#include <tasks.h>

Inheritance diagram for exotica::TimeIndexedTask:

Public Member Functions
Eigen::VectorXd	GetGoal (const std::string &task_name, int t) const

double	GetRho (const std::string &task_name, int t) const

Eigen::MatrixXd	GetS (const std::string &task_name, int t) const

Eigen::VectorXd	GetTaskError (const std::string &task_name, int t) const

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

void	ReinitializeVariables (int _T, std::shared_ptr< PlanningProblem > _prob, const TaskSpaceVector &_Phi)

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

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

	TimeIndexedTask ()=default

void	Update (const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_dPhi_dx, Eigen::MatrixXdRefConst big_dPhi_du, HessianRefConst big_ddPhi_ddx, HessianRefConst big_ddPhi_ddu, HessianRefConst big_ddPhi_dxdu, int t)

void	Update (const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_dPhi_dx, Eigen::MatrixXdRefConst big_dPhi_du, int t)

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

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

void	Update (const TaskSpaceVector &big_Phi, int t)

void	UpdateS ()

void	ValidateTimeIndex (int &t_in) const

virtual	~TimeIndexedTask ()=default

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

virtual	~Task ()=default

Public Attributes
std::vector< Hessian >	ddPhi_ddu

std::vector< Hessian >	ddPhi_ddx

std::vector< Hessian >	ddPhi_dxdu

std::vector< Eigen::MatrixXd >	dPhi_du

std::vector< Eigen::MatrixXd >	dPhi_dx

std::vector< Hessian >	hessian

std::vector< Eigen::MatrixXd >	jacobian

std::vector< TaskSpaceVector >	Phi

std::vector< Eigen::VectorXd >	rho

std::vector< Eigen::MatrixXd >	S

int	T

std::vector< TaskSpaceVector >	y

std::vector< 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 75 of file tasks.h.

Constructor & Destructor Documentation

◆ TimeIndexedTask()

exotica::TimeIndexedTask::TimeIndexedTask ( )

default

◆ ~TimeIndexedTask()

virtual exotica::TimeIndexedTask::~TimeIndexedTask ( )

virtualdefault

Member Function Documentation

◆ GetGoal()

Eigen::VectorXd exotica::TimeIndexedTask::GetGoal	(	const std::string &	task_name,
		int	t
	)		const

Definition at line 352 of file tasks.cpp.

◆ GetRho()

double exotica::TimeIndexedTask::GetRho	(	const std::string &	task_name,
		int	t
	)		const

Definition at line 380 of file tasks.cpp.

◆ GetS()

Eigen::MatrixXd exotica::TimeIndexedTask::GetS	(	const std::string &	task_name,
		int	t
	)		const

Definition at line 406 of file tasks.cpp.

◆ GetTaskError()

Eigen::VectorXd exotica::TimeIndexedTask::GetTaskError	(	const std::string &	task_name,
		int	t
	)		const

Definition at line 393 of file tasks.cpp.

◆ Initialize()

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

virtual

Reimplemented from exotica::Task.

Definition at line 240 of file tasks.cpp.

◆ ReinitializeVariables()

void exotica::TimeIndexedTask::ReinitializeVariables	(	int	_T,
		std::shared_ptr< PlanningProblem >	_prob,
		const TaskSpaceVector &	_Phi
	)

Definition at line 420 of file tasks.cpp.

◆ SetGoal()

void exotica::TimeIndexedTask::SetGoal	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal,
		int	t
	)

Definition at line 337 of file tasks.cpp.

◆ SetRho()

void exotica::TimeIndexedTask::SetRho	(	const std::string &	task_name,
		const double	rho_in,
		int	t
	)

Definition at line 365 of file tasks.cpp.

◆ Update() [1/5]

void exotica::TimeIndexedTask::Update	(	const TaskSpaceVector &	big_Phi,
		Eigen::MatrixXdRefConst	big_dPhi_dx,
		Eigen::MatrixXdRefConst	big_dPhi_du,
		HessianRefConst	big_ddPhi_ddx,
		HessianRefConst	big_ddPhi_ddu,
		HessianRefConst	big_ddPhi_dxdu,
		int	t
	)

Definition at line 261 of file tasks.cpp.

◆ Update() [2/5]

void exotica::TimeIndexedTask::Update	(	const TaskSpaceVector &	big_Phi,
		Eigen::MatrixXdRefConst	big_dPhi_dx,
		Eigen::MatrixXdRefConst	big_dPhi_du,
		int	t
	)

Definition at line 281 of file tasks.cpp.

◆ Update() [3/5]

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

Definition at line 295 of file tasks.cpp.

◆ Update() [4/5]

void exotica::TimeIndexedTask::Update	(	const TaskSpaceVector &	big_Phi,
		Eigen::MatrixXdRefConst	big_jacobian,
		int	t
	)

Definition at line 306 of file tasks.cpp.

◆ Update() [5/5]

void exotica::TimeIndexedTask::Update	(	const TaskSpaceVector &	big_Phi,
		int	t
	)

Definition at line 316 of file tasks.cpp.

◆ UpdateS()

void exotica::TimeIndexedTask::UpdateS ( )

Definition at line 246 of file tasks.cpp.

◆ ValidateTimeIndex()

void exotica::TimeIndexedTask::ValidateTimeIndex ( int & t_in ) const

inline

Definition at line 325 of file tasks.cpp.

Member Data Documentation

◆ ddPhi_ddu

std::vector<Hessian> exotica::TimeIndexedTask::ddPhi_ddu

Definition at line 118 of file tasks.h.

◆ ddPhi_ddx

std::vector<Hessian> exotica::TimeIndexedTask::ddPhi_ddx

Definition at line 117 of file tasks.h.

◆ ddPhi_dxdu

std::vector<Hessian> exotica::TimeIndexedTask::ddPhi_dxdu

Definition at line 119 of file tasks.h.

◆ dPhi_du

std::vector<Eigen::MatrixXd> exotica::TimeIndexedTask::dPhi_du

Definition at line 122 of file tasks.h.

◆ dPhi_dx

std::vector<Eigen::MatrixXd> exotica::TimeIndexedTask::dPhi_dx

Definition at line 121 of file tasks.h.

◆ hessian

std::vector<Hessian> exotica::TimeIndexedTask::hessian

Definition at line 116 of file tasks.h.

◆ jacobian

std::vector<Eigen::MatrixXd> exotica::TimeIndexedTask::jacobian

Definition at line 120 of file tasks.h.

◆ Phi

std::vector<TaskSpaceVector> exotica::TimeIndexedTask::Phi

Definition at line 115 of file tasks.h.

◆ rho

std::vector<Eigen::VectorXd> exotica::TimeIndexedTask::rho

Definition at line 112 of file tasks.h.

◆ S

std::vector<Eigen::MatrixXd> exotica::TimeIndexedTask::S

Definition at line 123 of file tasks.h.

◆ T

int exotica::TimeIndexedTask::T

Definition at line 124 of file tasks.h.

◆ y

std::vector<TaskSpaceVector> exotica::TimeIndexedTask::y

Definition at line 113 of file tasks.h.

◆ ydiff

std::vector<Eigen::VectorXd> exotica::TimeIndexedTask::ydiff

Definition at line 114 of file tasks.h.

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

Public Member Functions

Public Attributes

Additional Inherited Members