#include <joint_pose.h>

Inheritance diagram for exotica::JointPose:

[legend]

Public Member Functions
void	AssignScene (ScenePtr scene) override

const std::vector< int > &	get_joint_map () const

const Eigen::VectorXd &	get_joint_ref () const

void	set_joint_ref (Eigen::VectorXdRefConst ref)

int	TaskSpaceDim () override

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

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

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

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

Initializer	GetInitializerTemplate () override

const JointPoseInitializer &	GetParameters () const

virtual void	Instantiate (const JointPoseInitializer &init)

void	InstantiateInternal (const Initializer &init) override

Private Member Functions
void	Initialize ()
	! Joint reference value More...

Private Attributes
std::vector< int >	joint_map_
	! Number of controlled joints More...

Eigen::VectorXd	joint_ref_
	! Subset selection matrix More...

int	num_controlled_joints_

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< JointPoseInitializer >
JointPoseInitializer	parameters_

Detailed Description

Definition at line 39 of file joint_pose.h.

Member Function Documentation

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 62 of file joint_pose.cpp.

const std::vector< int > & exotica::JointPose::get_joint_map ( ) const

Definition at line 104 of file joint_pose.cpp.

const Eigen::VectorXd & exotica::JointPose::get_joint_ref ( ) const

Definition at line 109 of file joint_pose.cpp.

void exotica::JointPose::Initialize ( )

private

! Joint reference value

Definition at line 68 of file joint_pose.cpp.

void exotica::JointPose::set_joint_ref ( Eigen::VectorXdRefConst ref )

Definition at line 114 of file joint_pose.cpp.

int exotica::JointPose::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 99 of file joint_pose.cpp.

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 36 of file joint_pose.cpp.

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 45 of file joint_pose.cpp.

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 56 of file joint_pose.cpp.

Member Data Documentation

std::vector<int> exotica::JointPose::joint_map_

private

! Number of controlled joints

Definition at line 55 of file joint_pose.h.

Eigen::VectorXd exotica::JointPose::joint_ref_

private

! Subset selection matrix

Definition at line 56 of file joint_pose.h.

int exotica::JointPose::num_controlled_joints_

private

Definition at line 54 of file joint_pose.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