#include <tasks.h>

Inheritance diagram for exotica::EndPoseTask:

Public Member Functions
	EndPoseTask ()=default

Eigen::VectorXd	GetGoal (const std::string &task_name) const

double	GetRho (const std::string &task_name) const

Eigen::MatrixXd	GetS (const std::string &task_name) const

Eigen::VectorXd	GetTaskError (const std::string &task_name) const

Eigen::MatrixXd	GetTaskJacobian (const std::string &task_name) const

virtual void	Initialize (const std::vector< exotica::Initializer > &inits, std::shared_ptr< PlanningProblem > prob, TaskSpaceVector &Phi)

void	SetGoal (const std::string &task_name, Eigen::VectorXdRefConst goal)

void	SetRho (const std::string &task_name, const double rho_in)

void	Update (const TaskSpaceVector &big_Phi)

void	Update (const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_jacobian)

void	Update (const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_jacobian, HessianRefConst big_hessian)

void	UpdateS ()

virtual	~EndPoseTask ()=default

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

virtual	~Task ()=default

Public Attributes
Hessian	hessian

Eigen::MatrixXd	jacobian

TaskSpaceVector	Phi

Eigen::VectorXd	rho

Eigen::MatrixXd	S

TaskSpaceVector	y

Eigen::VectorXd	ydiff

Public Attributes inherited from exotica::Task
std::vector< TaskIndexing >	indexing

int	length_jacobian

int	length_Phi

int	num_tasks

TaskMapMap	task_maps

TaskMapVec	tasks

double	tolerance = 0.0

Additional Inherited Members
Protected Attributes inherited from exotica::Task
std::vector< TaskInitializer >	task_initializers_

Detailed Description

Definition at line 127 of file tasks.h.

Constructor & Destructor Documentation

◆ EndPoseTask()

exotica::EndPoseTask::EndPoseTask ( )

default

◆ ~EndPoseTask()

virtual exotica::EndPoseTask::~EndPoseTask ( )

virtualdefault

Member Function Documentation

◆ GetGoal()

Eigen::VectorXd exotica::EndPoseTask::GetGoal ( const std::string & task_name ) const

Definition at line 179 of file tasks.cpp.

◆ GetRho()

double exotica::EndPoseTask::GetRho ( const std::string & task_name ) const

Definition at line 191 of file tasks.cpp.

◆ GetS()

Eigen::MatrixXd exotica::EndPoseTask::GetS ( const std::string & task_name ) const

Definition at line 203 of file tasks.cpp.

◆ GetTaskError()

Eigen::VectorXd exotica::EndPoseTask::GetTaskError ( const std::string & task_name ) const

Definition at line 216 of file tasks.cpp.

◆ GetTaskJacobian()

Eigen::MatrixXd exotica::EndPoseTask::GetTaskJacobian ( const std::string & task_name ) const

Definition at line 228 of file tasks.cpp.

◆ Initialize()

void exotica::EndPoseTask::Initialize	(	const std::vector< exotica::Initializer > &	inits,
		std::shared_ptr< PlanningProblem >	prob,
		TaskSpaceVector &	Phi
	)

virtual

Reimplemented from exotica::Task.

Definition at line 68 of file tasks.cpp.

◆ SetGoal()

void exotica::EndPoseTask::SetGoal	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal
	)

Definition at line 151 of file tasks.cpp.

◆ SetRho()

void exotica::EndPoseTask::SetRho	(	const std::string &	task_name,
		const double	rho_in
	)

Definition at line 165 of file tasks.cpp.

◆ Update() [1/3]

void exotica::EndPoseTask::Update ( const TaskSpaceVector & big_Phi )

Definition at line 142 of file tasks.cpp.

◆ Update() [2/3]

void exotica::EndPoseTask::Update	(	const TaskSpaceVector &	big_Phi,
		Eigen::MatrixXdRefConst	big_jacobian
	)

Definition at line 132 of file tasks.cpp.

◆ Update() [3/3]

void exotica::EndPoseTask::Update	(	const TaskSpaceVector &	big_Phi,
		Eigen::MatrixXdRefConst	big_jacobian,
		HessianRefConst	big_hessian
	)

Definition at line 121 of file tasks.cpp.

◆ UpdateS()

void exotica::EndPoseTask::UpdateS ( )

Definition at line 109 of file tasks.cpp.

Member Data Documentation

◆ hessian

Hessian exotica::EndPoseTask::hessian

Definition at line 153 of file tasks.h.

◆ jacobian

Eigen::MatrixXd exotica::EndPoseTask::jacobian

Definition at line 152 of file tasks.h.

◆ Phi

TaskSpaceVector exotica::EndPoseTask::Phi

Definition at line 151 of file tasks.h.

◆ rho

Eigen::VectorXd exotica::EndPoseTask::rho

Definition at line 148 of file tasks.h.

◆ S

Eigen::MatrixXd exotica::EndPoseTask::S

Definition at line 154 of file tasks.h.

◆ y

TaskSpaceVector exotica::EndPoseTask::y

Definition at line 149 of file tasks.h.

◆ ydiff

Eigen::VectorXd exotica::EndPoseTask::ydiff

Definition at line 150 of file tasks.h.

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

Public Member Functions

Public Attributes

Additional Inherited Members