#include <interaction_mesh.h>

Inheritance diagram for exotica::InteractionMesh:

[legend]

Public Member Functions
void	AssignScene (ScenePtr scene) override

void	ComputeGoalLaplace (const Eigen::VectorXd &x, Eigen::VectorXd &goal)

Eigen::MatrixXd	GetWeights ()

void	Instantiate (const InteractionMeshInitializer &init) override

	InteractionMesh ()

void	SetWeight (int i, int j, double weight)

void	SetWeights (const Eigen::MatrixXd &weights)

int	TaskSpaceDim () override

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

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

virtual	~InteractionMesh ()

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< InteractionMeshInitializer >
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

Static Public Member Functions
static void	ComputeGoalLaplace (const std::vector< KDL::Frame > &nodes, Eigen::VectorXd &goal, Eigen::MatrixXdRefConst weights)

static Eigen::VectorXd	ComputeLaplace (Eigen::VectorXdRefConst eff_Phi, Eigen::MatrixXdRefConst weights, Eigen::MatrixXd dist=nullptr, Eigen::VectorXd wsum=nullptr)

Protected Member Functions
void	Debug (Eigen::VectorXdRefConst phi)

void	DestroyDebug ()

void	InitializeDebug (std::string ref)

Protected Attributes
int	eff_size_ = 0

visualization_msgs::Marker	imesh_mark_

ros::Publisher	imesh_mark_pub_

Eigen::MatrixXd	weights_

Protected Attributes inherited from exotica::TaskMap
std::vector< KinematicFrameRequest >	frames_

ScenePtr	scene_

Protected Attributes inherited from exotica::Instantiable< InteractionMeshInitializer >
C	parameters_

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_

Detailed Description

Definition at line 42 of file interaction_mesh.h.

Constructor & Destructor Documentation

◆ InteractionMesh()

exotica::InteractionMesh::InteractionMesh ( )

default

◆ ~InteractionMesh()

exotica::InteractionMesh::~InteractionMesh ( )

virtualdefault

Member Function Documentation

◆ AssignScene()

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 155 of file interaction_mesh.cpp.

◆ ComputeGoalLaplace() [1/2]

void exotica::InteractionMesh::ComputeGoalLaplace	(	const Eigen::VectorXd &	x,
		Eigen::VectorXd &	goal
	)

Definition at line 306 of file interaction_mesh.cpp.

◆ ComputeGoalLaplace() [2/2]

void exotica::InteractionMesh::ComputeGoalLaplace	(	const std::vector< KDL::Frame > &	nodes,
		Eigen::VectorXd &	goal,
		Eigen::MatrixXdRefConst	weights
	)

static

Definition at line 293 of file interaction_mesh.cpp.

◆ ComputeLaplace()

Eigen::VectorXd exotica::InteractionMesh::ComputeLaplace	(	Eigen::VectorXdRefConst	eff_Phi,
		Eigen::MatrixXdRefConst	weights,
		Eigen::MatrixXd *	dist = `nullptr`,
		Eigen::VectorXd *	wsum = `nullptr`
	)

static

Compute distance matrix (inverse proportional)

Computer weight normaliser

Compute Laplace coordinates

Definition at line 245 of file interaction_mesh.cpp.

◆ Debug()

void exotica::InteractionMesh::Debug ( Eigen::VectorXdRefConst phi )

protected

Definition at line 160 of file interaction_mesh.cpp.

◆ DestroyDebug()

void exotica::InteractionMesh::DestroyDebug ( )

protected

Definition at line 232 of file interaction_mesh.cpp.

◆ GetWeights()

Eigen::MatrixXd exotica::InteractionMesh::GetWeights ( )

Definition at line 126 of file interaction_mesh.cpp.

◆ InitializeDebug()

void exotica::InteractionMesh::InitializeDebug ( std::string ref )

protected

Definition at line 131 of file interaction_mesh.cpp.

◆ Instantiate()

void exotica::InteractionMesh::Instantiate ( const InteractionMeshInitializer & init )

override

Definition at line 139 of file interaction_mesh.cpp.

◆ SetWeight()

void exotica::InteractionMesh::SetWeight	(	int	i,
		int	j,
		double	weight
	)

Definition at line 319 of file interaction_mesh.cpp.

◆ SetWeights()

void exotica::InteractionMesh::SetWeights ( const Eigen::MatrixXd & weights )

Definition at line 333 of file interaction_mesh.cpp.

◆ TaskSpaceDim()

int exotica::InteractionMesh::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 240 of file interaction_mesh.cpp.

◆ Update() [1/2]

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 40 of file interaction_mesh.cpp.

◆ Update() [2/2]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 58 of file interaction_mesh.cpp.

Member Data Documentation

◆ eff_size_

int exotica::InteractionMesh::eff_size_ = 0

protected

Definition at line 69 of file interaction_mesh.h.

◆ imesh_mark_

visualization_msgs::Marker exotica::InteractionMesh::imesh_mark_

protected

Definition at line 72 of file interaction_mesh.h.

◆ imesh_mark_pub_

ros::Publisher exotica::InteractionMesh::imesh_mark_pub_

protected

Definition at line 71 of file interaction_mesh.h.

◆ weights_

Eigen::MatrixXd exotica::InteractionMesh::weights_

protected

Definition at line 68 of file interaction_mesh.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ InteractionMesh()

◆ ~InteractionMesh()

Member Function Documentation

◆ AssignScene()

◆ ComputeGoalLaplace() [1/2]

◆ ComputeGoalLaplace() [2/2]

◆ ComputeLaplace()

◆ Debug()

◆ DestroyDebug()

◆ GetWeights()

◆ InitializeDebug()

◆ Instantiate()

◆ SetWeight()

◆ SetWeights()

◆ TaskSpaceDim()

◆ Update() [1/2]

◆ Update() [2/2]

Member Data Documentation

◆ eff_size_

◆ imesh_mark_

◆ imesh_mark_pub_

◆ weights_