#include <sphere_collision.h>

Inheritance diagram for exotica::SphereCollision:

[legend]

Public Member Functions
void	Instantiate (const SphereCollisionInitializer &init) override

int	TaskSpaceDim () override

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

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

Public Member Functions inherited from exotica::TaskMap
virtual void	AssignScene (ScenePtr scene)

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

Initializer	GetInitializerTemplate () override

const SphereCollisionInitializer &	GetParameters () const

void	InstantiateInternal (const Initializer &init) override

Private Member Functions
double	Distance (const KDL::Frame &eff_A, const KDL::Frame &eff_B, double r_A, double r_B)

void	Jacobian (const KDL::Frame &eff_A, const KDL::Frame &eff_B, const KDL::Jacobian &jacA, const KDL::Jacobian &jacB, double r_A, double r_B, Eigen::Block< Eigen::Ref< Eigen::MatrixXd >, 1,-1, false > ret)

Private Attributes
visualization_msgs::MarkerArray	debug_msg_

ros::Publisher	debug_pub_

int	dim_

double	eps_

std::map< std::string, std::vector< int > >	groups_

std::vector< double >	radiuses_

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< SphereCollisionInitializer >
SphereCollisionInitializer	parameters_

Detailed Description

Definition at line 42 of file sphere_collision.h.

Member Function Documentation

double exotica::SphereCollision::Distance	(	const KDL::Frame &	eff_A,
		const KDL::Frame &	eff_B,
		double	r_A,
		double	r_B
	)

private

Definition at line 72 of file sphere_collision.cpp.

void exotica::SphereCollision::Instantiate ( const SphereCollisionInitializer & init )

overridevirtual

Reimplemented from exotica::Instantiable< SphereCollisionInitializer >.

Definition at line 37 of file sphere_collision.cpp.

void exotica::SphereCollision::Jacobian	(	const KDL::Frame &	eff_A,
		const KDL::Frame &	eff_B,
		const KDL::Jacobian &	jacA,
		const KDL::Jacobian &	jacB,
		double	r_A,
		double	r_B,
		Eigen::Block< Eigen::Ref< Eigen::MatrixXd >, 1,-1, false >	ret
	)

private

Definition at line 77 of file sphere_collision.cpp.

int exotica::SphereCollision::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 164 of file sphere_collision.cpp.

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 87 of file sphere_collision.cpp.

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 124 of file sphere_collision.cpp.

Member Data Documentation

visualization_msgs::MarkerArray exotica::SphereCollision::debug_msg_

private

Definition at line 57 of file sphere_collision.h.

ros::Publisher exotica::SphereCollision::debug_pub_

private

Definition at line 58 of file sphere_collision.h.

int exotica::SphereCollision::dim_

private

Definition at line 60 of file sphere_collision.h.

double exotica::SphereCollision::eps_

private

Definition at line 59 of file sphere_collision.h.

std::map<std::string, std::vector<int> > exotica::SphereCollision::groups_

private

Definition at line 54 of file sphere_collision.h.

std::vector<double> exotica::SphereCollision::radiuses_

private

Definition at line 55 of file sphere_collision.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