#include <point_to_line.h>

Inheritance diagram for exotica::PointToLine:

[legend]

Public Member Functions
Eigen::Vector3d	GetEndPoint ()

void	Instantiate (const PointToLineInitializer &init) override

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PointToLine ()

void	SetEndPoint (const Eigen::Vector3d &point)

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	~PointToLine ()

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< PointToLineInitializer >
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
Eigen::Vector3d	Direction (const Eigen::Vector3d &point)
	direction computes the vector from a point to its projection on a line More...

Private Attributes
std::string	base_name_
	frame of defined line More...

bool	infinite_

Eigen::Vector3d	line_
	vector from start to end point of line More...

Eigen::Vector3d	line_end_
	end point of line in base frame More...

Eigen::Vector3d	line_start_
	start point of line in base frame More...

std::string	link_name_
	frame of defined point More...

ros::Publisher	pub_marker_
	publish marker for RViz More...

ros::Publisher	pub_marker_label_
	marker label More...

bool	visualize_

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< PointToLineInitializer >
C	parameters_

Detailed Description

Definition at line 39 of file point_to_line.h.

Constructor & Destructor Documentation

◆ PointToLine()

exotica::PointToLine::PointToLine ( )

default

◆ ~PointToLine()

exotica::PointToLine::~PointToLine ( )

virtualdefault

Member Function Documentation

◆ Direction()

Eigen::Vector3d exotica::PointToLine::Direction ( const Eigen::Vector3d & point )

private

direction computes the vector from a point to its projection on a line

Parameters

point point in base frame

Returns: 3D vector from point to its projection on line

Definition at line 40 of file point_to_line.cpp.

◆ GetEndPoint()

Eigen::Vector3d exotica::PointToLine::GetEndPoint ( )

Definition at line 72 of file point_to_line.cpp.

◆ Instantiate()

void exotica::PointToLine::Instantiate ( const PointToLineInitializer & init )

override

Definition at line 228 of file point_to_line.cpp.

◆ SetEndPoint()

void exotica::PointToLine::SetEndPoint ( const Eigen::Vector3d & point )

Definition at line 77 of file point_to_line.cpp.

◆ TaskSpaceDim()

int exotica::PointToLine::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 255 of file point_to_line.cpp.

◆ Update() [1/2]

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 83 of file point_to_line.cpp.

◆ Update() [2/2]

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 94 of file point_to_line.cpp.

Member Data Documentation

◆ base_name_

std::string exotica::PointToLine::base_name_

private

frame of defined line

Definition at line 68 of file point_to_line.h.

◆ infinite_

bool exotica::PointToLine::infinite_

private

true: vector from start to end defines the direction of and infinite line false: start and end define a line segment

Definition at line 64 of file point_to_line.h.

◆ line_

Eigen::Vector3d exotica::PointToLine::line_

private

vector from start to end point of line

Definition at line 63 of file point_to_line.h.

◆ line_end_

Eigen::Vector3d exotica::PointToLine::line_end_

private

end point of line in base frame

Definition at line 62 of file point_to_line.h.

◆ line_start_

Eigen::Vector3d exotica::PointToLine::line_start_

private

start point of line in base frame

Definition at line 61 of file point_to_line.h.

◆ link_name_

std::string exotica::PointToLine::link_name_

private

frame of defined point

Definition at line 67 of file point_to_line.h.

◆ pub_marker_

ros::Publisher exotica::PointToLine::pub_marker_

private

publish marker for RViz

Definition at line 70 of file point_to_line.h.

◆ pub_marker_label_

ros::Publisher exotica::PointToLine::pub_marker_label_

private

marker label

Definition at line 71 of file point_to_line.h.

◆ visualize_

bool exotica::PointToLine::visualize_

private

Definition at line 73 of file point_to_line.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

Constructor & Destructor Documentation

◆ PointToLine()

◆ ~PointToLine()

Member Function Documentation

◆ Direction()

◆ GetEndPoint()

◆ Instantiate()

◆ SetEndPoint()

◆ TaskSpaceDim()

◆ Update() [1/2]

◆ Update() [2/2]

Member Data Documentation

◆ base_name_

◆ infinite_

◆ line_

◆ line_end_

◆ line_start_

◆ link_name_

◆ pub_marker_

◆ pub_marker_label_

◆ visualize_