#include <control_regularization.h>

Inheritance diagram for exotica::ControlRegularization:

[legend]

Public Member Functions
void	AssignScene (ScenePtr scene) override

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

const Eigen::VectorXd &	get_joint_ref () const

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

void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi) override

void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du) override

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) 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 ()

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< ControlRegularizationInitializer >
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 ()

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< ControlRegularizationInitializer >
C	parameters_

Detailed Description

Definition at line 39 of file control_regularization.h.

Member Function Documentation

◆ AssignScene()

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 77 of file control_regularization.cpp.

◆ get_joint_map()

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

Definition at line 122 of file control_regularization.cpp.

◆ get_joint_ref()

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

Definition at line 127 of file control_regularization.cpp.

◆ Initialize()

void exotica::ControlRegularization::Initialize ( )

private

Definition at line 83 of file control_regularization.cpp.

◆ TaskSpaceDim()

int exotica::ControlRegularization::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 117 of file control_regularization.cpp.

◆ Update() [1/6]

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 37 of file control_regularization.cpp.

◆ Update() [2/6]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 41 of file control_regularization.cpp.

◆ Update() [3/6]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 45 of file control_regularization.cpp.

◆ Update() [4/6]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 50 of file control_regularization.cpp.

◆ Update() [5/6]

void exotica::ControlRegularization::Update	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRefConst	u,
		Eigen::VectorXdRef	phi,
		Eigen::MatrixXdRef	dphi_dx,
		Eigen::MatrixXdRef	dphi_du
	)

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 59 of file control_regularization.cpp.

◆ Update() [6/6]

void exotica::ControlRegularization::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
	)

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 70 of file control_regularization.cpp.

Member Data Documentation

◆ joint_map_

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

private

! Number of controlled joints

Definition at line 60 of file control_regularization.h.

◆ joint_ref_

Eigen::VectorXd exotica::ControlRegularization::joint_ref_

private

! Subset selection matrix

Definition at line 61 of file control_regularization.h.

◆ num_controlled_joints_

int exotica::ControlRegularization::num_controlled_joints_

private

Definition at line 59 of file control_regularization.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

◆ AssignScene()

◆ get_joint_map()

◆ get_joint_ref()

◆ Initialize()

◆ TaskSpaceDim()

◆ Update() [1/6]

◆ Update() [2/6]

◆ Update() [3/6]

◆ Update() [4/6]

◆ Update() [5/6]

◆ Update() [6/6]

Member Data Documentation

◆ joint_map_

◆ joint_ref_

◆ num_controlled_joints_