pinocchio_dynamics_solver.cpp
/tmp/ws/src/exotica/exotations/dynamics_solvers/exotica_pinocchio_dynamics_solver/src/
pinocchio__dynamics__solver_8cpp
exotica_pinocchio_dynamics_solver/pinocchio_dynamics_solver.h
exotica
pinocchio_dynamics_solver.h
/tmp/ws/src/exotica/exotations/dynamics_solvers/exotica_pinocchio_dynamics_solver/include/exotica_pinocchio_dynamics_solver/
pinocchio__dynamics__solver_8h
exotica::PinocchioDynamicsSolver
exotica
pinocchio_dynamics_solver_derivatives.cpp
/tmp/ws/src/exotica/exotations/dynamics_solvers/exotica_pinocchio_dynamics_solver/src/
pinocchio__dynamics__solver__derivatives_8cpp
exotica_pinocchio_dynamics_solver/pinocchio_dynamics_solver.h
exotica
pinocchio_gravity_compensation_dynamics_solver.cpp
/tmp/ws/src/exotica/exotations/dynamics_solvers/exotica_pinocchio_dynamics_solver/src/
pinocchio__gravity__compensation__dynamics__solver_8cpp
exotica_pinocchio_dynamics_solver/pinocchio_gravity_compensation_dynamics_solver.h
exotica
pinocchio_gravity_compensation_dynamics_solver.h
/tmp/ws/src/exotica/exotations/dynamics_solvers/exotica_pinocchio_dynamics_solver/include/exotica_pinocchio_dynamics_solver/
pinocchio__gravity__compensation__dynamics__solver_8h
exotica::PinocchioDynamicsSolverWithGravityCompensation
exotica
pinocchio_gravity_compensation_dynamics_solver_derivatives.cpp
/tmp/ws/src/exotica/exotations/dynamics_solvers/exotica_pinocchio_dynamics_solver/src/
pinocchio__gravity__compensation__dynamics__solver__derivatives_8cpp
exotica_pinocchio_dynamics_solver/pinocchio_gravity_compensation_dynamics_solver.h
exotica
exotica::PinocchioDynamicsSolver
classexotica_1_1PinocchioDynamicsSolver.html
exotica::AbstractDynamicsSolver
Instantiable< PinocchioDynamicsSolverInitializer >
void
AssignScene
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(ScenePtr scene_in) override
void
ComputeDerivatives
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(const StateVector &x, const ControlVector &u) override
Eigen::MatrixXd
dStateDelta
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(const StateVector &x_1, const StateVector &x_2, const ArgumentPosition first_or_second) override
StateVector
f
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(const StateVector &x, const ControlVector &u) override
ControlDerivative
fu
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(const StateVector &x, const ControlVector &u) override
StateDerivative
fx
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(const StateVector &x, const ControlVector &u) override
void
Integrate
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(const StateVector &x, const StateVector &dx, const double dt, StateVector &xout) override
ControlVector
InverseDynamics
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(const StateVector &x) override
StateVector
StateDelta
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(const StateVector &x_1, const StateVector &x_2) override
pinocchio::Model
model_
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std::unique_ptr< pinocchio::Data >
pinocchio_data_
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Eigen::VectorXd
xdot_analytic_
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exotica::PinocchioDynamicsSolverWithGravityCompensation
classexotica_1_1PinocchioDynamicsSolverWithGravityCompensation.html
exotica::AbstractDynamicsSolver
Instantiable< PinocchioDynamicsSolverWithGravityCompensationInitializer >
void
AssignScene
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a286197059cb70fe7dc9fed98c2be6463
(ScenePtr scene_in) override
void
ComputeDerivatives
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a80d749e856aede4be3b3c58eb590ebac
(const StateVector &x, const ControlVector &u) override
Eigen::MatrixXd
dStateDelta
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(const StateVector &x_1, const StateVector &x_2, const ArgumentPosition first_or_second) override
StateVector
f
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a8ea26c5805160830a1bb4ce9bce3792f
(const StateVector &x, const ControlVector &u) override
ControlDerivative
fu
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(const StateVector &x, const ControlVector &u) override
StateDerivative
fx
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ab2cbf9e5fa964d6256fb4730d8b03376
(const StateVector &x, const ControlVector &u) override
void
Integrate
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a2692c7fe0a294d8e9c753226797be84c
(const StateVector &x, const StateVector &dx, const double dt, StateVector &xout) override
StateVector
StateDelta
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(const StateVector &x_1, const StateVector &x_2) override
Eigen::VectorXd
a_
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Eigen::MatrixXd
du_command_dq_
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Eigen::MatrixXd
du_nle_dq_
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pinocchio::Model
model_
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std::unique_ptr< pinocchio::Data >
pinocchio_data_
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Eigen::VectorXd
u_command_
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Eigen::VectorXd
u_nle_
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Eigen::VectorXd
xdot_analytic_
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exotica
namespaceexotica.html
exotica::PinocchioDynamicsSolver
exotica::PinocchioDynamicsSolverWithGravityCompensation
Eigen::Array< KDL::Frame, Eigen::Dynamic, 1 >
ArrayFrame
namespaceexotica.html
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Eigen::Ref< Eigen::Array< KDL::Frame, Eigen::Dynamic, 1 > >
ArrayFrameRef
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const Eigen::Ref< Eigen::Array< KDL::Frame, Eigen::Dynamic, 1 > > &
ArrayFrameRefConst
namespaceexotica.html
acf3bc8f59e5212c4f9371f0ba7312e97
Eigen::Array< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 >
ArrayHessian
namespaceexotica.html
ac8761af8423506d01ca0cb0f7a884fa0
Eigen::Ref< Eigen::Array< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 > >
ArrayHessianRef
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a7e72850993a28d78b83d0920c6273527
const Eigen::Ref< Eigen::Array< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 > >
ArrayHessianRefConst
namespaceexotica.html
adf909e29e455f66ed3e4515d3fad1df9
Eigen::Array< KDL::Jacobian, Eigen::Dynamic, 1 >
ArrayJacobian
namespaceexotica.html
a059512efd52b2bd813531000f776a872
Eigen::Ref< Eigen::Array< KDL::Jacobian, Eigen::Dynamic, 1 > >
ArrayJacobianRef
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a373e2a7b1d1ae619993da88e9ebb5f63
const Eigen::Ref< Eigen::Array< KDL::Jacobian, Eigen::Dynamic, 1 > > &
ArrayJacobianRefConst
namespaceexotica.html
aa1c98a36f6055f2c1c8d8beb93e2e41f
Eigen::Array< KDL::Twist, Eigen::Dynamic, 1 >
ArrayTwist
namespaceexotica.html
ab9a6c3664d18c148af992ef5ceb575bb
Eigen::Ref< Eigen::Array< KDL::Twist, Eigen::Dynamic, 1 > >
ArrayTwistRef
namespaceexotica.html
ae26bd5327420138a11e024f60e108610
const Eigen::Ref< Eigen::Array< KDL::Twist, Eigen::Dynamic, 1 > > &
ArrayTwistRefConst
namespaceexotica.html
a7ed71b67a2b223b90725c7b6ed6bc3b7
std::shared_ptr< exotica::BoundedEndPoseProblem >
BoundedEndPoseProblemPtr
namespaceexotica.html
a5f4ba1308e35ddb070aca36f12432a2f
std::shared_ptr< exotica::BoundedTimeIndexedProblem >
BoundedTimeIndexedProblemPtr
namespaceexotica.html
ac2c8ffc5ae9777bdedbf8105b29e7cef
struct exotica::BoxQPSolution
BoxQPSolution
namespaceexotica.html
a606e30806258e41c568e538e2371c39e
std::shared_ptr< CollisionScene >
CollisionScenePtr
namespaceexotica.html
a0c6240ffc0f5c240e5d1e1c86178138b
AbstractDynamicsSolver< double, Eigen::Dynamic, Eigen::Dynamic >
DynamicsSolver
namespaceexotica.html
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std::shared_ptr< exotica::DynamicsSolver >
DynamicsSolverPtr
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std::shared_ptr< exotica::DynamicTimeIndexedShootingProblem >
DynamicTimeIndexedShootingProblemPtr
namespaceexotica.html
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std::shared_ptr< exotica::EndPoseProblem >
EndPoseProblemPtr
namespaceexotica.html
a6562dc6fc53f6be14dc1b4157bf86bee
FunctorBase< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >
Functor
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a41ce9821230067721a4ca7fcd5e86190
Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >
Hessian
namespaceexotica.html
a09d6aebee2e82adbe8c7d92f811d3950
Eigen::Ref< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 > >
HessianRef
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const Eigen::Ref< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 > >
HessianRefConst
namespaceexotica.html
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std::shared_ptr< exotica::MotionSolver >
MotionSolverPtr
namespaceexotica.html
a95535966e624754067a0737dc4ed0a2a
std::shared_ptr< const PlanningProblem >
PlanningProblemConstPtr
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aa300b2e8b69fb5ec4ed53c658b49a580
Factory< PlanningProblem >
PlanningProblemFac
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std::shared_ptr< PlanningProblem >
PlanningProblemPtr
namespaceexotica.html
a4f3b927ad74a50193d0fb7bd2824f836
std::shared_ptr< exotica::SamplingProblem >
SamplingProblemPtr
namespaceexotica.html
a85dd0d6625e5be856bc5ad702fc80dcd
std::shared_ptr< Scene >
ScenePtr
namespaceexotica.html
a40b1efc13b2dddc8a9addac2dc0aa11d
std::shared_ptr< Server >
ServerPtr
namespaceexotica.html
a7c851f5dc6ebf38e83ca114fb2a14394
std::shared_ptr< Setup >
SetupPtr
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a776c5e7721339c5eb37daf9bedf6e82e
std::map< std::string, TaskMapPtr >
TaskMapMap
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std::shared_ptr< TaskMap >
TaskMapPtr
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ae1c26d85044c983becec5f8b426b490f
std::vector< TaskMapPtr >
TaskMapVec
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aaba8d5a1e72797326ef6e2a9ecb967a5
std::shared_ptr< exotica::TimeIndexedProblem >
TimeIndexedProblemPtr
namespaceexotica.html
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std::shared_ptr< exotica::TimeIndexedSamplingProblem >
TimeIndexedSamplingProblemPtr
namespaceexotica.html
ab1a8f5ad7816206e96551d636b1050be
std::shared_ptr< exotica::UnconstrainedEndPoseProblem >
UnconstrainedEndPoseProblemPtr
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std::shared_ptr< exotica::UnconstrainedTimeIndexedProblem >
UnconstrainedTimeIndexedProblemPtr
namespaceexotica.html
ae9748447962bcd9f3b700d69a28893fc
ArgumentPosition
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a2f2dd5de8edc626599b393aae8529350
BaseType
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a5ca690cccfbbfdb24827333304ee338f
ControlCostLossTermType
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aeaa7ab36dae8418de85dbd74ac49280a
Integrator
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af655323905f37d8a279063f9d75d433e
JointLimitType
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afe31e64784659e96082a606d09a75ecd
KinematicRequestFlags
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a8879608908229eff06df2b94c63f1a99
RotationType
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af9af5a7f278bef923dcaed27ce2ebca0
TerminationCriterion
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a1d6f0f26eae0a485ee377655fc2aafd2
void
appendChildXML
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(Initializer &parent, std::string &name, bool isAttribute, tinyxml2::XMLHandle &tag, const std::string &prefix)
void
AppendInitializer
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(std::shared_ptr< InstantiableBase > it, std::vector< Initializer > &ret)
void
AppendMap
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(std::map< Key, Val > &orig, const std::map< Key, Val > &extra)
void
AppendVector
namespaceexotica.html
aaf03ce54768ca73736db41e8fa8377bf
(std::vector< Val > &orig, const std::vector< Val > &extra)
BoxQPSolution
BoxQP
namespaceexotica.html
aafa534896dbe1dda860ef56b8209d62a
(const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init, const double th_acceptstep, const int max_iterations, const double th_gradient_tolerance, const double lambda, bool use_polynomial_linesearch=true, bool use_cholesky_factorization=true)
BoxQPSolution
BoxQP
namespaceexotica.html
a40965c5a9633b1823f43127749166531
(const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init)
BoxQPSolution
ExoticaBoxQP
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a4f6d7f8cdba03e1b7411b4c5ed760477
(const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init)
BoxQPSolution
ExoticaBoxQP
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adf3b5e779b631049df94cb99d42bf364
(const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init, const double gamma, const int max_iterations, const double epsilon, const double lambda, bool use_polynomial_linesearch=false, bool use_cholesky_factorization=false)
std_msgs::ColorRGBA
GetColor
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(double r, double g, double b, double a=1.0)
std_msgs::ColorRGBA
GetColor
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(const Eigen::Vector4d &rgba)
KDL::Frame
GetFrame
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(Eigen::VectorXdRefConst val)
Eigen::MatrixXd
GetFrame
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(const KDL::Frame &val)
Eigen::VectorXd
GetFrameAsVector
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(const KDL::Frame &val, RotationType type=RotationType::RPY)
KDL::Frame
GetFrameFromMatrix
namespaceexotica.html
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(Eigen::MatrixXdRefConst val)
std::vector< std::string >
GetKeys
namespaceexotica.html
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(std::map< std::string, T > map)
std::vector< Key >
GetKeysFromMap
namespaceexotica.html
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(const std::map< Key, Val > &map)
KDL::Rotation
GetRotation
namespaceexotica.html
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(Eigen::VectorXdRefConst data, RotationType type)
Eigen::VectorXd
GetRotationAsVector
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(const KDL::Frame &val, RotationType type)
RotationType
GetRotationTypeFromString
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(const std::string &rotation_type)
int
GetRotationTypeLength
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(const RotationType &type)
std::string
GetTypeName
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(const std::type_info &type)
std::vector< Val >
GetValuesFromMap
namespaceexotica.html
a242165fb24efa2b970aff27fcb41b066
(const std::map< Key, Val > &map)
double
huber_cost
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acba3cafde4c983db1d6727fb60834c24
(double x, double beta)
double
huber_hessian
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ad0f4a48eb7997a2c73270f58b6c1e44e
(double x, double beta)
double
huber_jacobian
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a35f85225dbcd2475eb5d8b5cc0ed8e4b
(double x, double beta)
bool
IsContainerType
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ad16db64ffabcd59ea68b4fd45620bebf
(std::string type)
bool
IsRobotLink
namespaceexotica.html
a989eff32eec1ebd94d4f6e44ac8af2d4
(std::shared_ptr< KinematicElement > e)
bool
IsVectorContainerType
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ae983d3872e262519f71fdb8db110f13b
(std::string type)
bool
IsVectorType
namespaceexotica.html
ac5547497587a132dcc1b5b94d04e6268
(std::string type)
std::string
LoadFile
namespaceexotica.html
a7f7df726d7effdb816d6594b6cf3f898
(const std::string &path)
robot_model::RobotModelPtr
LoadModelImpl
namespaceexotica.html
a6aa808457443a48012bb6b71451e68c9
(const std::string &urdf, const std::string &srdf)
void
LoadOBJ
namespaceexotica.html
ac22b7220a7da61db7ed01b0e2cd348d4
(const std::string &data, Eigen::VectorXi &tri, Eigen::VectorXd &vert)
std::shared_ptr< octomap::OcTree >
LoadOctree
namespaceexotica.html
a3c4aef5aa45cbaa1938a21f6361ddb97
(const std::string &file_path)
std::shared_ptr< shapes::Shape >
LoadOctreeAsShape
namespaceexotica.html
abc3859827e1c120253c6333a7c58f241
(const std::string &file_path)
std::vector< Val >
MapToVec
namespaceexotica.html
ae00a5b28dd47ce98605d36a7f91e91c4
(const std::map< Key, Val > &map)
void
NormalizeQuaternionInConfigurationVector
namespaceexotica.html
a34f5d20dd52a0dca08d5f5ed6471a425
(Eigen::Ref< Eigen::VectorXd > q)
KinematicRequestFlags
operator&
namespaceexotica.html
aaac18dba1925c47d14b73df3682a5cef
(KinematicRequestFlags a, KinematicRequestFlags b)
std::ostream &
operator<<
namespaceexotica.html
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(std::ostream &os, const std::vector< T > &s)
std::ostream &
operator<<
namespaceexotica.html
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(std::ostream &os, const Printable &s)
std::ostream &
operator<<
namespaceexotica.html
a6f26b0de2b3c6dd07f83a15791f7f235
(std::ostream &os, const std::map< I, T > &s)
Exception::ReportingType
operator|
namespaceexotica.html
af4fc0b2265f71a26a19dcdd1159eeb0b
(Exception::ReportingType a, Exception::ReportingType b) noexcept
KinematicRequestFlags
operator|
namespaceexotica.html
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(KinematicRequestFlags a, KinematicRequestFlags b)
bool
ParseBool
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(const std::string value)
std::vector< bool >
ParseBoolList
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(const std::string value)
double
ParseDouble
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aa99d4b58df88cf49b72793cdc00f79f4
(const std::string value)
int
ParseInt
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(const std::string value)
std::vector< int >
ParseIntList
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(const std::string value)
std::vector< std::string >
ParseList
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(const std::string &value, char token= ',')
std::string
ParsePath
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ada723b4c529289e383e25e349127f8ac
(const std::string &path)
Eigen::Matrix< T, S, 1 >
ParseVector
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a3d3163a0a83f3d7a713175a0d389ca58
(const std::string value)
bool
parseXML
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(tinyxml2::XMLHandle &tag, Initializer &parent, const std::string &prefix)
bool
PathExists
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(const std::string &path)
void
PrintDimensions
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a6cff448b2832cfa0764bc232d6936f28
(const std::string &name, const Eigen::Ref< const Eigen::MatrixXd > m)
double
pseudo_huber_cost
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(double x, double beta)
double
pseudo_huber_hessian
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aa845a3e1ca87fc8e6d9f300a2eab1802
(double x, double beta)
double
pseudo_huber_jacobian
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(double x, double beta)
std_msgs::ColorRGBA
RandomColor
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()
void
SaveMatrix
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a2987284d8a6c0933937961153745a62f
(std::string file_name, const Eigen::Ref< const Eigen::MatrixXd > mat)
void
SetDefaultQuaternionInConfigurationVector
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(Eigen::Ref< Eigen::VectorXd > q)
Eigen::VectorXd
SetRotation
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a0a72232adbe28a609a92685d1f6937f1
(const KDL::Rotation &data, RotationType type)
void
Sleep
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ad8839f8df09cd1cd187f374775efc1ad
(double t)
double
smooth_l1_cost
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ad47c6c52a5634e69e7662991f7e324f6
(double x, double beta)
double
smooth_l1_hessian
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adc2332d3be6a65ec80009f21fcf4fbf9
(double x, double beta)
double
smooth_l1_jacobian
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(double x, double beta)
T
ToNumber
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(const std::string &val)
double
ToNumber< double >
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(const std::string &val)
float
ToNumber< float >
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(const std::string &val)
int
ToNumber< int >
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(const std::string &val)
std::string
ToString
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(const KDL::Frame &s)
std::string
ToString
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(const Eigen::Isometry3d &s)
std::string
Trim
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(const std::string &s)
ARG0
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ARG1
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ARG2
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ARG3
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ARG4
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const char
branch
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[]
FIXED
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FLOATING
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Huber
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constexpr double
inf
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KIN_FK
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KIN_FK_VEL
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KIN_H
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KIN_J
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L2
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LIMIT_POSITION_LOWER
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LIMIT_POSITION_UPPER
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constexpr double
pi
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PLANAR
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PseudoHuber
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RK1
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RK2
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RK4
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SmoothL1
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SymplecticEuler
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Undefined
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const char
version
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[]