Public Member Functions | Private Member Functions | Private Attributes | List of all members
exotica::QuasiStatic Class Reference

#include <quasi_static.h>

Inheritance diagram for exotica::QuasiStatic:
Inheritance graph
[legend]

Public Member Functions

void AssignScene (ScenePtr scene) override
 
 QuasiStatic ()
 
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 ~QuasiStatic ()
 
- Public Member Functions inherited from exotica::TaskMap
std::vector< KinematicFrameRequestGetFrames () const
 
virtual std::vector< TaskVectorEntryGetLieGroupIndices ()
 
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< QuasiStaticInitializer >
std::vector< InitializerGetAllTemplates () const override
 
Initializer GetInitializerTemplate () override
 
const QuasiStaticInitializer & GetParameters () const
 
virtual void Instantiate (const QuasiStaticInitializer &init)
 
void InstantiateInternal (const Initializer &init) override
 

Private Member Functions

void Initialize ()
 

Private Attributes

visualization_msgs::MarkerArray debug_msg_
 
ros::Publisher debug_pub_
 

Additional Inherited Members

- Public Attributes inherited from exotica::TaskMap
int id
 
bool is_used
 
std::vector< KinematicSolutionkinematics
 
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< KinematicFrameRequestframes_
 
ScenePtr scene_
 
- Protected Attributes inherited from exotica::Instantiable< QuasiStaticInitializer >
QuasiStaticInitializer parameters_
 

Detailed Description

Definition at line 42 of file quasi_static.h.

Constructor & Destructor Documentation

exotica::QuasiStatic::QuasiStatic ( )
default
exotica::QuasiStatic::~QuasiStatic ( )
virtualdefault

Member Function Documentation

void exotica::QuasiStatic::AssignScene ( ScenePtr  scene)
overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 375 of file quasi_static.cpp.

void exotica::QuasiStatic::Initialize ( )
private

Definition at line 341 of file quasi_static.cpp.

int exotica::QuasiStatic::TaskSpaceDim ( )
overridevirtual

Implements exotica::TaskMap.

Definition at line 336 of file quasi_static.cpp.

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

Implements exotica::TaskMap.

Definition at line 150 of file quasi_static.cpp.

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

Reimplemented from exotica::TaskMap.

Definition at line 236 of file quasi_static.cpp.

Member Data Documentation

visualization_msgs::MarkerArray exotica::QuasiStatic::debug_msg_
private

Definition at line 57 of file quasi_static.h.

ros::Publisher exotica::QuasiStatic::debug_pub_
private

Definition at line 58 of file quasi_static.h.


The documentation for this class was generated from the following files:


exotica_core_task_maps
Author(s): Yiming Yang, Michael Camilleri
autogenerated on Sat Apr 10 2021 02:36:09