#include <sum_of_penetrations.h>

Inheritance diagram for exotica::SumOfPenetrations:

[legend]

Public Member Functions
void	AssignScene (ScenePtr scene) override

int	TaskSpaceDim () override

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

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

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< SumOfPenetrationsInitializer >
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
bool	check_self_collision_ = true

CollisionScenePtr	cscene_

unsigned int	dim_ = 1

double	robot_margin_ = 0.0

double	world_margin_ = 0.0

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< SumOfPenetrationsInitializer >
C	parameters_

Detailed Description

Definition at line 42 of file sum_of_penetrations.h.

Member Function Documentation

◆ AssignScene()

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 74 of file sum_of_penetrations.cpp.

◆ Initialize()

void exotica::SumOfPenetrations::Initialize ( )

private

Definition at line 80 of file sum_of_penetrations.cpp.

◆ TaskSpaceDim()

int exotica::SumOfPenetrations::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 91 of file sum_of_penetrations.cpp.

◆ Update()

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 36 of file sum_of_penetrations.cpp.

Member Data Documentation

◆ check_self_collision_

bool exotica::SumOfPenetrations::check_self_collision_ = true

private

Definition at line 55 of file sum_of_penetrations.h.

◆ cscene_

CollisionScenePtr exotica::SumOfPenetrations::cscene_

private

Definition at line 58 of file sum_of_penetrations.h.

◆ dim_

unsigned int exotica::SumOfPenetrations::dim_ = 1

private

Definition at line 57 of file sum_of_penetrations.h.

◆ robot_margin_

double exotica::SumOfPenetrations::robot_margin_ = 0.0

private

Definition at line 53 of file sum_of_penetrations.h.

◆ world_margin_

double exotica::SumOfPenetrations::world_margin_ = 0.0

private

Definition at line 54 of file sum_of_penetrations.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()

◆ Initialize()

◆ TaskSpaceDim()

◆ Update()

Member Data Documentation

◆ check_self_collision_

◆ cscene_

◆ dim_

◆ robot_margin_

◆ world_margin_