exotica Namespace Reference

Namespaces
	visualization

Classes
class	AbstractDynamicsSolver
class	AbstractTimeIndexedProblem
class	AllowedCollisionMatrix
struct	AttachedObject
class	BoundedEndPoseProblem
class	BoundedTimeIndexedProblem
struct	BoxQPSolution
struct	CollisionProxy
class	CollisionScene
struct	ContinuousCollisionProxy
class	DynamicTimeIndexedShootingProblem
class	EndPoseProblem
struct	EndPoseTask
class	Exception
class	Factory
class	FeedbackMotionSolver
struct	FunctorBase
class	Initializer
class	InitializerBase
class	Instantiable
class	InstantiableBase
class	KinematicElement
struct	KinematicFrame
struct	KinematicFrameRequest
struct	KinematicResponse
class	KinematicSolution
struct	KinematicsRequest
class	KinematicTree
class	MotionSolver
class	Object
class	PinocchioDynamicsSolver
class	PinocchioDynamicsSolverWithGravityCompensation
class	PlanningProblem
class	Printable
class	Property
class	Registrar
class	RosNode
class	SamplingProblem
struct	SamplingTask
class	Scene
class	Server
class	Setup
class	SolveException
struct	Task
struct	TaskIndexing
class	TaskMap
struct	TaskSpaceVector
struct	TaskVectorEntry
class	TestCout
class	TimeIndexedProblem
class	TimeIndexedSamplingProblem
struct	TimeIndexedTask
class	Timer
class	Trajectory
class	UnconstrainedEndPoseProblem
class	UnconstrainedTimeIndexedProblem
class	Uncopyable
class	VisualElement
class	VisualizationMeshcat
class	VisualizationMoveIt
class	XMLLoader

Typedefs
typedef Eigen::Array< KDL::Frame, Eigen::Dynamic, 1 >	ArrayFrame
typedef Eigen::Ref< ArrayFrame >	ArrayFrameRef
typedef Eigen::internal::ref_selector< ArrayFrame >::type	ArrayFrameRefConst
typedef Eigen::Array< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 >	ArrayHessian
typedef Eigen::Ref< ArrayHessian >	ArrayHessianRef
typedef Eigen::internal::ref_selector< ArrayHessian >::type	ArrayHessianRefConst
typedef Eigen::Array< KDL::Jacobian, Eigen::Dynamic, 1 >	ArrayJacobian
typedef Eigen::Ref< ArrayJacobian >	ArrayJacobianRef
typedef Eigen::internal::ref_selector< ArrayJacobian >::type	ArrayJacobianRefConst
typedef Eigen::Array< KDL::Twist, Eigen::Dynamic, 1 >	ArrayTwist
typedef Eigen::Ref< ArrayTwist >	ArrayTwistRef
typedef Eigen::internal::ref_selector< ArrayTwist >::type	ArrayTwistRefConst
typedef std::shared_ptr< exotica::BoundedEndPoseProblem >	BoundedEndPoseProblemPtr
typedef std::shared_ptr< exotica::BoundedTimeIndexedProblem >	BoundedTimeIndexedProblemPtr
typedef struct exotica::BoxQPSolution	BoxQPSolution
typedef std::shared_ptr< CollisionScene >	CollisionScenePtr
typedef AbstractDynamicsSolver< double, Eigen::Dynamic, Eigen::Dynamic >	DynamicsSolver
typedef std::shared_ptr< exotica::DynamicsSolver >	DynamicsSolverPtr
typedef std::shared_ptr< exotica::DynamicTimeIndexedShootingProblem >	DynamicTimeIndexedShootingProblemPtr
typedef std::shared_ptr< exotica::EndPoseProblem >	EndPoseProblemPtr
typedef FunctorBase< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >	Functor
typedef Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >	Hessian
typedef Eigen::Ref< Hessian >	HessianRef
typedef Eigen::internal::ref_selector< Hessian >::type	HessianRefConst
typedef std::shared_ptr< exotica::MotionSolver >	MotionSolverPtr
typedef std::shared_ptr< const PlanningProblem >	PlanningProblemConstPtr
typedef Factory< PlanningProblem >	PlanningProblemFac
typedef std::shared_ptr< PlanningProblem >	PlanningProblemPtr
typedef std::shared_ptr< exotica::SamplingProblem >	SamplingProblemPtr
typedef std::shared_ptr< Scene >	ScenePtr
typedef std::shared_ptr< Server >	ServerPtr
typedef std::shared_ptr< Setup >	SetupPtr
typedef std::map< std::string, TaskMapPtr >	TaskMapMap
typedef std::shared_ptr< TaskMap >	TaskMapPtr
typedef std::vector< TaskMapPtr >	TaskMapVec
typedef std::shared_ptr< exotica::TimeIndexedProblem >	TimeIndexedProblemPtr
typedef std::shared_ptr< exotica::TimeIndexedSamplingProblem >	TimeIndexedSamplingProblemPtr
typedef std::shared_ptr< exotica::UnconstrainedEndPoseProblem >	UnconstrainedEndPoseProblemPtr
typedef std::shared_ptr< exotica::UnconstrainedTimeIndexedProblem >	UnconstrainedTimeIndexedProblemPtr

Enumerations
enum	ArgumentPosition
enum	BaseType
enum	ControlCostLossTermType
enum	Integrator
enum	JointLimitType
enum	KinematicRequestFlags
enum	RotationType {   RotationType::QUATERNION, RotationType::RPY, RotationType::ZYX, RotationType::ZYZ,   RotationType::ANGLE_AXIS, RotationType::MATRIX }
enum	TerminationCriterion {   TerminationCriterion::NotStarted, TerminationCriterion::IterationLimit, TerminationCriterion::BacktrackIterationLimit, TerminationCriterion::StepTolerance,   TerminationCriterion::FunctionTolerance, TerminationCriterion::GradientTolerance, TerminationCriterion::Divergence, TerminationCriterion::UserDefined,   TerminationCriterion::Convergence }

Functions
void	appendChildXML (Initializer &parent, std::string &name, bool isAttribute, tinyxml2::XMLHandle &tag, const std::string &prefix)
void	AppendInitializer (std::shared_ptr< InstantiableBase > it, std::vector< Initializer > &ret)
void	AppendMap (std::map< Key, Val > &orig, const std::map< Key, Val > &extra)
void	AppendVector (std::vector< Val > &orig, const std::vector< Val > &extra)
BoxQPSolution	BoxQP (const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init, const double th_acceptstep, const int max_iterations, const double th_gradient_tolerance, const double lambda, bool use_polynomial_linesearch=true, bool use_cholesky_factorization=true)
BoxQPSolution	BoxQP (const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init)
BoxQPSolution	ExoticaBoxQP (const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init)
BoxQPSolution	ExoticaBoxQP (const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init, const double gamma, const int max_iterations, const double epsilon, const double lambda, bool use_polynomial_linesearch=false, bool use_cholesky_factorization=false)
std_msgs::ColorRGBA	GetColor (double r, double g, double b, double a=1.0)
std_msgs::ColorRGBA	GetColor (const Eigen::Vector4d &rgba)
KDL::Frame	GetFrame (Eigen::VectorXdRefConst val)
Eigen::MatrixXd	GetFrame (const KDL::Frame &val)
Eigen::VectorXd	GetFrameAsVector (const KDL::Frame &val, RotationType type=RotationType::RPY)
KDL::Frame	GetFrameFromMatrix (Eigen::MatrixXdRefConst val)
std::vector< std::string >	GetKeys (std::map< std::string, T > map)
std::vector< Key >	GetKeysFromMap (const std::map< Key, Val > &map)
KDL::Rotation	GetRotation (Eigen::VectorXdRefConst data, RotationType type)
Eigen::VectorXd	GetRotationAsVector (const KDL::Frame &val, RotationType type)
RotationType	GetRotationTypeFromString (const std::string &rotation_type)
int	GetRotationTypeLength (const RotationType &type)
std::string	GetTypeName (const std::type_info &type)
std::vector< Val >	GetValuesFromMap (const std::map< Key, Val > &map)
double	huber_cost (double x, double beta)
double	huber_hessian (double x, double beta)
double	huber_jacobian (double x, double beta)
bool	IsContainerType (std::string type)
bool	IsRobotLink (std::shared_ptr< KinematicElement > e)
bool	IsVectorContainerType (std::string type)
bool	IsVectorType (std::string type)
std::string	LoadFile (const std::string &path)
robot_model::RobotModelPtr	LoadModelImpl (const std::string &urdf, const std::string &srdf)
void	LoadOBJ (const std::string &data, Eigen::VectorXi &tri, Eigen::VectorXd &vert)
std::shared_ptr< octomap::OcTree >	LoadOctree (const std::string &file_path)
std::shared_ptr< shapes::Shape >	LoadOctreeAsShape (const std::string &file_path)
std::vector< Val >	MapToVec (const std::map< Key, Val > &map)
void	NormalizeQuaternionInConfigurationVector (Eigen::Ref< Eigen::VectorXd > q)
KinematicRequestFlags	operator& (KinematicRequestFlags a, KinematicRequestFlags b)
std::ostream &	operator<< (std::ostream &os, const std::vector< T > &s)
std::ostream &	operator<< (std::ostream &os, const Printable &s)
std::ostream &	operator<< (std::ostream &os, const std::map< I, T > &s)
Exception::ReportingType	operator| (Exception::ReportingType a, Exception::ReportingType b) noexcept
KinematicRequestFlags	operator| (KinematicRequestFlags a, KinematicRequestFlags b)
bool	ParseBool (const std::string value)
std::vector< bool >	ParseBoolList (const std::string value)
double	ParseDouble (const std::string value)
int	ParseInt (const std::string value)
std::vector< int >	ParseIntList (const std::string value)
std::vector< std::string >	ParseList (const std::string &value, char token= ',')
std::string	ParsePath (const std::string &path)
Eigen::Matrix< T, S, 1 >	ParseVector (const std::string value)
bool	parseXML (tinyxml2::XMLHandle &tag, Initializer &parent, const std::string &prefix)
bool	PathExists (const std::string &path)
void	PrintDimensions (const std::string &name, const Eigen::Ref< const Eigen::MatrixXd > m)
double	pseudo_huber_cost (double x, double beta)
double	pseudo_huber_hessian (double x, double beta)
double	pseudo_huber_jacobian (double x, double beta)
std_msgs::ColorRGBA	RandomColor ()
void	SaveMatrix (std::string file_name, const Eigen::Ref< const Eigen::MatrixXd > mat)
void	SetDefaultQuaternionInConfigurationVector (Eigen::Ref< Eigen::VectorXd > q)
Eigen::VectorXd	SetRotation (const KDL::Rotation &data, RotationType type)
void	Sleep (double t)
double	smooth_l1_cost (double x, double beta)
double	smooth_l1_hessian (double x, double beta)
double	smooth_l1_jacobian (double x, double beta)
T	ToNumber (const std::string &val)
double	ToNumber< double > (const std::string &val)
float	ToNumber< float > (const std::string &val)
int	ToNumber< int > (const std::string &val)
std::string	ToString (const KDL::Frame &s)
std::string	ToString (const Eigen::Isometry3d &s)
std::string	Trim (const std::string &s)

Variables
	ARG0
	ARG1
	ARG2
	ARG3
	ARG4
const char	branch []
	FIXED
	FLOATING
	Huber
constexpr double	inf
	KIN_FK
	KIN_FK_VEL
	KIN_H
	KIN_J
	L2
	LIMIT_POSITION_LOWER
	LIMIT_POSITION_UPPER
constexpr double	pi
	PLANAR
	PseudoHuber
	RK1
	RK2
	RK4
	SmoothL1
	SymplecticEuler
	Undefined
const char	version []

Detailed Description

TODO: remove this pragma once Pinocchio removes neutralConfiguration/ and fixes their deprecation warnings. (Relates to #547) fwd.hpp needs to be included first (before Boost, which comes with ROS), else everything breaks for Pinocchio >=2.1.5