Keeps a given point within field of view of the end-effector. More...

#include <gaze_at_constraint.h>

Inheritance diagram for exotica::GazeAtConstraint:

[legend]

Public Member Functions
void	Instantiate (const GazeAtConstraintInitializer &init) override

int	TaskSpaceDim () override

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

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

Public Member Functions inherited from exotica::TaskMap
virtual void	AssignScene (ScenePtr scene)

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< GazeAtConstraintInitializer >
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
Eigen::VectorXd	tan_theta_squared_
	The tangent squared of given viewing angle Theta. More...

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< GazeAtConstraintInitializer >
C	parameters_

Detailed Description

Keeps a given point within field of view of the end-effector.

Given a point $p = (x, y, z)^T\in\mathbb{R}^3$ defined in the end-effector frame, the robot motion is constrained such that it keeps $p$ within a virtual cone attahed to the end-effector. The task map is defined by

$\Phi = \begin{bmatrix}x^2 + y^2 - \tan(\theta)^2z^2\\-z\end{bmatrix}.$

where $\theta$ is the viewing angle.

GazeAtConstraint task map.

Definition at line 53 of file gaze_at_constraint.h.

Member Function Documentation

◆ Instantiate()

void exotica::GazeAtConstraint::Instantiate ( const GazeAtConstraintInitializer & init )

override

Definition at line 70 of file gaze_at_constraint.cpp.

◆ TaskSpaceDim()

int exotica::GazeAtConstraint::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 84 of file gaze_at_constraint.cpp.

◆ Update() [1/2]

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 36 of file gaze_at_constraint.cpp.

◆ Update() [2/2]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 49 of file gaze_at_constraint.cpp.

Member Data Documentation

◆ tan_theta_squared_

Eigen::VectorXd exotica::GazeAtConstraint::tan_theta_squared_

private

The tangent squared of given viewing angle Theta.

Definition at line 62 of file gaze_at_constraint.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ Instantiate()

◆ TaskSpaceDim()

◆ Update() [1/2]

◆ Update() [2/2]

Member Data Documentation

◆ tan_theta_squared_