis_alignment.cpp.

void exotica::EffAxisAlignment::SetAxis	(	const std::string &	frame_name,
		const Eigen::Vector3d &	axis_in
	)

Definition at line 213 of file eff_axis_alignment.cpp.

void exotica::EffAxisAlignment::SetDirection	(	const std::string &	frame_name,
		const Eigen::Vector3d &	dir_in
	)

Definition at line 188 of file eff_axis_alignment.cpp.

int exotica::EffAxisAlignment::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 171 of file eff_axis_alignment.cpp.

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 117 of file eff_axis_alignment.cpp.

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 131 of file eff_axis_alignment.cpp.

Member Data Documentation

Eigen::Matrix3Xd exotica::EffAxisAlignment::axis_

private

Definition at line 70 of file eff_axis_alignment.h.

Eigen::Matrix3Xd exotica::EffAxisAlignment::dir_

private

Definition at line 70 of file eff_axis_alignment.h.

Eigen::Vector3d exotica::EffAxisAlignment::link_axis_position_in_base_

private

Definition at line 71 of file eff_axis_alignment.h.

Eigen::Vector3d exotica::EffAxisAlignment::link_position_in_base_

private

Definition at line 71 of file eff_axis_alignment.h.

visualization_msgs::MarkerArray exotica::EffAxisAlignment::msg_debug_

private

Definition at line 66 of file eff_axis_alignment.h.

int exotica::EffAxisAlignment::N

Definition at line 60 of file eff_axis_alignment.h.

int exotica::EffAxisAlignment::n_frames_

private

Definition at line 68 of file eff_axis_alignment.h.

ros::Publisher exotica::EffAxisAlignment::pub_debug_

private

Definition at line 65 of file eff_axis_alignment.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

Member Data Documentation