exotica::CollisionDistance Class Reference

#include <collision_distance.h>

Inheritance diagram for exotica::CollisionDistance:

Public Member Functions
void	AssignScene (ScenePtr scene) override
std::vector< CollisionProxy >	get_collision_proxies ()
int	TaskSpaceDim () override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J) 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 q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian)
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)
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
virtual std::vector< Initializer >	GetAllTemplates () const=0
	InstantiableBase ()=default
virtual	~InstantiableBase ()=default
Public Member Functions inherited from exotica::Instantiable< CollisionDistanceInitializer >
std::vector< Initializer >	GetAllTemplates () const override
Initializer	GetInitializerTemplate () override
const C &	GetParameters () const
virtual void	Instantiate (const C &init)
void	InstantiateInternal (const Initializer &init) override

Private Member Functions
void	Initialize ()
void	UpdateInternal (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J, bool updateJacobian=true)

Private Attributes
bool	check_self_collision_ = true
std::vector< CollisionProxy >	closest_proxies_
std::map< std::string, std::vector< std::string > >	controlled_joint_to_collision_link_map_
CollisionScenePtr	cscene_
int	dim_
std::vector< std::string >	robot_joints_
double	robot_margin_
double	world_margin_

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< CollisionDistanceInitializer >
C	parameters_

Detailed Description

Definition at line 42 of file collision_distance.h.

Member Function Documentation

AssignScene()

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 102 of file collision_distance.cpp.

get_collision_proxies()

std::vector<CollisionProxy> exotica::CollisionDistance::get_collision_proxies ( )

inline

Definition at line 51 of file collision_distance.h.

Initialize()

void exotica::CollisionDistance::Initialize ( )

private

Definition at line 108 of file collision_distance.cpp.

TaskSpaceDim()

int exotica::CollisionDistance::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 129 of file collision_distance.cpp.

Update() [1/2]

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 36 of file collision_distance.cpp.

Update() [2/2]

void exotica::CollisionDistance::Update ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  J  )

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 44 of file collision_distance.cpp.

UpdateInternal()

void exotica::CollisionDistance::UpdateInternal ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  J, bool  updateJacobian = true  )

private

Definition at line 52 of file collision_distance.cpp.

Member Data Documentation

check_self_collision_

bool exotica::CollisionDistance::check_self_collision_ = true

private

Definition at line 58 of file collision_distance.h.

closest_proxies_

std::vector<CollisionProxy> exotica::CollisionDistance::closest_proxies_

private

Definition at line 61 of file collision_distance.h.

controlled_joint_to_collision_link_map_

std::map<std::string, std::vector<std::string> > exotica::CollisionDistance::controlled_joint_to_collision_link_map_

private

Definition at line 57 of file collision_distance.h.

cscene_

CollisionScenePtr exotica::CollisionDistance::cscene_

private

Definition at line 64 of file collision_distance.h.

dim_

int exotica::CollisionDistance::dim_

private

Definition at line 63 of file collision_distance.h.

robot_joints_

std::vector<std::string> exotica::CollisionDistance::robot_joints_

private

Definition at line 56 of file collision_distance.h.

robot_margin_

double exotica::CollisionDistance::robot_margin_

private

Definition at line 59 of file collision_distance.h.

world_margin_

double exotica::CollisionDistance::world_margin_

private

Definition at line 60 of file collision_distance.h.

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

• collision_distance.h
• collision_distance.cpp