exotica::EffOrientation Class Reference

#include <eff_orientation.h>

Inheritance diagram for exotica::EffOrientation:

Public Member Functions
const RotationType &	get_rotation_type () const
std::vector< TaskVectorEntry >	GetLieGroupIndices () override
void	Instantiate (const EffOrientationInitializer &init) override
int	TaskSpaceDim () override
int	TaskSpaceJacobianDim () override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi) override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian) override
void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian) override
Public Member Functions inherited from exotica::TaskMap
virtual void	AssignScene (ScenePtr scene)
std::vector< KinematicFrameRequest >	GetFrames () const
virtual void	InstantiateBase (const Initializer &init)
virtual void	PreUpdate ()
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< EffOrientationInitializer >
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 Attributes
RotationType	rotation_type_ = RotationType::RPY
int	stride_

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< EffOrientationInitializer >
C	parameters_

Detailed Description

Definition at line 39 of file eff_orientation.h.

Member Function Documentation

get_rotation_type()

const RotationType & exotica::EffOrientation::get_rotation_type

(

)

const

Definition at line 99 of file eff_orientation.cpp.

GetLieGroupIndices()

std::vector< TaskVectorEntry > exotica::EffOrientation::GetLieGroupIndices ( )

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 42 of file eff_orientation.cpp.

Instantiate()

void exotica::EffOrientation::Instantiate ( const EffOrientationInitializer &  init )

override

Definition at line 36 of file eff_orientation.cpp.

TaskSpaceDim()

int exotica::EffOrientation::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 89 of file eff_orientation.cpp.

TaskSpaceJacobianDim()

int exotica::EffOrientation::TaskSpaceJacobianDim ( )

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 94 of file eff_orientation.cpp.

Update() [1/3]

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 53 of file eff_orientation.cpp.

Update() [2/3]

void exotica::EffOrientation::Update ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  jacobian  )

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 62 of file eff_orientation.cpp.

Update() [3/3]

void exotica::EffOrientation::Update ( Eigen::VectorXdRefConst  x, Eigen::VectorXdRef  phi, Eigen::MatrixXdRef  jacobian, HessianRef  hessian  )

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 73 of file eff_orientation.cpp.

Member Data Documentation

rotation_type_

RotationType exotica::EffOrientation::rotation_type_ = RotationType::RPY

private

Definition at line 56 of file eff_orientation.h.

stride_

int exotica::EffOrientation::stride_

private

Definition at line 55 of file eff_orientation.h.

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

• eff_orientation.h
• eff_orientation.cpp