#include <continuous_joint_pose.h>

Inheritance diagram for exotica::ContinuousJointPose:

[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 jacobian) override

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

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

Initializer	GetInitializerTemplate () override

const ContinuousJointPoseInitializer &	GetParameters () const

virtual void	Instantiate (const ContinuousJointPoseInitializer &init)

void	InstantiateInternal (const Initializer &init) override

Public Attributes
std::vector< int >	joint_map_

int	N_

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_

Private Member Functions
void	Initialize ()

Additional Inherited Members
Protected Attributes inherited from exotica::TaskMap
std::vector< KinematicFrameRequest >	frames_

ScenePtr	scene_

Protected Attributes inherited from exotica::Instantiable< ContinuousJointPoseInitializer >
ContinuousJointPoseInitializer	parameters_

Detailed Description

Definition at line 39 of file continuous_joint_pose.h.

Member Function Documentation

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 83 of file continuous_joint_pose.cpp.

void exotica::ContinuousJointPose::Initialize ( )

private

Definition at line 89 of file continuous_joint_pose.cpp.

int exotica::ContinuousJointPose::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 114 of file continuous_joint_pose.cpp.

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 36 of file continuous_joint_pose.cpp.

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 46 of file continuous_joint_pose.cpp.

void exotica::ContinuousJointPose::Update	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRef	phi,
		Eigen::MatrixXdRef	jacobian,
		HessianRef	hessian
	)

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 62 of file continuous_joint_pose.cpp.

Member Data Documentation

std::vector<int> exotica::ContinuousJointPose::joint_map_

Definition at line 49 of file continuous_joint_pose.h.

int exotica::ContinuousJointPose::N_

Definition at line 50 of file continuous_joint_pose.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

Member Data Documentation