#include <eff_frame.h>

Inheritance diagram for exotica::EffFrame:

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Public Member Functions
const RotationType &	get_rotation_type () const

std::vector< TaskVectorEntry >	GetLieGroupIndices () override

void	Instantiate (const EffFrameInitializer &init) override

int	TaskSpaceDim () override

int	TaskSpaceJacobianDim () override

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

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

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

Public Member Functions inherited from exotica::TaskMap
virtual void	AssignScene (ScenePtr scene)

std::vector< KinematicFrameRequest >	GetFrames () const

virtual void	InstantiateBase (const Initializer &init)

virtual void	PreUpdate ()

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)

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< EffFrameInitializer >
std::vector< Initializer >	GetAllTemplates () const override

Initializer	GetInitializerTemplate () override

const EffFrameInitializer &	GetParameters () const

void	InstantiateInternal (const Initializer &init) override

Private Attributes
int	big_stride_

RotationType	rotation_type_ = RotationType::RPY

int	small_stride_

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< EffFrameInitializer >
EffFrameInitializer	parameters_

Detailed Description

Definition at line 39 of file eff_frame.h.

Member Function Documentation

const RotationType & exotica::EffFrame::get_rotation_type ( ) const

Definition at line 102 of file eff_frame.cpp.

std::vector< TaskVectorEntry > exotica::EffFrame::GetLieGroupIndices ( )

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 43 of file eff_frame.cpp.

void exotica::EffFrame::Instantiate ( const EffFrameInitializer & init )

overridevirtual

Reimplemented from exotica::Instantiable< EffFrameInitializer >.

Definition at line 36 of file eff_frame.cpp.

int exotica::EffFrame::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 92 of file eff_frame.cpp.

int exotica::EffFrame::TaskSpaceJacobianDim ( )

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 97 of file eff_frame.cpp.

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 53 of file eff_frame.cpp.

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 63 of file eff_frame.cpp.

void exotica::EffFrame::Update	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRef	phi,
		Eigen::MatrixXdRef	jacobian,
		HessianRef	hessian
	)

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 75 of file eff_frame.cpp.

Member Data Documentation

int exotica::EffFrame::big_stride_

private

Definition at line 55 of file eff_frame.h.

RotationType exotica::EffFrame::rotation_type_ = RotationType::RPY

private

Definition at line 57 of file eff_frame.h.

int exotica::EffFrame::small_stride_

private

Definition at line 56 of file eff_frame.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

Member Data Documentation