PointToPlane TaskMap: Penalises the z-distance between two frames - or the distance of a point (represented by the Link frame) spanned by the normal represented through the z-axis of a second frame (represented by the Base frame). More...

#include <point_to_plane.h>

Inheritance diagram for exotica::PointToPlane:

[legend]

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

int	TaskSpaceDim () override

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

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

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

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

Initializer	GetInitializerTemplate () override

const PointToPlaneInitializer &	GetParameters () const

void	InstantiateInternal (const Initializer &init) override

Private Member Functions
void	PublishDebug ()

Private Attributes
ros::Publisher	debug_pub_

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< PointToPlaneInitializer >
PointToPlaneInitializer	parameters_

Detailed Description

PointToPlane TaskMap: Penalises the z-distance between two frames - or the distance of a point (represented by the Link frame) spanned by the normal represented through the z-axis of a second frame (represented by the Base frame).

This TaskMap returns the signed distance to the plane by default. In an unconstrained optimisation this would correspond to an equality constraint and force the distance to the plane to be minimised. In order to use the TaskMap as an inequality constraint, the parameter 'PositiveOnly' can be set to true. In this case, the TaskMap applies a ReLU-like activation ($x = (0, x)$) to the output.

Definition at line 47 of file point_to_plane.h.

Member Function Documentation

◆ Instantiate()

void exotica::PointToPlane::Instantiate ( const PointToPlaneInitializer & init )

overridevirtual

Reimplemented from exotica::Instantiable< PointToPlaneInitializer >.

Definition at line 39 of file point_to_plane.cpp.

◆ PublishDebug()

void exotica::PointToPlane::PublishDebug ( )

private

Definition at line 143 of file point_to_plane.cpp.

◆ TaskSpaceDim()

int exotica::PointToPlane::TaskSpaceDim ( )

overridevirtual

Implements exotica::TaskMap.

Definition at line 138 of file point_to_plane.cpp.

◆ Update() [1/3]

void exotica::PointToPlane::Update	(	Eigen::VectorXdRefConst	q,
		Eigen::VectorXdRef	phi
	)

overridevirtual

Implements exotica::TaskMap.

Definition at line 57 of file point_to_plane.cpp.

◆ Update() [2/3]

void exotica::PointToPlane::Update	(	Eigen::VectorXdRefConst	q,
		Eigen::VectorXdRef	phi,
		Eigen::MatrixXdRef	jacobian
	)

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 76 of file point_to_plane.cpp.

◆ Update() [3/3]

void exotica::PointToPlane::Update	(	Eigen::VectorXdRefConst	q,
		Eigen::VectorXdRef	phi,
		Eigen::MatrixXdRef	jacobian,
		HessianRef	hessian
	)

overridevirtual

Reimplemented from exotica::TaskMap.

Definition at line 113 of file point_to_plane.cpp.

Member Data Documentation

◆ debug_pub_

ros::Publisher exotica::PointToPlane::debug_pub_

private

Definition at line 59 of file point_to_plane.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

◆ Instantiate()

◆ PublishDebug()

◆ TaskSpaceDim()

◆ Update() [1/3]

◆ Update() [2/3]

◆ Update() [3/3]

Member Data Documentation

◆ debug_pub_