Limits every given end-effector motion to a box in some reference frame. More...

#include <eff_box.h>

Inheritance diagram for exotica::EffBox:

[legend]

Public Member Functions
Eigen::Vector3d	GetLowerLimit (const int eff_id) const

Eigen::Vector3d	GetUpperLimit (const int eff_id) const

void	Instantiate (const EffBoxInitializer &init) override

void	PublishObjectsAsMarkerArray ()

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

Initializer	GetInitializerTemplate () override

const EffBoxInitializer &	GetParameters () const

void	InstantiateInternal (const Initializer &init) override

Private Attributes
Eigen::VectorXd	eff_lower_
	End-effector lower x, y, z limit. More...

Eigen::VectorXd	eff_upper_
	End-effector upper x, y, z limit. More...

int	n_effs_
	Number of end-effectors. More...

ros::Publisher	pub_markers_
	Three multiplied by the number of end-effectors. More...

int	three_times_n_effs_

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< EffBoxInitializer >
EffBoxInitializer	parameters_

Detailed Description

Limits every given end-effector motion to a box in some reference frame.

Definition at line 45 of file eff_box.h.

Member Function Documentation

Eigen::Vector3d exotica::EffBox::GetLowerLimit ( const int eff_id ) const

Definition at line 74 of file eff_box.cpp.

Eigen::Vector3d exotica::EffBox::GetUpperLimit ( const int eff_id ) const

Definition at line 80 of file eff_box.cpp.

void exotica::EffBox::Instantiate ( const EffBoxInitializer & init )

overridevirtual

Reimplemented from exotica::Instantiable< EffBoxInitializer >.

Definition at line 123 of file eff_box.cpp.

void exotica::EffBox::PublishObjectsAsMarkerArray ( )

Definition at line 86 of file eff_box.cpp.

int exotica::EffBox::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 165 of file eff_box.cpp.

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

overridevirtual

Implements exotica::TaskMap.

Definition at line 37 of file eff_box.cpp.

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

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 54 of file eff_box.cpp.

Member Data Documentation

Eigen::VectorXd exotica::EffBox::eff_lower_

private

End-effector lower x, y, z limit.

Definition at line 59 of file eff_box.h.

Eigen::VectorXd exotica::EffBox::eff_upper_

private

End-effector upper x, y, z limit.

Definition at line 60 of file eff_box.h.

int exotica::EffBox::n_effs_

private

Number of end-effectors.

Definition at line 61 of file eff_box.h.

ros::Publisher exotica::EffBox::pub_markers_

private

Three multiplied by the number of end-effectors.

publish marker for RViz

Definition at line 63 of file eff_box.h.

int exotica::EffBox::three_times_n_effs_

private

Definition at line 62 of file eff_box.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

Member Data Documentation