#include <collision_distance.h>

Inheritance diagram for exotica::CollisionDistance:

[legend]

Public Member Functions
void	AssignScene (ScenePtr scene) override

std::vector< CollisionProxy >	get_collision_proxies ()

int	TaskSpaceDim () override

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

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

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)

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

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
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

Public Member Functions inherited from exotica::Instantiable< CollisionDistanceInitializer >
std::vector< Initializer >	GetAllTemplates () const override

Initializer	GetInitializerTemplate () override

const CollisionDistanceInitializer &	GetParameters () const

virtual void	Instantiate (const CollisionDistanceInitializer &init)

void	InstantiateInternal (const Initializer &init) override

Private Member Functions
void	Initialize ()

void	UpdateInternal (Eigen::VectorXdRefConst x, Eigen::VectorXdRef phi, Eigen::MatrixXdRef J, bool updateJacobian=true)

Private Attributes
bool	check_self_collision_ = true

std::vector< CollisionProxy >	closest_proxies_

std::map< std::string, std::vector< std::string > >	controlled_joint_to_collision_link_map_

CollisionScenePtr	cscene_

int	dim_

std::vector< std::string >	robot_joints_

double	robot_margin_

double	world_margin_

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< CollisionDistanceInitializer >
CollisionDistanceInitializer	parameters_

Detailed Description

Definition at line 42 of file collision_distance.h.

Member Function Documentation

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 102 of file collision_distance.cpp.

std::vector<CollisionProxy> exotica::CollisionDistance::get_collision_proxies ( )

inline

Definition at line 51 of file collision_distance.h.

void exotica::CollisionDistance::Initialize ( )

private

Definition at line 108 of file collision_distance.cpp.

int exotica::CollisionDistance::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 129 of file collision_distance.cpp.

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 36 of file collision_distance.cpp.

void exotica::CollisionDistance::Update	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRef	phi,
		Eigen::MatrixXdRef	J
	)

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 44 of file collision_distance.cpp.

void exotica::CollisionDistance::UpdateInternal	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRef	phi,
		Eigen::MatrixXdRef	J,
		bool	updateJacobian = `true`
	)

private

Definition at line 52 of file collision_distance.cpp.

Member Data Documentation

bool exotica::CollisionDistance::check_self_collision_ = true

private

Definition at line 58 of file collision_distance.h.

std::vector<CollisionProxy> exotica::CollisionDistance::closest_proxies_

private

Definition at line 61 of file collision_distance.h.

std::map<std::string, std::vector<std::string> > exotica::CollisionDistance::controlled_joint_to_collision_link_map_

private

Definition at line 57 of file collision_distance.h.

CollisionScenePtr exotica::CollisionDistance::cscene_

private

Definition at line 64 of file collision_distance.h.

int exotica::CollisionDistance::dim_

private

Definition at line 63 of file collision_distance.h.

std::vector<std::string> exotica::CollisionDistance::robot_joints_

private

Definition at line 56 of file collision_distance.h.

double exotica::CollisionDistance::robot_margin_

private

Definition at line 59 of file collision_distance.h.

double exotica::CollisionDistance::world_margin_

private

Definition at line 60 of file collision_distance.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

Member Data Documentation