exotica Namespace Reference

Namespaces
	visualization

Classes
class	AbstractDynamicsSolver
class	AbstractTimeIndexedProblem
class	AllowedCollisionMatrix
struct	AttachedObject
class	BoundedEndPoseProblem
class	BoundedTimeIndexedProblem
struct	BoxQPSolution
struct	CollisionProxy
class	CollisionScene
class	CollisionSceneFCL
struct	ContinuousCollisionProxy
class	DynamicTimeIndexedShootingProblem
class	EndPoseProblem
struct	EndPoseTask
class	Exception
class	Factory
class	FeedbackMotionSolver
struct	FunctorBase
class	Initializer
class	InitializerBase
class	Instantiable
class	InstantiableBase
class	KinematicElement
struct	KinematicFrame
struct	KinematicFrameRequest
struct	KinematicResponse
class	KinematicSolution
struct	KinematicsRequest
class	KinematicTree
class	MotionSolver
class	Object
class	PlanningProblem
class	Printable
class	Property
class	Registrar
class	RosNode
class	SamplingProblem
struct	SamplingTask
class	Scene
class	Server
class	Setup
class	SolveException
struct	Task
struct	TaskIndexing
class	TaskMap
struct	TaskSpaceVector
struct	TaskVectorEntry
class	TimeIndexedProblem
class	TimeIndexedSamplingProblem
struct	TimeIndexedTask
class	Timer
class	Trajectory
class	UnconstrainedEndPoseProblem
class	UnconstrainedTimeIndexedProblem
class	Uncopyable
class	VisualElement
class	VisualizationMeshcat
class	VisualizationMoveIt
class	XMLLoader

Typedefs
typedef Eigen::Array< KDL::Frame, Eigen::Dynamic, 1 >	ArrayFrame
typedef Eigen::Ref< Eigen::Array< KDL::Frame, Eigen::Dynamic, 1 > >	ArrayFrameRef
typedef const Eigen::Ref< Eigen::Array< KDL::Frame, Eigen::Dynamic, 1 > > &	ArrayFrameRefConst
typedef Eigen::Array< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 >	ArrayHessian
typedef Eigen::Ref< Eigen::Array< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 > >	ArrayHessianRef
typedef const Eigen::Ref< Eigen::Array< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 > >	ArrayHessianRefConst
typedef Eigen::Array< KDL::Jacobian, Eigen::Dynamic, 1 >	ArrayJacobian
typedef Eigen::Ref< Eigen::Array< KDL::Jacobian, Eigen::Dynamic, 1 > >	ArrayJacobianRef
typedef const Eigen::Ref< Eigen::Array< KDL::Jacobian, Eigen::Dynamic, 1 > > &	ArrayJacobianRefConst
typedef Eigen::Array< KDL::Twist, Eigen::Dynamic, 1 >	ArrayTwist
typedef Eigen::Ref< Eigen::Array< KDL::Twist, Eigen::Dynamic, 1 > >	ArrayTwistRef
typedef const Eigen::Ref< Eigen::Array< KDL::Twist, Eigen::Dynamic, 1 > > &	ArrayTwistRefConst
typedef std::shared_ptr< exotica::BoundedEndPoseProblem >	BoundedEndPoseProblemPtr
typedef std::shared_ptr< exotica::BoundedTimeIndexedProblem >	BoundedTimeIndexedProblemPtr
typedef struct exotica::BoxQPSolution	BoxQPSolution
typedef std::shared_ptr< CollisionScene >	CollisionScenePtr
typedef AbstractDynamicsSolver< double, Eigen::Dynamic, Eigen::Dynamic >	DynamicsSolver
typedef std::shared_ptr< exotica::DynamicsSolver >	DynamicsSolverPtr
typedef std::shared_ptr< exotica::DynamicTimeIndexedShootingProblem >	DynamicTimeIndexedShootingProblemPtr
typedef std::shared_ptr< exotica::EndPoseProblem >	EndPoseProblemPtr
typedef FunctorBase< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >	Functor
typedef Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >	Hessian
typedef Eigen::Ref< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 > >	HessianRef
typedef const Eigen::Ref< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 > >	HessianRefConst
typedef std::shared_ptr< exotica::MotionSolver >	MotionSolverPtr
typedef std::shared_ptr< const PlanningProblem >	PlanningProblemConstPtr
typedef Factory< PlanningProblem >	PlanningProblemFac
typedef std::shared_ptr< PlanningProblem >	PlanningProblemPtr
typedef std::shared_ptr< exotica::SamplingProblem >	SamplingProblemPtr
typedef std::shared_ptr< Scene >	ScenePtr
typedef std::shared_ptr< Server >	ServerPtr
typedef std::shared_ptr< Setup >	SetupPtr
typedef std::map< std::string, TaskMapPtr >	TaskMapMap
typedef std::shared_ptr< TaskMap >	TaskMapPtr
typedef std::vector< TaskMapPtr >	TaskMapVec
typedef std::shared_ptr< exotica::TimeIndexedProblem >	TimeIndexedProblemPtr
typedef std::shared_ptr< exotica::TimeIndexedSamplingProblem >	TimeIndexedSamplingProblemPtr
typedef std::shared_ptr< exotica::UnconstrainedEndPoseProblem >	UnconstrainedEndPoseProblemPtr
typedef std::shared_ptr< exotica::UnconstrainedTimeIndexedProblem >	UnconstrainedTimeIndexedProblemPtr

Enumerations
enum	BaseType
enum	Integrator
enum	JointLimitType
enum	KinematicRequestFlags
enum	RotationType {   RotationType::QUATERNION, RotationType::RPY, RotationType::ZYX, RotationType::ZYZ,   RotationType::ANGLE_AXIS, RotationType::MATRIX }
enum	TerminationCriterion {   TerminationCriterion::NotStarted, TerminationCriterion::IterationLimit, TerminationCriterion::BacktrackIterationLimit, TerminationCriterion::StepTolerance,   TerminationCriterion::FunctionTolerance, TerminationCriterion::GradientTolerance, TerminationCriterion::Divergence, TerminationCriterion::UserDefined,   TerminationCriterion::Convergence }

Functions
void	appendChildXML (Initializer &parent, std::string &name, bool isAttribute, tinyxml2::XMLHandle &tag, const std::string &prefix)
void	AppendInitializer (std::shared_ptr< InstantiableBase > it, std::vector< Initializer > &ret)
void	AppendMap (std::map< Key, Val > &orig, const std::map< Key, Val > &extra)
void	AppendVector (std::vector< Val > &orig, const std::vector< Val > &extra)
BoxQPSolution	BoxQP (const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init, const double gamma, const int max_iterations, const double epsilon, const double lambda)
BoxQPSolution	BoxQP (const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init)
std_msgs::ColorRGBA	GetColor (const Eigen::Vector4d &rgba)
std_msgs::ColorRGBA	GetColor (double r, double g, double b, double a=1.0)
KDL::Frame	GetFrame (Eigen::VectorXdRefConst val)
Eigen::MatrixXd	GetFrame (const KDL::Frame &val)
Eigen::VectorXd	GetFrameAsVector (const KDL::Frame &val, RotationType type=RotationType::RPY)
KDL::Frame	GetFrameFromMatrix (Eigen::MatrixXdRefConst val)
std::vector< std::string >	getKeys (std::map< std::string, T > map)
std::vector< Key >	GetKeysFromMap (const std::map< Key, Val > &map)
KDL::Rotation	GetRotation (Eigen::VectorXdRefConst data, RotationType type)
Eigen::VectorXd	GetRotationAsVector (const KDL::Frame &val, RotationType type)
int	GetRotationTypeLength (const RotationType &type)
std::string	GetTypeName (const std::type_info &type)
std::vector< Val >	GetValuesFromMap (const std::map< Key, Val > &map)
bool	IsContainerType (std::string type)
bool	IsVectorContainerType (std::string type)
bool	IsVectorType (std::string type)
std::string	LoadFile (const std::string &path)
robot_model::RobotModelPtr	LoadModelImpl (const std::string &urdf, const std::string &srdf)
void	LoadOBJ (const std::string &data, Eigen::VectorXi &tri, Eigen::VectorXd &vert)
std::vector< Val >	MapToVec (const std::map< Key, Val > &map)
KinematicRequestFlags	operator& (KinematicRequestFlags a, KinematicRequestFlags b)
std::ostream &	operator<< (std::ostream &os, const Printable &s)
std::ostream &	operator<< (std::ostream &os, const std::vector< T > &s)
std::ostream &	operator<< (std::ostream &os, const std::map< I, T > &s)
KinematicRequestFlags	operator| (KinematicRequestFlags a, KinematicRequestFlags b)
Exception::ReportingType	operator| (Exception::ReportingType a, Exception::ReportingType b) noexcept
bool	ParseBool (const std::string value)
std::vector< bool >	ParseBoolList (const std::string value)
double	ParseDouble (const std::string value)
int	ParseInt (const std::string value)
std::vector< int >	ParseIntList (const std::string value)
std::vector< std::string >	ParseList (const std::string &value, char token= ',')
std::string	ParsePath (const std::string &path)
Eigen::Matrix< T, S, 1 >	ParseVector (const std::string value)
bool	parseXML (tinyxml2::XMLHandle &tag, Initializer &parent, const std::string &prefix)
bool	PathExists (const std::string &path)
std_msgs::ColorRGBA	RandomColor ()
void	SaveMatrix (std::string file_name, const Eigen::Ref< const Eigen::MatrixXd > mat)
Eigen::VectorXd	SetRotation (const KDL::Rotation &data, RotationType type)
void	Sleep (double t)
T	ToNumber (const std::string &val)
double	ToNumber< double > (const std::string &val)
float	ToNumber< float > (const std::string &val)
int	ToNumber< int > (const std::string &val)
std::string	ToString (const KDL::Frame &s)
std::string	ToString (const Eigen::Isometry3d &s)
std::string	ToString (const Eigen::Affine3d &s)
std::string	Trim (const std::string &s)

Variables
const char	branch []
	FIXED
	FLOATING
constexpr double	inf
	KIN_FK
	KIN_FK_VEL
	KIN_J
	KIN_J_DOT
	LIMIT_POSITION_LOWER
	LIMIT_POSITION_UPPER
constexpr double	pi
	PLANAR
	RK1
	RK2
	RK4
const char	version []