Implementation of joint limits task map. Note: we dont want to always stay at the centre of the joint range, be lazy as long as the joint is not too close to the low/high limits. More...

#include <joint_limit.h>

Inheritance diagram for exotica::JointLimit:

[legend]

Public Member Functions
void	AssignScene (ScenePtr scene) override

int	TaskSpaceDim () override

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

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

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

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

void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du) override

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) 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 ()

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< JointLimitInitializer >
std::vector< Initializer >	GetAllTemplates () const override

Initializer	GetInitializerTemplate () override

const JointLimitInitializer &	GetParameters () const

virtual void	Instantiate (const JointLimitInitializer &init)

void	InstantiateInternal (const Initializer &init) override

Private Member Functions
void	Initialize ()

Private Attributes
int	N

double	safe_percentage_

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< JointLimitInitializer >
JointLimitInitializer	parameters_

Detailed Description

Implementation of joint limits task map. Note: we dont want to always stay at the centre of the joint range, be lazy as long as the joint is not too close to the low/high limits.

Definition at line 42 of file joint_limit.h.

Member Function Documentation

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 36 of file joint_limit.cpp.

void exotica::JointLimit::Initialize ( )

private

Definition at line 42 of file joint_limit.cpp.

int exotica::JointLimit::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 48 of file joint_limit.cpp.

void exotica::JointLimit::Update	(	Eigen::VectorXdRefConst	q,
		Eigen::VectorXdRef	phi
	)

overridevirtual

Implements exotica::TaskMap.

Definition at line 53 of file joint_limit.cpp.

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 68 of file joint_limit.cpp.

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 91 of file joint_limit.cpp.

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 98 of file joint_limit.cpp.

void exotica::JointLimit::Update	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRefConst	u,
		Eigen::VectorXdRef	phi,
		Eigen::MatrixXdRef	dphi_dx,
		Eigen::MatrixXdRef	dphi_du
	)

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 103 of file joint_limit.cpp.

void exotica::JointLimit::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
	)

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 108 of file joint_limit.cpp.

Member Data Documentation

int exotica::JointLimit::N

private

Definition at line 61 of file joint_limit.h.

double exotica::JointLimit::safe_percentage_

private

Definition at line 60 of file joint_limit.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