#include <smooth_collision_distance.h>

Inheritance diagram for exotica::SmoothCollisionDistance:

[legend]

Public Member Functions
void	AssignScene (ScenePtr scene) override

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

Initializer	GetInitializerTemplate () override

const SmoothCollisionDistanceInitializer &	GetParameters () const

virtual void	Instantiate (const SmoothCollisionDistanceInitializer &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

CollisionScenePtr	cscene_

const unsigned int	dim_ = 1

bool	linear_ = false

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< SmoothCollisionDistanceInitializer >
SmoothCollisionDistanceInitializer	parameters_

Detailed Description

Definition at line 42 of file smooth_collision_distance.h.

Member Function Documentation

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 131 of file smooth_collision_distance.cpp.

void exotica::SmoothCollisionDistance::Initialize ( )

private

Definition at line 137 of file smooth_collision_distance.cpp.

int exotica::SmoothCollisionDistance::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 151 of file smooth_collision_distance.cpp.

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 36 of file smooth_collision_distance.cpp.

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 45 of file smooth_collision_distance.cpp.

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