abstract_time_indexed_problem.cpp
/tmp/ws/src/exotica/exotica_core/src/problems/
abstract__time__indexed__problem_8cpp.html
exotica_core/problems/abstract_time_indexed_problem.h
exotica_core/setup.h
exotica
abstract_time_indexed_problem.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/problems/
abstract__time__indexed__problem_8h.html
exotica_core/planning_problem.h
exotica_core/tasks.h
exotica::AbstractTimeIndexedProblem
exotica
autodiff_chain_hessian.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
autodiff__chain__hessian_8h.html
exotica_core/tools/autodiff_chain_jacobian.h
exotica_core/tools/autodiff_scalar.h
exotica_core/tools/functor.h
Eigen::AutoDiffChainHessian
Eigen
autodiff_chain_hessian_sparse.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
autodiff__chain__hessian__sparse_8h.html
exotica_core/tools/autodiff_chain_jacobian_sparse.h
exotica_core/tools/autodiff_scalar.h
exotica_core/tools/functor.h
Eigen::AutoDiffChainHessianSparse
Eigen
autodiff_chain_jacobian.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
autodiff__chain__jacobian_8h.html
exotica_core/tools/autodiff_scalar.h
exotica_core/tools/functor.h
Eigen::AutoDiffChainJacobian
Eigen
autodiff_chain_jacobian_sparse.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
autodiff__chain__jacobian__sparse_8h.html
exotica_core/tools/autodiff_scalar.h
exotica_core/tools/functor.h
Eigen::AutoDiffChainJacobianSparse
Eigen
autodiff_scalar.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
autodiff__scalar_8h.html
Eigen::internal::auto_diff_special_op
Eigen::internal::auto_diff_special_op< _DerType, false >
Eigen::internal::auto_diff_special_op< _DerType, true >
Eigen::AutoDiffScalar
Eigen::AutoDiffScalar
Eigen::internal::make_coherent_impl
Eigen::internal::make_coherent_impl< A, Matrix< B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols > >
Eigen::internal::make_coherent_impl< A, SparseVector< B_Scalar, B_Options, B_Index > >
Eigen::internal::make_coherent_impl< Matrix< A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols >, B >
Eigen::internal::make_coherent_impl< Matrix< A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols >, Matrix< B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols > >
Eigen::internal::make_coherent_impl< SparseVector< A_Scalar, A_Options, A_Index >, B >
Eigen::internal::make_coherent_impl< SparseVector< A_Scalar, A_Options, A_Index >, SparseVector< B_Scalar, B_Options, B_Index > >
std::numeric_limits< Eigen::AutoDiffScalar< T & > >
std::numeric_limits< Eigen::AutoDiffScalar< T > >
Eigen::NumTraits< AutoDiffScalar< DerType > >
Eigen::NumTraits< AutoDiffScalar< SparseVector< DerType_ > > >
Eigen::ScalarBinaryOpTraits< AutoDiffScalar< DerType >, typename DerType::Scalar, BinOp >
Eigen::ScalarBinaryOpTraits< typename DerType::Scalar, AutoDiffScalar< DerType >, BinOp >
Eigen
Eigen::internal
std
#define
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
autodiff__scalar_8h.html
ac5e00a64ead53610197810e5a31f663d
(FUNC, CODE)
AUTODIFF_IS_SUPPORTED_ONLY_WITH_EIGEN_3_3_0_OR_ABOVE
autodiff__scalar_8h.html
adc29c2ff13d900c2f185ee95427fb06cabdc12c1c22af5a4dadcfc5c72704ca2c
const AutoDiffScalar< Matrix< typename internal::traits< typename internal::remove_all< DerTypeA >::type >::Scalar, Dynamic, 1 > >
atan2
namespaceEigen.html
ad95f6de1b7095ac83068616b93f653b1
(const AutoDiffScalar< DerTypeA > &a, const AutoDiffScalar< DerTypeB > &b)
const AutoDiffScalar< SparseVector< typename internal::traits< typename internal::remove_all< DerTypeA >::type >::Scalar > >
atan2
namespaceEigen.html
ae19dd87be0c3a85e8c389f84c0f2d3b0
(const AutoDiffScalar< DerTypeA > &a, const AutoDiffScalar< DerTypeB > &b)
const AutoDiffScalar< DerType > &
conj
namespaceEigen.html
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(const AutoDiffScalar< DerType > &x)
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
namespaceEigen.html
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(abs, using std::abs;return Eigen::MakeAutoDiffScalar(abs(x.value()), x.derivatives() *(x.value()< 0 ? -1 :1));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs2
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
namespaceEigen.html
ab5159ec603ca3fb46961f8e1a5344a4b
(acos, using std::sqrt;using std::acos;return Eigen::MakeAutoDiffScalar(acos(x.value()), x.derivatives() *(Scalar(-1)/sqrt(1 - numext::abs2(x.value()))));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(tanh
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
namespaceEigen.html
aa9772823dd0a8d24c98fbae45ca16802
(log, using std::log;return Eigen::MakeAutoDiffScalar(log(x.value()), x.derivatives() *(Scalar(1)/x.value()));) template< typename DerType > inline const Eigen
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
namespaceEigen.html
a76fe7d2b9e95853eb56a075380661309
(sin, using std::sin;using std::cos;return Eigen::MakeAutoDiffScalar(sin(x.value()), x.derivatives() *cos(x.value()));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(exp
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
namespaceEigen.html
a77e5dd85fa549b012df73af4865f9b93
(sinh, using std::sinh;using std::cosh;return Eigen::MakeAutoDiffScalar(sinh(x.value()), x.derivatives() *cosh(x.value()));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cosh
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
namespaceEigen.html
ac14347a3d067977f2be8b1c258706ecb
(sqrt, using std::sqrt;Scalar sqrtx=sqrt(x.value());return Eigen::MakeAutoDiffScalar(sqrtx, x.derivatives() *(Scalar(0.5)/sqrtx));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cos
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
namespaceEigen.html
a212ff33d56ffe0384059b78e7e8a8142
(tan, using std::tan;using std::cos;return Eigen::MakeAutoDiffScalar(tan(x.value()), x.derivatives() *(Scalar(1)/numext::abs2(cos(x.value()))));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(asin
DerType::Scalar
imag
namespaceEigen.html
a524f2d0ae40cbbb4f55ea073c98a1c43
(const AutoDiffScalar< DerType > &)
void
make_coherent
namespaceEigen_1_1internal.html
ab388be0e6798d521da02cb9dd5ab9f5f
(const A &a, const B &b)
AutoDiffScalar< NewDerType >
MakeAutoDiffScalar
namespaceEigen.html
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(const typename NewDerType::Scalar &value, const NewDerType &der)
const AutoDiffScalar< DerType > &
real
namespaceEigen.html
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(const AutoDiffScalar< DerType > &x)
return
namespaceEigen.html
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(x > y ? ADS(x) :ADS(y))
return
namespaceEigen.html
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(x >=y ? ADS(x) :ADS(y))
return
namespaceEigen.html
afee0ace8ef902477ddc0fc2f03b60fb6
(x< y ? ADS(x) :ADS(y))
return
namespaceEigen.html
aa0c1fcb4db649060eab9129e41264054
(x<=y ? ADS(x) :ADS(y))
Scalar
expx
namespaceEigen.html
ab63002a89341ef7158fe60fa7570e88c
const T &
y
namespaceEigen.html
ae998329a5bd49a32b6048a27e1a232a0
bounded_end_pose_problem.cpp
/tmp/ws/src/exotica/exotica_core/src/problems/
bounded__end__pose__problem_8cpp.html
exotica_core/problems/bounded_end_pose_problem.h
exotica_core/setup.h
exotica
bounded_end_pose_problem.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/problems/
bounded__end__pose__problem_8h.html
exotica_core/planning_problem.h
exotica_core/tasks.h
exotica::BoundedEndPoseProblem
exotica
std::shared_ptr< exotica::BoundedEndPoseProblem >
BoundedEndPoseProblemPtr
namespaceexotica.html
a5f4ba1308e35ddb070aca36f12432a2f
bounded_time_indexed_problem.cpp
/tmp/ws/src/exotica/exotica_core/src/problems/
bounded__time__indexed__problem_8cpp.html
exotica_core/problems/bounded_time_indexed_problem.h
exotica_core/setup.h
exotica
bounded_time_indexed_problem.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/problems/
bounded__time__indexed__problem_8h.html
exotica_core/problems/abstract_time_indexed_problem.h
exotica::BoundedTimeIndexedProblem
exotica
std::shared_ptr< exotica::BoundedTimeIndexedProblem >
BoundedTimeIndexedProblemPtr
namespaceexotica.html
ac2c8ffc5ae9777bdedbf8105b29e7cef
box_qp.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
box__qp_8h.html
exotica_core/tools/exception.h
exotica::BoxQPSolution
exotica
struct exotica::BoxQPSolution
BoxQPSolution
namespaceexotica.html
a83ca7154eadd14fbefa0f6f0eeaad32d
BoxQPSolution
BoxQP
namespaceexotica.html
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(const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init)
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)
box_qp_old.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
box__qp__old_8h.html
exotica_core/tools/box_qp.h
exotica
BoxQPSolution
ExoticaBoxQP
namespaceexotica.html
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
namespaceexotica.html
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)
collision_scene.cpp
/tmp/ws/src/exotica/exotica_core/src/
collision__scene_8cpp.html
exotica_core/collision_scene.h
exotica_core/scene.h
exotica
bool
IsRobotLink
namespaceexotica.html
a989eff32eec1ebd94d4f6e44ac8af2d4
(std::shared_ptr< KinematicElement > e)
collision_scene.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
collision__scene_8h.html
exotica_core/factory.h
exotica_core/kinematic_element.h
exotica_core/object.h
exotica::AllowedCollisionMatrix
exotica::CollisionProxy
exotica::CollisionScene
exotica::ContinuousCollisionProxy
exotica
#define
REGISTER_COLLISION_SCENE_TYPE
collision__scene_8h.html
abc2675365b41854641e952de2cce33fc
(TYPE, DERIV)
std::shared_ptr< CollisionScene >
CollisionScenePtr
namespaceexotica.html
a0c6240ffc0f5c240e5d1e1c86178138b
conversions.cpp
/tmp/ws/src/exotica/exotica_core/src/tools/
conversions_8cpp.html
exotica_core/tools/conversions.h
exotica_core/tools/printable.h
Eigen
exotica
Eigen::MatrixXd
GetFrame
namespaceexotica.html
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(const KDL::Frame &val)
KDL::Frame
GetFrame
namespaceexotica.html
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(Eigen::VectorXdRefConst val)
Eigen::VectorXd
GetFrameAsVector
namespaceexotica.html
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(const KDL::Frame &val, RotationType type=RotationType::RPY)
KDL::Frame
GetFrameFromMatrix
namespaceexotica.html
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(Eigen::MatrixXdRefConst val)
KDL::Rotation
GetRotation
namespaceexotica.html
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(Eigen::VectorXdRefConst data, RotationType type)
Eigen::VectorXd
GetRotationAsVector
namespaceexotica.html
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(const KDL::Frame &val, RotationType type)
Eigen::VectorXd
IdentityTransform
namespaceEigen.html
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()
Eigen::VectorXd
SetRotation
namespaceexotica.html
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(const KDL::Rotation &data, RotationType type)
Eigen::VectorXd
VectorTransform
namespaceEigen.html
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(double px=0.0, double py=0.0, double pz=0.0, double qx=0.0, double qy=0.0, double qz=0.0, double qw=1.0)
conversions.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
conversions_8h.html
exotica_core/tools/exception.h
exotica_core/tools/printable.h
Eigen
exotica
Eigen::Array< KDL::Frame, Eigen::Dynamic, 1 >
ArrayFrame
namespaceexotica.html
a9f3b8540da108e498bbe6107bd821cbb
Eigen::Ref< ArrayFrame >
ArrayFrameRef
namespaceexotica.html
a2a7d4230ee711e0a0e3e2f2fa505e5a4
Eigen::internal::ref_selector< ArrayFrame >::type
ArrayFrameRefConst
namespaceexotica.html
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Eigen::Array< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 >
ArrayHessian
namespaceexotica.html
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Eigen::Ref< ArrayHessian >
ArrayHessianRef
namespaceexotica.html
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Eigen::internal::ref_selector< ArrayHessian >::type
ArrayHessianRefConst
namespaceexotica.html
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Eigen::Array< KDL::Jacobian, Eigen::Dynamic, 1 >
ArrayJacobian
namespaceexotica.html
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Eigen::Ref< ArrayJacobian >
ArrayJacobianRef
namespaceexotica.html
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Eigen::internal::ref_selector< ArrayJacobian >::type
ArrayJacobianRefConst
namespaceexotica.html
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Eigen::Array< KDL::Twist, Eigen::Dynamic, 1 >
ArrayTwist
namespaceexotica.html
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Eigen::Ref< ArrayTwist >
ArrayTwistRef
namespaceexotica.html
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Eigen::internal::ref_selector< ArrayTwist >::type
ArrayTwistRefConst
namespaceexotica.html
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Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >
Hessian
namespaceexotica.html
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Eigen::Ref< Hessian >
HessianRef
namespaceexotica.html
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Eigen::internal::ref_selector< Hessian >::type
HessianRefConst
namespaceexotica.html
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Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic >
MatrixType
namespaceEigen.html
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Eigen::Ref< Eigen::MatrixXd >
MatrixXdRef
namespaceEigen.html
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Eigen::Ref< Eigen::VectorXd >
VectorXdRef
namespaceEigen.html
a83c243f5aa1ace263c19e205a740e8cf
RotationType
namespaceexotica.html
af9af5a7f278bef923dcaed27ce2ebca0
QUATERNION
RPY
ZYX
ZYZ
ANGLE_AXIS
MATRIX
void
AppendMap
namespaceexotica.html
a16b309993af1720b021c68d9578d2f17
(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)
Eigen::MatrixXd
GetFrame
namespaceexotica.html
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(const KDL::Frame &val)
KDL::Frame
GetFrame
namespaceexotica.html
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(Eigen::VectorXdRefConst val)
Eigen::VectorXd
GetFrameAsVector
namespaceexotica.html
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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< 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
namespaceexotica.html
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(const KDL::Frame &val, RotationType type)
RotationType
GetRotationTypeFromString
namespaceexotica.html
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(const std::string &rotation_type)
int
GetRotationTypeLength
namespaceexotica.html
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(const RotationType &type)
std::vector< Val >
GetValuesFromMap
namespaceexotica.html
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(const std::map< Key, Val > &map)
Eigen::VectorXd
IdentityTransform
namespaceEigen.html
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bool
IsContainerType
namespaceexotica.html
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(std::string type)
bool
IsVectorContainerType
namespaceexotica.html
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(std::string type)
bool
IsVectorType
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(std::string type)
std::vector< Val >
MapToVec
namespaceexotica.html
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(const std::map< Key, Val > &map)
Eigen::Tensor< Scalar, sizeof...(Dims)>
MatrixToTensor
namespaceEigen.html
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(const MatrixType< Scalar > &matrix, Dims... dims)
void
NormalizeQuaternionInConfigurationVector
namespaceexotica.html
a34f5d20dd52a0dca08d5f5ed6471a425
(Eigen::Ref< Eigen::VectorXd > q)
bool
ParseBool
namespaceexotica.html
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(const std::string value)
std::vector< bool >
ParseBoolList
namespaceexotica.html
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(const std::string value)
double
ParseDouble
namespaceexotica.html
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(const std::string value)
int
ParseInt
namespaceexotica.html
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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
namespaceexotica.html
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(const std::string &value, char token=',')
Eigen::Matrix< T, S, 1 >
ParseVector
namespaceexotica.html
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(const std::string value)
void
SetDefaultQuaternionInConfigurationVector
namespaceexotica.html
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(Eigen::Ref< Eigen::VectorXd > q)
Eigen::VectorXd
SetRotation
namespaceexotica.html
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(const KDL::Rotation &data, RotationType type)
MatrixType< Scalar >
TensorToMatrix
namespaceEigen.html
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(const Eigen::Tensor< Scalar, rank > &tensor, const sizeType rows, const sizeType cols)
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 >
namespaceexotica.html
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(const std::string &val)
std::string
Trim
namespaceexotica.html
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(const std::string &s)
Eigen::VectorXd
VectorTransform
namespaceEigen.html
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(double px=0.0, double py=0.0, double pz=0.0, double qx=0.0, double qy=0.0, double qz=0.0, double qw=1.0)
const typedef Eigen::Ref< const Eigen::MatrixXd > &
MatrixXdRefConst
namespaceEigen.html
a66103159e4393ad31f04e15e1790fae1
const typedef Eigen::Ref< const Eigen::VectorXd > &
VectorXdRefConst
namespaceEigen.html
a2005118cd959136d40bb0a1ffcab449d
dynamic_time_indexed_shooting_problem.cpp
/tmp/ws/src/exotica/exotica_core/src/problems/
dynamic__time__indexed__shooting__problem_8cpp.html
exotica_core/problems/dynamic_time_indexed_shooting_problem.h
exotica_core/setup.h
exotica_core/tools/conversions.h
exotica_core/tools/sparse_costs.h
exotica
dynamic_time_indexed_shooting_problem.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/problems/
dynamic__time__indexed__shooting__problem_8h.html
exotica_core/dynamics_solver.h
exotica_core/planning_problem.h
exotica_core/tasks.h
exotica::DynamicTimeIndexedShootingProblem
exotica
std::shared_ptr< exotica::DynamicTimeIndexedShootingProblem >
DynamicTimeIndexedShootingProblemPtr
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ControlCostLossTermType
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L2
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PseudoHuber
namespaceexotica.html
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dynamics_solver.cpp
/tmp/ws/src/exotica/exotica_core/src/
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exotica_core/dynamics_solver.h
exotica_core/scene.h
exotica
dynamics_solver.h
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exotica_core/factory.h
exotica_core/object.h
exotica_core/property.h
exotica_core/tools.h
exotica::AbstractDynamicsSolver
exotica
#define
REGISTER_DYNAMICS_SOLVER_TYPE
dynamics__solver_8h.html
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(TYPE, DERIV)
AbstractDynamicsSolver< double, Eigen::Dynamic, Eigen::Dynamic >
DynamicsSolver
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std::shared_ptr< exotica::DynamicsSolver >
DynamicsSolverPtr
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Integrator
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RK1
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SymplecticEuler
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RK2
namespaceexotica.html
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RK4
namespaceexotica.html
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end_pose_problem.cpp
/tmp/ws/src/exotica/exotica_core/src/problems/
end__pose__problem_8cpp.html
exotica_core/problems/end_pose_problem.h
exotica_core/setup.h
exotica
end_pose_problem.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/problems/
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exotica_core/planning_problem.h
exotica_core/tasks.h
exotica::EndPoseProblem
exotica
std::shared_ptr< exotica::EndPoseProblem >
EndPoseProblemPtr
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exception.cpp
/tmp/ws/src/exotica/exotica_core/src/tools/
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exotica_core/tools/exception.h
exotica
exception.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
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exotica::Exception
exotica::SolveException
exotica
#define
ThrowNamed
exception_8h.html
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(m)
#define
ThrowPretty
exception_8h.html
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(m)
Exception::ReportingType
operator|
namespaceexotica.html
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(Exception::ReportingType a, Exception::ReportingType b) noexcept
exotica_core.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
exotica__core_8h.html
exotica_core/dynamics_solver.h
exotica_core/feedback_motion_solver.h
exotica_core/loaders/xml_loader.h
exotica_core/motion_solver.h
exotica_core/planning_problem.h
exotica_core/problems/bounded_end_pose_problem.h
exotica_core/problems/bounded_time_indexed_problem.h
exotica_core/problems/dynamic_time_indexed_shooting_problem.h
exotica_core/problems/end_pose_problem.h
exotica_core/problems/sampling_problem.h
exotica_core/problems/time_indexed_problem.h
exotica_core/problems/time_indexed_sampling_problem.h
exotica_core/problems/unconstrained_end_pose_problem.h
exotica_core/problems/unconstrained_time_indexed_problem.h
exotica_core/server.h
exotica_core/setup.h
exotica_core/tools.h
exotica_core/version.h
factory.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
factory_8h.html
exotica_core/object.h
exotica_core/tools.h
exotica::Factory
exotica::Registrar
exotica::Registrar
exotica
#define
EXOTICA_CORE_REGISTER
factory_8h.html
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(BASE, TYPE, DERIV)
#define
EXOTICA_CORE_REGISTER_CORE
factory_8h.html
aab37654ff93ee58c11405a1d4411a935
(BASE, TYPE, DERIV)
feedback_motion_solver.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
feedback__motion__solver_8h.html
exotica_core/motion_solver.h
exotica::FeedbackMotionSolver
exotica
finitediff_chain_hessian.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
finitediff__chain__hessian_8h.html
exotica_core/tools/finitediff_chain_jacobian.h
exotica_core/tools/finitediff_common.h
exotica_core/tools/functor.h
Eigen::FiniteDiffChainHessian
Eigen
finitediff_chain_jacobian.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
finitediff__chain__jacobian_8h.html
exotica_core/tools/finitediff_common.h
exotica_core/tools/functor.h
Eigen::FiniteDiffChainJacobian
Eigen
finitediff_common.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
finitediff__common_8h.html
Eigen
NumericalDiffMode
namespaceEigen.html
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Forward
namespaceEigen.html
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Central
namespaceEigen.html
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functor.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
functor_8h.html
exotica::FunctorBase
exotica
FunctorBase< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >
Functor
namespaceexotica.html
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generate_initializers.py
/tmp/ws/src/exotica/exotica_core/cmake/
generate__initializers_8py.html
generate_initializers
def
add
namespacegenerate__initializers.html
a3f5b5ab8140588378994f5329ad187ad
(data)
def
check
namespacegenerate__initializers.html
a5c4120d119c0191dd586f4672c570416
(data, name)
def
collect_extensions
namespacegenerate__initializers.html
a2c1023d82ce6535dc2842c85f2f327f8
(input_files, search_dirs, content)
def
construct
namespacegenerate__initializers.html
adbcf40a12abf3b4caede24f70c95b49c
(namespace, class_name_orig, data, include)
def
constructor_argument_list
namespacegenerate__initializers.html
ab50826ee309f2372c3bd7e69e24e960e
(data)
def
constructor_list
namespacegenerate__initializers.html
ae54cac104c96de19ce311822cec4d6bc
(data)
def
contains_data
namespacegenerate__initializers.html
aaa8bd84fb5bb19f0e62fbaff578db1a4
(type_name, name, list_in)
def
contains_extends
namespacegenerate__initializers.html
a70b39c64f80a62155bc610c1575137d7
(name, list_in)
def
contains_include
namespacegenerate__initializers.html
a85a26926a4895de41fb75c146c54e04e
(name, list_in)
def
copy
namespacegenerate__initializers.html
a56d15832a84e765b3a6e445bf2d2157e
(data)
def
create_class_init_header
namespacegenerate__initializers.html
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(class_inits, file_name)
def
declaration
namespacegenerate__initializers.html
a49f9d5e0cef34e77f4cb1a9c53c73f00
(data)
def
default_argument_value
namespacegenerate__initializers.html
a8457d921c31856206f82e837c2434298
(data)
def
default_constructor_list
namespacegenerate__initializers.html
a9984ed1c05a255a2aed50ca603edffd8
(data)
def
default_value
namespacegenerate__initializers.html
a9f233dc586e39debb01f2f7e7bd97dc6
(data)
def
eprint
namespacegenerate__initializers.html
ac48fd7807fc768c2c864bf26500504d6
(*args, **kwargs)
def
eprint
namespacegenerate__initializers.html
a22598b3dc163d759cbb901ac512e3071
(msg)
def
generate
namespacegenerate__initializers.html
aed5fb36238e1507188eeaf196ac62640
(input_files, output_files, namespace, search_dirs, devel_dir)
def
is_required
namespacegenerate__initializers.html
a364d851bdcf664b3cb5f3a86e358bc37
(data)
def
needs_default_constructor
namespacegenerate__initializers.html
a5b819ea709d365fc91f2d08e75ba9649
(data)
def
parse_file
namespacegenerate__initializers.html
aaf2785617988a2f885d529cbcb1e4123
(file_name)
def
parse_line
namespacegenerate__initializers.html
a1ccb626b0c2f8657acf1dece098e3c2b
(line, line_number, function_name)
def
parser
namespacegenerate__initializers.html
a3422a9d60d9034b0271e36d258457fef
(type_in)
def
sort_data
namespacegenerate__initializers.html
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(data)
def
to_camel_cased
namespacegenerate__initializers.html
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(name)
def
to_underscores
namespacegenerate__initializers.html
a748b2053ece10e02827043738009efd8
(name, num_pass=0)
class_file_name
namespacegenerate__initializers.html
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list
class_inits
namespacegenerate__initializers.html
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class_inits_header_file
namespacegenerate__initializers.html
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class_name
namespacegenerate__initializers.html
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devel_dir
namespacegenerate__initializers.html
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input_files
namespacegenerate__initializers.html
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n
namespacegenerate__initializers.html
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namespace
namespacegenerate__initializers.html
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int
offset
namespacegenerate__initializers.html
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output_files
namespacegenerate__initializers.html
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search_dirs
namespacegenerate__initializers.html
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kinematic_element.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
kinematic__element_8h.html
exotica_core/tools.h
exotica::KinematicElement
exotica::VisualElement
exotica
kinematic_tree.cpp
/tmp/ws/src/exotica/exotica_core/src/
kinematic__tree_8cpp.html
exotica_core/kinematic_tree.h
exotica_core/server.h
exotica_core/tools.h
exotica
kinematic_tree.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
kinematic__tree_8h.html
exotica_core/kinematic_element.h
exotica::KinematicFrame
exotica::KinematicFrameRequest
exotica::KinematicResponse
exotica::KinematicSolution
exotica::KinematicsRequest
exotica::KinematicTree
exotica
BaseType
namespaceexotica.html
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FIXED
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FLOATING
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PLANAR
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JointLimitType
namespaceexotica.html
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LIMIT_POSITION_LOWER
namespaceexotica.html
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LIMIT_POSITION_UPPER
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KinematicRequestFlags
namespaceexotica.html
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KIN_FK
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KIN_J
namespaceexotica.html
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KIN_FK_VEL
namespaceexotica.html
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KIN_H
namespaceexotica.html
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KinematicRequestFlags
operator&
namespaceexotica.html
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(KinematicRequestFlags a, KinematicRequestFlags b)
KinematicRequestFlags
operator|
namespaceexotica.html
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(KinematicRequestFlags a, KinematicRequestFlags b)
constexpr double
inf
namespaceexotica.html
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constexpr double
pi
namespaceexotica.html
a3cc3ce9225c7ac000971d6454997886a
motion_solver.cpp
/tmp/ws/src/exotica/exotica_core/src/
motion__solver_8cpp.html
exotica_core/motion_solver.h
exotica_core/server.h
exotica_core/task_map.h
exotica
motion_solver.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
motion__solver_8h.html
exotica_core/factory.h
exotica_core/object.h
exotica_core/planning_problem.h
exotica_core/property.h
exotica::MotionSolver
exotica
#define
REGISTER_MOTIONSOLVER_TYPE
motion__solver_8h.html
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(TYPE, DERIV)
std::shared_ptr< exotica::MotionSolver >
MotionSolverPtr
namespaceexotica.html
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object.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
object_8h.html
exotica_core/tools.h
exotica_core/property.h
exotica::Factory
exotica::Object
exotica
planning_problem.cpp
/tmp/ws/src/exotica/exotica_core/src/
planning__problem_8cpp.html
exotica_core/planning_problem.h
exotica_core/server.h
exotica_core/setup.h
exotica
planning_problem.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
planning__problem_8h.html
exotica_core/object.h
exotica_core/scene.h
exotica_core/task_map.h
exotica_core/task_space_vector.h
exotica_core/tools/conversions.h
exotica_core/tools/uncopyable.h
exotica::PlanningProblem
exotica
#define
REGISTER_PROBLEM_TYPE
planning__problem_8h.html
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(TYPE, DERIV)
std::shared_ptr< const PlanningProblem >
PlanningProblemConstPtr
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Factory< PlanningProblem >
PlanningProblemFac
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std::shared_ptr< PlanningProblem >
PlanningProblemPtr
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TerminationCriterion
namespaceexotica.html
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NotStarted
IterationLimit
BacktrackIterationLimit
StepTolerance
FunctionTolerance
GradientTolerance
Divergence
UserDefined
Convergence
printable.cpp
/tmp/ws/src/exotica/exotica_core/src/tools/
printable_8cpp.html
exotica_core/tools/printable.h
exotica
std::ostream &
operator<<
namespaceexotica.html
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(std::ostream &os, const Printable &s)
void
PrintDimensions
namespaceexotica.html
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(const std::string &name, const Eigen::Ref< const Eigen::MatrixXd > m)
std::string
ToString
namespaceexotica.html
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(const Eigen::Isometry3d &s)
std::string
ToString
namespaceexotica.html
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(const KDL::Frame &s)
printable.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
printable_8h.html
exotica::Printable
exotica
#define
__PRETTY_FUNCTION__
printable_8h.html
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#define
CHECK_EXECUTION
printable_8h.html
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#define
ERROR
printable_8h.html
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(x)
#define
HIGHLIGHT
printable_8h.html
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(x)
#define
HIGHLIGHT_NAMED
printable_8h.html
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(name, x)
#define
INDICATE_FAILURE
printable_8h.html
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#define
INFO
printable_8h.html
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(x)
#define
INFO_NAMED
printable_8h.html
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(name, x)
#define
INFO_PLAIN
printable_8h.html
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(x)
#define
WARNING
printable_8h.html
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(x)
#define
WARNING_NAMED
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(name, x)
std::ostream &
operator<<
namespaceexotica.html
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(std::ostream &os, const Printable &s)
std::ostream &
operator<<
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(std::ostream &os, const std::map< I, T > &s)
std::ostream &
operator<<
namespaceexotica.html
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(std::ostream &os, const std::vector< T > &s)
void
PrintDimensions
namespaceexotica.html
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(const std::string &name, const Eigen::Ref< const Eigen::MatrixXd > m)
std::string
ToString
namespaceexotica.html
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(const Eigen::Isometry3d &s)
std::string
ToString
namespaceexotica.html
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(const KDL::Frame &s)
property.cpp
/tmp/ws/src/exotica/exotica_core/src/
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exotica_core/tools.h
exotica_core/property.h
exotica
property.h
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property_8h.html
exotica_core/tools/conversions.h
exotica::Initializer
exotica::InitializerBase
exotica::Instantiable
exotica::InstantiableBase
exotica::Property
exotica
sampling_problem.cpp
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exotica_core/problems/sampling_problem.h
exotica_core/setup.h
exotica
sampling_problem.h
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exotica_core/planning_problem.h
exotica_core/tasks.h
exotica::SamplingProblem
exotica
std::shared_ptr< exotica::SamplingProblem >
SamplingProblemPtr
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scene.cpp
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exotica_core/scene.h
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exotica
scene.h
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exotica_core/collision_scene.h
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exotica_core/object.h
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exotica_core/tools/conversions.h
exotica_core/trajectory.h
exotica::AbstractDynamicsSolver
exotica::AttachedObject
exotica::Scene
exotica
std::shared_ptr< Scene >
ScenePtr
namespaceexotica.html
a40b1efc13b2dddc8a9addac2dc0aa11d
server.cpp
/tmp/ws/src/exotica/exotica_core/src/
server_8cpp.html
exotica_core/server.h
exotica_core/tools.h
exotica
robot_model::RobotModelPtr
LoadModelImpl
namespaceexotica.html
a6aa808457443a48012bb6b71451e68c9
(const std::string &urdf, const std::string &srdf)
server.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
server_8h.html
exotica_core/tools/exception.h
exotica_core/tools/uncopyable.h
exotica::RosNode
exotica::Server
exotica
std::shared_ptr< Server >
ServerPtr
namespaceexotica.html
a7c851f5dc6ebf38e83ca114fb2a14394
setup.cpp
/tmp/ws/src/exotica/exotica_core/src/
setup_8cpp.html
exotica_core/dynamics_solver.h
exotica_core/scene.h
exotica_core/server.h
exotica_core/setup.h
exotica_core/tools.h
exotica
void
AppendInitializer
namespaceexotica.html
a1a3fdf7377aaf8950f0cb4dd3e8581cc
(std::shared_ptr< InstantiableBase > it, std::vector< Initializer > &ret)
setup.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
setup_8h.html
exotica_core/dynamics_solver.h
exotica_core/factory.h
exotica_core/motion_solver.h
exotica_core/object.h
exotica_core/planning_problem.h
exotica_core/property.h
exotica::Setup
exotica
std::shared_ptr< Setup >
SetupPtr
namespaceexotica.html
a776c5e7721339c5eb37daf9bedf6e82e
sparse_costs.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
sparse__costs_8h.html
exotica_core/tools/exception.h
exotica
double
huber_cost
namespaceexotica.html
acba3cafde4c983db1d6727fb60834c24
(double x, double beta)
double
huber_hessian
namespaceexotica.html
ad0f4a48eb7997a2c73270f58b6c1e44e
(double x, double beta)
double
huber_jacobian
namespaceexotica.html
a35f85225dbcd2475eb5d8b5cc0ed8e4b
(double x, double beta)
double
pseudo_huber_cost
namespaceexotica.html
aaa72558734c4a3c7c1f2bb8f7f5c84a9
(double x, double beta)
double
pseudo_huber_hessian
namespaceexotica.html
aa845a3e1ca87fc8e6d9f300a2eab1802
(double x, double beta)
double
pseudo_huber_jacobian
namespaceexotica.html
a88ff940373e6d20767935f8f6dda85c7
(double x, double beta)
double
smooth_l1_cost
namespaceexotica.html
ad47c6c52a5634e69e7662991f7e324f6
(double x, double beta)
double
smooth_l1_hessian
namespaceexotica.html
adc2332d3be6a65ec80009f21fcf4fbf9
(double x, double beta)
double
smooth_l1_jacobian
namespaceexotica.html
afd35128dc931ed9a9e6e4d5802e827a2
(double x, double beta)
task_map.cpp
/tmp/ws/src/exotica/exotica_core/src/
task__map_8cpp.html
exotica_core/task_map.h
exotica
task_map.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
task__map_8h.html
exotica_core/factory.h
exotica_core/object.h
exotica_core/property.h
exotica_core/scene.h
exotica_core/task_space_vector.h
exotica::TaskMap
exotica
#define
REGISTER_TASKMAP_TYPE
task__map_8h.html
aa14b2d1a4f88e18340db636bdb499020
(TYPE, DERIV)
std::map< std::string, TaskMapPtr >
TaskMapMap
namespaceexotica.html
a3d683636a7693b7ad32c8db09552855a
std::shared_ptr< TaskMap >
TaskMapPtr
namespaceexotica.html
ae1c26d85044c983becec5f8b426b490f
std::vector< TaskMapPtr >
TaskMapVec
namespaceexotica.html
aaba8d5a1e72797326ef6e2a9ecb967a5
task_space_vector.cpp
/tmp/ws/src/exotica/exotica_core/src/
task__space__vector_8cpp.html
exotica_core/task_space_vector.h
exotica
task_space_vector.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
task__space__vector_8h.html
exotica_core/tools/conversions.h
exotica::TaskSpaceVector
exotica::TaskVectorEntry
exotica
tasks.cpp
/tmp/ws/src/exotica/exotica_core/src/
tasks_8cpp.html
exotica_core/task_map.h
exotica_core/tasks.h
exotica
tasks.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
tasks_8h.html
exotica_core/planning_problem.h
exotica_core/property.h
exotica_core/task_space_vector.h
exotica_core/tools/conversions.h
exotica::EndPoseTask
exotica::SamplingTask
exotica::Task
exotica::TaskIndexing
exotica::TimeIndexedTask
exotica
test_autodiff.cpp
/tmp/ws/src/exotica/exotica_core/test/
test__autodiff_8cpp.html
int
main
test__autodiff_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
test_helpers.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
test__helpers_8h.html
exotica::TestCout
exotica
#define
TEST_COUT
test__helpers_8h.html
a365a766aa42394d3005120bdcc8a9a8e
test_kinematics.cpp
/tmp/ws/src/exotica/exotica_core/test/
test__kinematics_8cpp.html
exotica_core/exotica_core.h
exotica_core/tools/test_helpers.h
TestClass
int
main
test__kinematics_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
TEST
test__kinematics_8cpp.html
a977ce4d0f5e6656a20e319bc9d559923
(ExoticaCore, testKinematicHessian)
TEST
test__kinematics_8cpp.html
aa3d1559c578e5828f67c468a137e6c2b
(ExoticaCore, testKinematicJacobian)
bool
test_hessian
test__kinematics_8cpp.html
a3b70d3268cb7aa2534a80bd35ddedb82
(TestClass &test, const double eps=1e-5)
bool
test_jacobian
test__kinematics_8cpp.html
a31706f9864e60c9c61656004926ed601
(TestClass &test, const double eps=1e-5)
constexpr int
num_trials_
test__kinematics_8cpp.html
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static const std::string
srdf_string_
test__kinematics_8cpp.html
ace130c40528b33c7832725b84e6be463
static const std::string
urdf_string_
test__kinematics_8cpp.html
aa921a7bce245fcc8d0690d970e414e11
time_indexed_problem.cpp
/tmp/ws/src/exotica/exotica_core/src/problems/
time__indexed__problem_8cpp.html
exotica_core/problems/time_indexed_problem.h
exotica_core/setup.h
exotica
time_indexed_problem.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/problems/
time__indexed__problem_8h.html
exotica_core/problems/abstract_time_indexed_problem.h
exotica::TimeIndexedProblem
exotica
std::shared_ptr< exotica::TimeIndexedProblem >
TimeIndexedProblemPtr
namespaceexotica.html
a39097e135cbe255a1fefe9b3426027ff
time_indexed_sampling_problem.cpp
/tmp/ws/src/exotica/exotica_core/src/problems/
time__indexed__sampling__problem_8cpp.html
exotica_core/problems/time_indexed_sampling_problem.h
exotica_core/setup.h
exotica
time_indexed_sampling_problem.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/problems/
time__indexed__sampling__problem_8h.html
exotica_core/planning_problem.h
exotica_core/tasks.h
exotica::TimeIndexedSamplingProblem
exotica
std::shared_ptr< exotica::TimeIndexedSamplingProblem >
TimeIndexedSamplingProblemPtr
namespaceexotica.html
ab1a8f5ad7816206e96551d636b1050be
timer.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
timer_8h.html
exotica::Timer
exotica
void
Sleep
namespaceexotica.html
ad8839f8df09cd1cd187f374775efc1ad
(double t)
tools.cpp
/tmp/ws/src/exotica/exotica_core/src/
tools_8cpp.html
exotica_core/tools.h
exotica
std::string
GetTypeName
namespaceexotica.html
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(const std::type_info &type)
std::string
LoadFile
namespaceexotica.html
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(const std::string &path)
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::string
ParsePath
namespaceexotica.html
ada723b4c529289e383e25e349127f8ac
(const std::string &path)
bool
PathExists
namespaceexotica.html
aabb6b38506649e80a2e5d502db4502fe
(const std::string &path)
std_msgs::ColorRGBA
RandomColor
namespaceexotica.html
a37c337e469244036c53fab2e303e1c4a
()
void
SaveMatrix
namespaceexotica.html
a2987284d8a6c0933937961153745a62f
(std::string file_name, const Eigen::Ref< const Eigen::MatrixXd > mat)
tools.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
tools_8h.html
exotica_core/tools/conversions.h
exotica_core/tools/exception.h
exotica_core/tools/printable.h
exotica_core/tools/timer.h
exotica_core/tools/uncopyable.h
exotica_core/version.h
exotica
octomap
shapes
#define
EX_CONC
tools_8h.html
a662af1dcc5c45d9e7e61704321032881
(x, y)
#define
EX_UNIQ
tools_8h.html
a9af11952cae23b2b8176908da701aba6
(x, y)
ArgumentPosition
namespaceexotica.html
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ARG0
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a2f2dd5de8edc626599b393aae8529350a7df5948695bd3aceec1a3f382ee6919b
ARG1
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a2f2dd5de8edc626599b393aae8529350a411a7277565017b1a34f0aa236549a73
ARG2
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a2f2dd5de8edc626599b393aae8529350a8ebe407ec38e3e4637ba504cb1bbbf15
ARG3
namespaceexotica.html
a2f2dd5de8edc626599b393aae8529350a7bd66a54e38800525bb8be5d6b084b42
ARG4
namespaceexotica.html
a2f2dd5de8edc626599b393aae8529350a24dbb1a0b84d00ee713d88a6a6c14459
std_msgs::ColorRGBA
GetColor
namespaceexotica.html
a8005394d041837edaca93094f1560c72
(const Eigen::Vector4d &rgba)
std_msgs::ColorRGBA
GetColor
namespaceexotica.html
a14f31acad69dc9546c26d4418f1eeff6
(double r, double g, double b, double a=1.0)
std::vector< std::string >
GetKeys
namespaceexotica.html
af009f172cfb74af491e24dec8b07e581
(std::map< std::string, T > map)
std::string
GetTypeName
namespaceexotica.html
a731e658fefc907368edcd4f5f7191852
(const std::type_info &type)
std::string
LoadFile
namespaceexotica.html
a7f7df726d7effdb816d6594b6cf3f898
(const std::string &path)
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::string
ParsePath
namespaceexotica.html
ada723b4c529289e383e25e349127f8ac
(const std::string &path)
bool
PathExists
namespaceexotica.html
aabb6b38506649e80a2e5d502db4502fe
(const std::string &path)
std_msgs::ColorRGBA
RandomColor
namespaceexotica.html
a37c337e469244036c53fab2e303e1c4a
()
void
SaveMatrix
namespaceexotica.html
a2987284d8a6c0933937961153745a62f
(std::string file_name, const Eigen::Ref< const Eigen::MatrixXd > mat)
std::shared_ptr< T >
ToStdPtr
tools_8h.html
a49eb08eff4a8026049f7fc94e2dbf248
(const boost::shared_ptr< T > &p)
std::shared_ptr< T >
ToStdPtr
tools_8h.html
a163147a845d521631b75396a325ebecc
(const std::shared_ptr< T > &p)
trajectory.cpp
/tmp/ws/src/exotica/exotica_core/src/
trajectory_8cpp.html
exotica_core/tools.h
exotica_core/trajectory.h
exotica
trajectory.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
trajectory_8h.html
exotica_core/tools/conversions.h
exotica::Trajectory
exotica
unconstrained_end_pose_problem.cpp
/tmp/ws/src/exotica/exotica_core/src/problems/
unconstrained__end__pose__problem_8cpp.html
exotica_core/problems/unconstrained_end_pose_problem.h
exotica_core/setup.h
exotica
unconstrained_end_pose_problem.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/problems/
unconstrained__end__pose__problem_8h.html
exotica_core/planning_problem.h
exotica_core/tasks.h
exotica::UnconstrainedEndPoseProblem
exotica
std::shared_ptr< exotica::UnconstrainedEndPoseProblem >
UnconstrainedEndPoseProblemPtr
namespaceexotica.html
a30dbcb47575b3b3f1e748b830dfc3928
unconstrained_time_indexed_problem.cpp
/tmp/ws/src/exotica/exotica_core/src/problems/
unconstrained__time__indexed__problem_8cpp.html
exotica_core/problems/unconstrained_time_indexed_problem.h
exotica_core/setup.h
exotica
unconstrained_time_indexed_problem.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/problems/
unconstrained__time__indexed__problem_8h.html
exotica_core/planning_problem.h
exotica_core/tasks.h
exotica_core/problems/abstract_time_indexed_problem.h
exotica::UnconstrainedTimeIndexedProblem
exotica
std::shared_ptr< exotica::UnconstrainedTimeIndexedProblem >
UnconstrainedTimeIndexedProblemPtr
namespaceexotica.html
ae9748447962bcd9f3b700d69a28893fc
uncopyable.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/tools/
uncopyable_8h.html
exotica::Uncopyable
exotica
version.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
version_8h.html
exotica
const char
branch
namespaceexotica.html
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[]
const char
version
namespaceexotica.html
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[]
visualization_meshcat.cpp
/tmp/ws/src/exotica/exotica_core/src/
visualization__meshcat_8cpp.html
visualization_meshcat.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
visualization__meshcat_8h.html
exotica_core/scene.h
exotica_core/tools/uncopyable.h
exotica::VisualizationMeshcat
exotica
visualization_meshcat_types.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
visualization__meshcat__types_8h.html
exotica_core/scene.h
exotica_core/tools.h
exotica::visualization::Animation
exotica::visualization::AnimationOption
exotica::visualization::ArrayFloat
exotica::visualization::ArrayInt
exotica::visualization::Base
exotica::visualization::Clip
exotica::visualization::Delete
exotica::visualization::Geometry
exotica::visualization::GeometryBox
exotica::visualization::GeometryCylinder
exotica::visualization::GeometryMesh
exotica::visualization::GeometryMeshBuffer
exotica::visualization::GeometryMeshBufferData
exotica::visualization::GeometrySphere
exotica::visualization::Key
exotica::visualization::Material
exotica::visualization::MeshObject
exotica::visualization::MetaData
exotica::visualization::Object
exotica::visualization::ObjectData
exotica::visualization::Property
exotica::visualization::SetAnimation
exotica::visualization::SetObjectType
exotica::visualization::SetTransform
exotica::visualization::Track
exotica
exotica::visualization
#define
MSGPACK_FEATURE_NOT_SUPPORTED
visualization__meshcat__types_8h.html
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#define
MSGPACK_USE_DEFINE_MAP
visualization__meshcat__types_8h.html
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std::vector< float >
msgpack_ext
visualization__meshcat__types_8h.html
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msgpack::type::raw_ref
msgpack_raw_ref
visualization__meshcat__types_8h.html
acfebaabc1351f1b9e859b44b722c452f
Object< T >
CreateGeometryObject
namespaceexotica_1_1visualization.html
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(const T &geometry_in, const Material &material_in=Material(), const std::string &uuid_in="")
MeshObject< T >
CreateMeshObject
namespaceexotica_1_1visualization.html
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(const T &geometry_in, const Material &material_in=Material(), const std::string &uuid_in="")
std::string
generate_hex
namespaceexotica_1_1visualization.html
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(const unsigned int len)
std::string
generate_uuid
namespaceexotica_1_1visualization.html
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()
unsigned char
random_char
namespaceexotica_1_1visualization.html
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()
long
RGB
namespaceexotica_1_1visualization.html
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(double R, double G, double B)
SetObjectType< T >
SetObject
namespaceexotica_1_1visualization.html
a8eed49cadedd6b597dd8c9a760258f30
(const std::string &path_in, const T &object_in)
visualization_moveit.cpp
/tmp/ws/src/exotica/exotica_core/src/
visualization__moveit_8cpp.html
exotica_core/server.h
exotica_core/visualization_moveit.h
exotica
visualization_moveit.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/
visualization__moveit_8h.html
exotica_core/scene.h
exotica_core/tools/uncopyable.h
exotica::VisualizationMoveIt
exotica
xml_loader.cpp
/tmp/ws/src/exotica/exotica_core/src/loaders/
xml__loader_8cpp.html
exotica_core/loaders/xml_loader.h
exotica_core/setup.h
exotica
void
appendChildXML
namespaceexotica.html
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(Initializer &parent, std::string &name, bool isAttribute, tinyxml2::XMLHandle &tag, const std::string &prefix)
bool
parseXML
namespaceexotica.html
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(tinyxml2::XMLHandle &tag, Initializer &parent, const std::string &prefix)
xml_loader.h
/tmp/ws/src/exotica/exotica_core/include/exotica_core/loaders/
xml__loader_8h.html
exotica_core/motion_solver.h
exotica_core/planning_problem.h
exotica_core/property.h
exotica_core/setup.h
exotica::XMLLoader
exotica
exotica::AbstractDynamicsSolver
classexotica_1_1AbstractDynamicsSolver.html
NX
NU
exotica::Object
exotica::Uncopyable
exotica::InstantiableBase
Eigen::Matrix< T, NX, NU >
ControlDerivative
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Eigen::Matrix< T, NU, 1 >
ControlVector
classexotica_1_1AbstractDynamicsSolver.html
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Eigen::Matrix< T, NX, NX >
StateDerivative
classexotica_1_1AbstractDynamicsSolver.html
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Eigen::Matrix< T, NX, 1 >
StateVector
classexotica_1_1AbstractDynamicsSolver.html
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AbstractDynamicsSolver
classexotica_1_1AbstractDynamicsSolver.html
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()
virtual void
AssignScene
classexotica_1_1AbstractDynamicsSolver.html
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(std::shared_ptr< Scene > scene_in)
void
ClampToStateLimits
classexotica_1_1AbstractDynamicsSolver.html
a02708d9b6bf944fb4510067745e34ff9
(Eigen::Ref< Eigen::VectorXd > state_in)
virtual void
ComputeDerivatives
classexotica_1_1AbstractDynamicsSolver.html
a672ccae66ee94ebb1d2c3f0a4291c1b7
(const StateVector &x, const ControlVector &u)
virtual Hessian
ddStateDelta
classexotica_1_1AbstractDynamicsSolver.html
aac07f382d94d58c952661c5ec5f9984c
(const StateVector &x_1, const StateVector &x_2, const ArgumentPosition first_or_second)
virtual Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic >
dStateDelta
classexotica_1_1AbstractDynamicsSolver.html
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(const StateVector &x_1, const StateVector &x_2, const ArgumentPosition first_or_second)
virtual StateVector
F
classexotica_1_1AbstractDynamicsSolver.html
ac8d55d29cb7d2df5b3f9b6b37e95d922
(const StateVector &x, const ControlVector &u)
virtual StateVector
f
classexotica_1_1AbstractDynamicsSolver.html
a66f55cd2d4e8d259069f6df3501906b3
(const StateVector &x, const ControlVector &u)=0
virtual ControlDerivative
fu
classexotica_1_1AbstractDynamicsSolver.html
a39d736b96e70696063cf21a9f5452b14
(const StateVector &x, const ControlVector &u)
ControlDerivative
fu_fd
classexotica_1_1AbstractDynamicsSolver.html
afc23034ce3811f15a75c6c09b84cdc25
(const StateVector &x, const ControlVector &u)
virtual Eigen::Tensor< T, 3 >
fuu
classexotica_1_1AbstractDynamicsSolver.html
a73ed67ea957f5e24fb24e5c014eceec5
(const StateVector &x, const ControlVector &u)
virtual StateDerivative
fx
classexotica_1_1AbstractDynamicsSolver.html
aaa309e2e268330d8183deaa5c8605342
(const StateVector &x, const ControlVector &u)
StateDerivative
fx_fd
classexotica_1_1AbstractDynamicsSolver.html
a6fe83d58f251df995314bba9179f2298
(const StateVector &x, const ControlVector &u)
virtual Eigen::Tensor< T, 3 >
fxu
classexotica_1_1AbstractDynamicsSolver.html
a9302b81efdab316d7840d27debf3d1db
(const StateVector &x, const ControlVector &u)
virtual Eigen::Tensor< T, 3 >
fxx
classexotica_1_1AbstractDynamicsSolver.html
aeec5c0bd67f5f2a6e48994d13f2af504
(const StateVector &x, const ControlVector &u)
const Eigen::MatrixXd &
get_control_limits
classexotica_1_1AbstractDynamicsSolver.html
a91e340853085aca75e782f036eaf02c3
()
T
get_dt
classexotica_1_1AbstractDynamicsSolver.html
a2faac049713826fb0a64e44e64c7d7bf
() const
const ControlDerivative &
get_Fu
classexotica_1_1AbstractDynamicsSolver.html
ad6f5f7354e50efff29d9795a8adb9933
() const
const ControlDerivative &
get_fu
classexotica_1_1AbstractDynamicsSolver.html
a1924b5c6210914b6adaf59ab0b3e87bc
() const
const StateDerivative &
get_Fx
classexotica_1_1AbstractDynamicsSolver.html
af51df0085147adab2a5849423ffdca9d
() const
const StateDerivative &
get_fx
classexotica_1_1AbstractDynamicsSolver.html
a53d3378156d616eb2aefc28cfee50821
() const
const bool &
get_has_second_order_derivatives
classexotica_1_1AbstractDynamicsSolver.html
ae820b227a3962b380da5efed8dc81e98
() const
const bool &
get_has_state_limits
classexotica_1_1AbstractDynamicsSolver.html
ab0476da15c3e681437703df7542b54eb
() const
Integrator
get_integrator
classexotica_1_1AbstractDynamicsSolver.html
a2dbfa9908d585a6ce1c95d81b3e407c3
() const
int
get_num_controls
classexotica_1_1AbstractDynamicsSolver.html
ad994d012b5b481f9a7e04edb46e3b66b
() const
int
get_num_positions
classexotica_1_1AbstractDynamicsSolver.html
a041bad71445753b41620a7e2045d0fbd
() const
int
get_num_state
classexotica_1_1AbstractDynamicsSolver.html
abd34f818468505d2fe789300c07d629d
() const
int
get_num_state_derivative
classexotica_1_1AbstractDynamicsSolver.html
a06da7ac6b25d9826d0f8bec8d37ae0fb
() const
int
get_num_velocities
classexotica_1_1AbstractDynamicsSolver.html
a9e0c4231f995c1a823fab1fe00c53427
() const
virtual Eigen::Matrix< T, Eigen::Dynamic, 1 >
GetPosition
classexotica_1_1AbstractDynamicsSolver.html
a1345cbaf0819a5c90c91ef96f3107d90
(Eigen::VectorXdRefConst x_in)
virtual void
InstantiateBase
classexotica_1_1AbstractDynamicsSolver.html
a85a483719d05daae0218b4ff26e510c2
(const Initializer &init)
virtual void
Integrate
classexotica_1_1AbstractDynamicsSolver.html
a30a7e526d3807d113a7ef6532288cb86
(const StateVector &x, const StateVector &dx, const double dt, StateVector &xout)
virtual ControlVector
InverseDynamics
classexotica_1_1AbstractDynamicsSolver.html
aef430354c17bbe72a22ae0469d124ac0
(const StateVector &state)
void
set_control_limits
classexotica_1_1AbstractDynamicsSolver.html
a6cc9050f78cb9590820d65ee7a5ef970
(Eigen::VectorXdRefConst control_limits_low, Eigen::VectorXdRefConst control_limits_high)
void
set_integrator
classexotica_1_1AbstractDynamicsSolver.html
ac844be48813518e4df430bfaf456006d
(Integrator integrator_in)
virtual void
SetDt
classexotica_1_1AbstractDynamicsSolver.html
a468442a4240b4eef9f045fa9807828ad
(double dt_in)
void
SetIntegrator
classexotica_1_1AbstractDynamicsSolver.html
a1b1b7a1488705e8d97a17b2b903ff1a4
(const std::string &integrator_in)
StateVector
Simulate
classexotica_1_1AbstractDynamicsSolver.html
a06d0314cb5607ffd52113af4b1b10e84
(const StateVector &x, const ControlVector &u, T t)
virtual StateVector
StateDelta
classexotica_1_1AbstractDynamicsSolver.html
af5fc74b6d10e3dbb8bd73a762c3ad709
(const StateVector &x_1, const StateVector &x_2)
void
StateDelta
classexotica_1_1AbstractDynamicsSolver.html
ad1c4b8153fe78c3f27667ebea751d1a1
(const StateVector &x_1, const StateVector &x_2, Eigen::VectorXdRef xout)
virtual
~AbstractDynamicsSolver
classexotica_1_1AbstractDynamicsSolver.html
a81be1308554614f709d00f30e0e9595a
()
void
InitializeSecondOrderDerivatives
classexotica_1_1AbstractDynamicsSolver.html
a1700cba427b9a8f6d68e5a567f908409
()
virtual StateVector
SimulateOneStep
classexotica_1_1AbstractDynamicsSolver.html
a079a01ff6063e724890fb57354e18c59
(const StateVector &x, const ControlVector &u)
Eigen::MatrixXd
control_limits_
classexotica_1_1AbstractDynamicsSolver.html
a39fb80f18fdb45cb133a7210f5a63c99
T
dt_
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a3b9f08b4b6b0e666e63cdfd3ab012f85
Eigen::MatrixXd
fu_
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a66cc23799b0c414cd32a62cd96de82e0
Eigen::MatrixXd
Fu_
classexotica_1_1AbstractDynamicsSolver.html
a7b0c4647b537f0a282190303fd9a7ca2
Eigen::Tensor< T, 3 >
fuu_default_
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a10e9f3d942dfa0053bf0b105f91be4c2
Eigen::MatrixXd
fx_
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a0f2c26e496bc9cf8bcdf83a5ddf82dd9
Eigen::MatrixXd
Fx_
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a5f39102ff3fa47214133c40384ed81da
Eigen::Tensor< T, 3 >
fxu_default_
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a62f73941d85283e4819737a5f68b03b8
Eigen::Tensor< T, 3 >
fxx_default_
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af1a3e86065109a949b01cd36be717830
bool
has_second_order_derivatives_
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af1f1dee193aaaac23e0b10c0adfcb464
bool
has_state_limits_
classexotica_1_1AbstractDynamicsSolver.html
a852a510a808db007f1da97859b4414d5
Integrator
integrator_
classexotica_1_1AbstractDynamicsSolver.html
a48a9ec504639a8801dab3afbcda0affa
int
num_controls_
classexotica_1_1AbstractDynamicsSolver.html
a26835cf6fd8bfa56a1ec70c202fb9046
int
num_positions_
classexotica_1_1AbstractDynamicsSolver.html
a69ba2885171ed7dea642b0383fde54e8
int
num_state_
classexotica_1_1AbstractDynamicsSolver.html
a6d59f3dbf03f79fb8f7ef6d4d5cb74b0
int
num_state_derivative_
classexotica_1_1AbstractDynamicsSolver.html
a646eeac515439e3bb2659eb0847bcf9e
int
num_velocities_
classexotica_1_1AbstractDynamicsSolver.html
a4133378efd9eb264ecd95d25123f7751
bool
second_order_derivatives_initialized_
classexotica_1_1AbstractDynamicsSolver.html
a822888e25da4c4e20c6ccb24679f5d9a
Eigen::VectorXd
state_limits_lower_
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a721c63e878cfaba460ba10017093887b
Eigen::VectorXd
state_limits_upper_
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a04e51b3adb1f53ab6d656326179e01d7
bool
control_limits_initialized_
classexotica_1_1AbstractDynamicsSolver.html
ade34648fbab4f8e99b48b89ba0304ed9
Hessian
ddStateDelta_
classexotica_1_1AbstractDynamicsSolver.html
a79553241b08d02a618a1f6c9501841e3
Eigen::MatrixXd
dStateDelta_
classexotica_1_1AbstractDynamicsSolver.html
a5de20f8fcf4c48fc6542b92224655eec
Eigen::VectorXd
raw_control_limits_high_
classexotica_1_1AbstractDynamicsSolver.html
a3b5e6db98a6bc3f79c0de823367bda72
Eigen::VectorXd
raw_control_limits_low_
classexotica_1_1AbstractDynamicsSolver.html
a6434d9f65ee02d022def060e35b5f240
exotica::AbstractTimeIndexedProblem
classexotica_1_1AbstractTimeIndexedProblem.html
exotica::PlanningProblem
AbstractTimeIndexedProblem
classexotica_1_1AbstractTimeIndexedProblem.html
ab722c5afcf4f4363491a5ff0ac3b0a3b
()
int
get_active_nonlinear_equality_constraints_dimension
classexotica_1_1AbstractTimeIndexedProblem.html
a6c9071b0b06e58fb3467fdb54665652f
() const
int
get_active_nonlinear_inequality_constraints_dimension
classexotica_1_1AbstractTimeIndexedProblem.html
ac341c7688252cf1330d08fd22a0ab751
() const
double
get_ct
classexotica_1_1AbstractTimeIndexedProblem.html
a9cdc546e978e54cae19700cc6fb90540
() const
int
get_joint_velocity_constraint_dimension
classexotica_1_1AbstractTimeIndexedProblem.html
a1155af4d272871eb0c874ca9ee1bdd9b
() const
Eigen::MatrixXd
GetBounds
classexotica_1_1AbstractTimeIndexedProblem.html
a00d7516993ff12947d6c27e3599b21a0
() const
double
GetCost
classexotica_1_1AbstractTimeIndexedProblem.html
a260b8615880ada46c9248f325f4c4fa7
() const
Eigen::RowVectorXd
GetCostJacobian
classexotica_1_1AbstractTimeIndexedProblem.html
a76f9c5906f5d3864a97e6a12f9147758
() const
double
GetDuration
classexotica_1_1AbstractTimeIndexedProblem.html
af5646886a917b8021bc05d92edaca4fc
() const
Eigen::VectorXd
GetEquality
classexotica_1_1AbstractTimeIndexedProblem.html
a9001ed48c6ea6e004dd6aa704f752ff5
() const
Eigen::VectorXd
GetEquality
classexotica_1_1AbstractTimeIndexedProblem.html
ad545f3bb4438194423c13f62911ac883
(int t) const
Eigen::SparseMatrix< double >
GetEqualityJacobian
classexotica_1_1AbstractTimeIndexedProblem.html
a36ba05c7a5503c6003036c8fecd17d3e
() const
Eigen::MatrixXd
GetEqualityJacobian
classexotica_1_1AbstractTimeIndexedProblem.html
aef636c44a68b628e880c7f33858e6840
(int t) const
std::vector< Eigen::Triplet< double > >
GetEqualityJacobianTriplets
classexotica_1_1AbstractTimeIndexedProblem.html
aa6bf912254807e2eca4418308842c8bc
() const
Eigen::VectorXd
GetGoal
classexotica_1_1AbstractTimeIndexedProblem.html
ad865ab698a3f3695a2135c1e12ac30b5
(const std::string &task_name, int t=0)
Eigen::VectorXd
GetGoalEQ
classexotica_1_1AbstractTimeIndexedProblem.html
addc6ef13bf78c3f3d68d9ec6f133ef41
(const std::string &task_name, int t=0)
Eigen::VectorXd
GetGoalNEQ
classexotica_1_1AbstractTimeIndexedProblem.html
a87b8460cb2432ff7035f0ca1e63776e8
(const std::string &task_name, int t=0)
Eigen::VectorXd
GetInequality
classexotica_1_1AbstractTimeIndexedProblem.html
a3e5d5c3b4f15642fedcbf87e0d30542b
() const
Eigen::VectorXd
GetInequality
classexotica_1_1AbstractTimeIndexedProblem.html
ae10fc52ceef7f860821dc4930a2105f1
(int t) const
Eigen::SparseMatrix< double >
GetInequalityJacobian
classexotica_1_1AbstractTimeIndexedProblem.html
a7eeec332a520ec238c800e9c2f15c9cf
() const
Eigen::MatrixXd
GetInequalityJacobian
classexotica_1_1AbstractTimeIndexedProblem.html
a12965e7ef78093e10d2d83a5f627b644
(int t) const
std::vector< Eigen::Triplet< double > >
GetInequalityJacobianTriplets
classexotica_1_1AbstractTimeIndexedProblem.html
a60bb61f7c36538466506e9c068dfe781
() const
std::vector< Eigen::VectorXd >
GetInitialTrajectory
classexotica_1_1AbstractTimeIndexedProblem.html
a02b2d91d62d7c0c91d1cf68fa81f3bd5
() const
Eigen::VectorXd
GetJointVelocityConstraint
classexotica_1_1AbstractTimeIndexedProblem.html
a96bd265080aac56dcb43cdcdcf7db559
() const
Eigen::MatrixXd
GetJointVelocityConstraintBounds
classexotica_1_1AbstractTimeIndexedProblem.html
ae406be87c62499606c646dbb7a9250c7
() const
std::vector< Eigen::Triplet< double > >
GetJointVelocityConstraintJacobianTriplets
classexotica_1_1AbstractTimeIndexedProblem.html
a144644e086156722400b3f7f41f2616c
() const
Eigen::VectorXd
GetJointVelocityLimits
classexotica_1_1AbstractTimeIndexedProblem.html
a65e03b45debdb767b7dce49fd471bc9e
() const
double
GetRho
classexotica_1_1AbstractTimeIndexedProblem.html
a00985f842c88806bf390f4e49f81ac67
(const std::string &task_name, int t=0)
double
GetRhoEQ
classexotica_1_1AbstractTimeIndexedProblem.html
aa7fdd1ae6b2ad466c80a2d7133175650
(const std::string &task_name, int t=0)
double
GetRhoNEQ
classexotica_1_1AbstractTimeIndexedProblem.html
a3ab2b27f5eb773305113b85082ecf7aa
(const std::string &task_name, int t=0)
double
GetScalarTaskCost
classexotica_1_1AbstractTimeIndexedProblem.html
aa2aef8d0823f38d138ba3decc388c8f4
(int t) const
Eigen::RowVectorXd
GetScalarTaskJacobian
classexotica_1_1AbstractTimeIndexedProblem.html
af51742a3f6bdd231fb82117948f6b2de
(int t) const
double
GetScalarTransitionCost
classexotica_1_1AbstractTimeIndexedProblem.html
ab17f835060596c330804a741abc9488b
(int t) const
Eigen::RowVectorXd
GetScalarTransitionJacobian
classexotica_1_1AbstractTimeIndexedProblem.html
a19fd56376b81bb5c4bcaa52d04b68434
(int t) const
int
GetT
classexotica_1_1AbstractTimeIndexedProblem.html
adb5b8a6b81a654ee0e153e0325fcee35
() const
double
GetTau
classexotica_1_1AbstractTimeIndexedProblem.html
ab368de1931de4193a38ffa518e4ea479
() const
virtual void
PreUpdate
classexotica_1_1AbstractTimeIndexedProblem.html
aa9c332b0b1c02345cf978d9366e69801
()
void
SetGoal
classexotica_1_1AbstractTimeIndexedProblem.html
a5fe35a1d509522a5826913ae08b4500d
(const std::string &task_name, Eigen::VectorXdRefConst goal, int t=0)
void
SetGoalEQ
classexotica_1_1AbstractTimeIndexedProblem.html
af9226447c0d3f75e0b46649bddb413a5
(const std::string &task_name, Eigen::VectorXdRefConst goal, int t=0)
void
SetGoalNEQ
classexotica_1_1AbstractTimeIndexedProblem.html
af7e2656e155f66468a7731d9ac5c7ed3
(const std::string &task_name, Eigen::VectorXdRefConst goal, int t=0)
void
SetInitialTrajectory
classexotica_1_1AbstractTimeIndexedProblem.html
a0abdfb646b0fa4d960cb6bd1fe279608
(const std::vector< Eigen::VectorXd > &q_init_in)
void
SetJointVelocityLimits
classexotica_1_1AbstractTimeIndexedProblem.html
ad2bd69ebf744d6f53fe945013b38f1d9
(const Eigen::VectorXd &qdot_max_in)
void
SetRho
classexotica_1_1AbstractTimeIndexedProblem.html
ac3475784b53d29e56941c244c6a637e4
(const std::string &task_name, const double rho, int t=0)
void
SetRhoEQ
classexotica_1_1AbstractTimeIndexedProblem.html
afd528e996325a22244866376b7ca0c37
(const std::string &task_name, const double rho, int t=0)
void
SetRhoNEQ
classexotica_1_1AbstractTimeIndexedProblem.html
af2b440ad4e0cf6c1296b5e1eca0440e4
(const std::string &task_name, const double rho, int t=0)
void
SetT
classexotica_1_1AbstractTimeIndexedProblem.html
a1661739705244a14d43ba3954c9957d1
(const int T_in)
void
SetTau
classexotica_1_1AbstractTimeIndexedProblem.html
a74902a144ef49b0a85ff62e6d9d7bd25
(const double tau_in)
virtual void
Update
classexotica_1_1AbstractTimeIndexedProblem.html
a566244bdaf80d1e2bde4f5bba8765ea7
(Eigen::VectorXdRefConst x_in, int t)
void
Update
classexotica_1_1AbstractTimeIndexedProblem.html
ac18ae69a2eded019e4866302c07dbc95
(Eigen::VectorXdRefConst x_trajectory_in)
virtual
~AbstractTimeIndexedProblem
classexotica_1_1AbstractTimeIndexedProblem.html
ac427cecb12f1760fe60f1b685ea96699
()
TimeIndexedTask
cost
classexotica_1_1AbstractTimeIndexedProblem.html
ac7d119b0b82c87a98039fcf13c8d86aa
TimeIndexedTask
equality
classexotica_1_1AbstractTimeIndexedProblem.html
afaf83b240e00f2d64294a3423ebc6ce8
std::vector< Hessian >
hessian
classexotica_1_1AbstractTimeIndexedProblem.html
abb4e843ee76ec29901ad7284f68d4b2c
TimeIndexedTask
inequality
classexotica_1_1AbstractTimeIndexedProblem.html
a469ef217d1712b7726ef29ccc92cbaa9
std::vector< Eigen::MatrixXd >
jacobian
classexotica_1_1AbstractTimeIndexedProblem.html
a8e34c3e49bb148ef9347f128d387bb12
int
length_jacobian
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afde6e1b287e4f82f9842c70009a7254c
int
length_Phi
classexotica_1_1AbstractTimeIndexedProblem.html
a43b3a21f315d7b33e225daa748b31a30
int
num_tasks
classexotica_1_1AbstractTimeIndexedProblem.html
ab29d2d293166337cd08d5d89b2102400
std::vector< TaskSpaceVector >
Phi
classexotica_1_1AbstractTimeIndexedProblem.html
a19348da4f246df2692e1663dfd2b5eff
bool
use_bounds
classexotica_1_1AbstractTimeIndexedProblem.html
aff4c1436703b110e18528c8b685acb1d
Eigen::MatrixXd
W
classexotica_1_1AbstractTimeIndexedProblem.html
a62b3b37f88f8bedca505b26c232657e7
virtual void
ReinitializeVariables
classexotica_1_1AbstractTimeIndexedProblem.html
a0c2a08e2c6d9833b13d8276bdcd140c3
()
void
ValidateTimeIndex
classexotica_1_1AbstractTimeIndexedProblem.html
ac934a743f10cbf321410e3a71ea95557
(int &t_in) const
std::vector< std::pair< int, int > >
active_nonlinear_equality_constraints_
classexotica_1_1AbstractTimeIndexedProblem.html
a3cbf3b88cae63e0ff2206a6a9efb4ce6
int
active_nonlinear_equality_constraints_dimension_
classexotica_1_1AbstractTimeIndexedProblem.html
aa57fe01b3b916301c9405a9a1eba5664
std::vector< std::pair< int, int > >
active_nonlinear_inequality_constraints_
classexotica_1_1AbstractTimeIndexedProblem.html
adb912416b81eda9bb02581588ff6cada
int
active_nonlinear_inequality_constraints_dimension_
classexotica_1_1AbstractTimeIndexedProblem.html
a5f2be51a0ded11389dc9da02fccab205
TaskSpaceVector
cost_Phi
classexotica_1_1AbstractTimeIndexedProblem.html
a6e61fee9ceb892a82cfd84dc30ca338c
double
ct
classexotica_1_1AbstractTimeIndexedProblem.html
acac2aaee9844237e67e303a62b6b9572
TaskSpaceVector
equality_Phi
classexotica_1_1AbstractTimeIndexedProblem.html
aca3ae6496c7517b6644a502501cec1d7
TaskSpaceVector
inequality_Phi
classexotica_1_1AbstractTimeIndexedProblem.html
aed8a3300727082846a88cd8785fc1f4d
std::vector< Eigen::VectorXd >
initial_trajectory_
classexotica_1_1AbstractTimeIndexedProblem.html
abdaf450e9e9bea267e3c04fcb1a9968e
int
joint_velocity_constraint_dimension_
classexotica_1_1AbstractTimeIndexedProblem.html
a3b1f2c3a9326d41969515adb5c25cf1c
std::vector< Eigen::Triplet< double > >
joint_velocity_constraint_jacobian_triplets_
classexotica_1_1AbstractTimeIndexedProblem.html
ac70af242d8c6c8f71327d408b1b72770
std::vector< std::shared_ptr< KinematicResponse > >
kinematic_solutions_
classexotica_1_1AbstractTimeIndexedProblem.html
a5a4d41cb90607cf547ddfefe7d89ccad
Eigen::VectorXd
q_dot_max_
classexotica_1_1AbstractTimeIndexedProblem.html
a8229e1bce25217dc17b243b518882048
int
T_
classexotica_1_1AbstractTimeIndexedProblem.html
a4ed249e646510c3bf503293320a78ac9
double
tau_
classexotica_1_1AbstractTimeIndexedProblem.html
aa9991c652bf3a67a3b8a6e9563dcb38d
double
w_scale_
classexotica_1_1AbstractTimeIndexedProblem.html
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std::vector< Eigen::VectorXd >
x
classexotica_1_1AbstractTimeIndexedProblem.html
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std::vector< Eigen::VectorXd >
xdiff
classexotica_1_1AbstractTimeIndexedProblem.html
afbcd0817a990fcbdd273092e5d067400
Eigen::VectorXd
xdiff_max_
classexotica_1_1AbstractTimeIndexedProblem.html
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exotica::AllowedCollisionMatrix
classexotica_1_1AllowedCollisionMatrix.html
AllowedCollisionMatrix
classexotica_1_1AllowedCollisionMatrix.html
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()
AllowedCollisionMatrix
classexotica_1_1AllowedCollisionMatrix.html
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(const AllowedCollisionMatrix &acm)
void
clear
classexotica_1_1AllowedCollisionMatrix.html
af3cfe4b8edaca0d52e245d3530cdb5f2
()
void
getAllEntryNames
classexotica_1_1AllowedCollisionMatrix.html
ae0bce2fe68ce461ac68214e8935668f4
(std::vector< std::string > &names) const
bool
getAllowedCollision
classexotica_1_1AllowedCollisionMatrix.html
ae162aeb51f2d8aa6d425f8b209140b70
(const std::string &name1, const std::string &name2) const
size_t
getNumberOfEntries
classexotica_1_1AllowedCollisionMatrix.html
a5c88de51a5f1c0792ff6c727be118184
() const
bool
hasEntry
classexotica_1_1AllowedCollisionMatrix.html
aa811df73dc42a4529834abf5b62278ca
(const std::string &name) const
AllowedCollisionMatrix &
operator=
classexotica_1_1AllowedCollisionMatrix.html
a225eec0086b2953184c59b6bbcd61426
(const AllowedCollisionMatrix &other)
void
setEntry
classexotica_1_1AllowedCollisionMatrix.html
aff8f0c184568b4e00f2a53f98893b537
(const std::string &name1, const std::string &name2)
~AllowedCollisionMatrix
classexotica_1_1AllowedCollisionMatrix.html
a91a84e398d48e171a51b389c1b0d8865
()
std::unordered_map< std::string, std::unordered_set< std::string > >
entries_
classexotica_1_1AllowedCollisionMatrix.html
afc490fc7c5360712ff6a5ebdca184f2f
exotica::visualization::Animation
structexotica_1_1visualization_1_1Animation.html
Animation
structexotica_1_1visualization_1_1Animation.html
acb54e1bbe71fc718c6f5d4c90e969d1a
()=default
Animation
structexotica_1_1visualization_1_1Animation.html
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(const std::string &path_in)
MSGPACK_DEFINE
structexotica_1_1visualization_1_1Animation.html
a48229fd034f4b96eb607af21618c8807
(path, clip)
Clip
clip
structexotica_1_1visualization_1_1Animation.html
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std::string
path
structexotica_1_1visualization_1_1Animation.html
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exotica::visualization::AnimationOption
structexotica_1_1visualization_1_1AnimationOption.html
AnimationOption
structexotica_1_1visualization_1_1AnimationOption.html
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()=default
MSGPACK_DEFINE
structexotica_1_1visualization_1_1AnimationOption.html
aa2c6307ae8ec7dcb6f8c21438eb72ba9
(play, repetitions)
bool
play
structexotica_1_1visualization_1_1AnimationOption.html
a3dc5dbbbeae9708b5d817bdae63c0190
int
repetitions
structexotica_1_1visualization_1_1AnimationOption.html
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exotica::visualization::ArrayFloat
structexotica_1_1visualization_1_1ArrayFloat.html
ArrayFloat
structexotica_1_1visualization_1_1ArrayFloat.html
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()=default
ArrayFloat
structexotica_1_1visualization_1_1ArrayFloat.html
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(const ArrayFloat &other)
ArrayFloat
structexotica_1_1visualization_1_1ArrayFloat.html
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(double *data_in, unsigned int size)
~ArrayFloat
structexotica_1_1visualization_1_1ArrayFloat.html
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()=default
msgpack_ext
array
structexotica_1_1visualization_1_1ArrayFloat.html
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std::vector< float >
data
structexotica_1_1visualization_1_1ArrayFloat.html
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int
itemSize
structexotica_1_1visualization_1_1ArrayFloat.html
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bool
normalized
structexotica_1_1visualization_1_1ArrayFloat.html
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std::string
type
structexotica_1_1visualization_1_1ArrayFloat.html
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exotica::visualization::ArrayInt
structexotica_1_1visualization_1_1ArrayInt.html
ArrayInt
structexotica_1_1visualization_1_1ArrayInt.html
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()=default
ArrayInt
structexotica_1_1visualization_1_1ArrayInt.html
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(unsigned int *data, unsigned int size)
std::vector< uint32_t >
array
structexotica_1_1visualization_1_1ArrayInt.html
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int
itemSize
structexotica_1_1visualization_1_1ArrayInt.html
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bool
normalized
structexotica_1_1visualization_1_1ArrayInt.html
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std::string
type
structexotica_1_1visualization_1_1ArrayInt.html
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exotica::AttachedObject
structexotica_1_1AttachedObject.html
AttachedObject
structexotica_1_1AttachedObject.html
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()=default
AttachedObject
structexotica_1_1AttachedObject.html
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(std::string _parent)
AttachedObject
structexotica_1_1AttachedObject.html
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(std::string _parent, KDL::Frame _pose)
std::string
parent
structexotica_1_1AttachedObject.html
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KDL::Frame
pose
structexotica_1_1AttachedObject.html
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Eigen::internal::auto_diff_special_op
structEigen_1_1internal_1_1auto__diff__special__op.html
Enable
Eigen::internal::auto_diff_special_op< _DerType, false >
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01false_01_4.html
void
operator*
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01false_01_4.html
a5d5dea5443f269bb350b714091e70911
() const
void
operator+
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01false_01_4.html
a06f7e0a882b7034b19f27eb593a321c7
() const
void
operator-
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01false_01_4.html
a9df1717b1bdfc3c8a53ac469be9f3077
() const
Eigen::internal::auto_diff_special_op< _DerType, true >
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01true_01_4.html
remove_all< _DerType >::type
DerType
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01true_01_4.html
a83d11a8eb67049f0606a12672b5d172a
NumTraits< Scalar >::Real
Real
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01true_01_4.html
a329d36bdac7cde71a516efa60a76a10e
traits< DerType >::Scalar
Scalar
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01true_01_4.html
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AutoDiffScalar< _DerType > &
derived
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01true_01_4.html
a5c6949d0ee9847594297742a2b811108
()
const AutoDiffScalar< _DerType > &
derived
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01true_01_4.html
a4d015a4f854641d4eec88e264275c923
() const
const AutoDiffScalar< typename CwiseUnaryOp< bind2nd_op< scalar_product_op< Scalar, Real > >, DerType >::Type >
operator*
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01true_01_4.html
ab9cdeb14953a0426dda35a91f173aa64
(const Real &other) const
AutoDiffScalar< _DerType > &
operator*=
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01true_01_4.html
a54617d6be642c17f1bd3837f3ae81b7d
(const Scalar &other)
const AutoDiffScalar< DerType & >
operator+
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01true_01_4.html
abcb4d68e0c6a75022965465fa6f6c36b
(const Real &other) const
AutoDiffScalar< _DerType > &
operator+=
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01true_01_4.html
ae03416669027ee8c621ae40467e27da6
(const Real &other)
const friend AutoDiffScalar< typename CwiseUnaryOp< bind1st_op< scalar_product_op< Real, Scalar > >, DerType >::Type >
operator*
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01true_01_4.html
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(const Real &other, const AutoDiffScalar< _DerType > &a)
const friend AutoDiffScalar< DerType & >
operator+
structEigen_1_1internal_1_1auto__diff__special__op_3_01__DerType_00_01true_01_4.html
acb04edfc1f5524de87748326a310ce89
(const Real &a, const AutoDiffScalar< _DerType > &b)
Eigen::AutoDiffChainHessian
classEigen_1_1AutoDiffChainHessian.html
InputsAtCompileTime
classEigen_1_1AutoDiffChainHessian.html
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ValuesAtCompileTime
classEigen_1_1AutoDiffChainHessian.html
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JacobianInputsAtCompileTime
classEigen_1_1AutoDiffChainHessian.html
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Matrix< OuterActiveScalar, InputsAtCompileTime, 1 >
ActiveInput
classEigen_1_1AutoDiffChainHessian.html
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Matrix< OuterActiveScalar, ValuesAtCompileTime, 1 >
ActiveValue
classEigen_1_1AutoDiffChainHessian.html
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Array< Matrix< Scalar, JacobianInputsAtCompileTime, JacobianInputsAtCompileTime >, ValuesAtCompileTime, 1 >
HessianType
classEigen_1_1AutoDiffChainHessian.html
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JacobianType::Index
Index
classEigen_1_1AutoDiffChainHessian.html
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AutoDiffScalar< InnerDerivativeType >
InnerActiveScalar
classEigen_1_1AutoDiffChainHessian.html
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Matrix< Scalar, JacobianInputsAtCompileTime, 1 >
InnerDerivativeType
classEigen_1_1AutoDiffChainHessian.html
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Array< Matrix< Scalar, JacobianInputsAtCompileTime, JacobianInputsAtCompileTime >, InputsAtCompileTime, 1 >
InputHessianType
classEigen_1_1AutoDiffChainHessian.html
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Matrix< Scalar, InputsAtCompileTime, JacobianInputsAtCompileTime >
InputJacobianType
classEigen_1_1AutoDiffChainHessian.html
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InputsAtCompileTime
classEigen_1_1AutoDiffChainHessian.html
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Functor::InputType
InputType
classEigen_1_1AutoDiffChainHessian.html
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JacobianInputsAtCompileTime
classEigen_1_1AutoDiffChainHessian.html
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Matrix< Scalar, ValuesAtCompileTime, JacobianInputsAtCompileTime >
JacobianType
classEigen_1_1AutoDiffChainHessian.html
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AutoDiffScalar< OuterDerivativeType >
OuterActiveScalar
classEigen_1_1AutoDiffChainHessian.html
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Matrix< InnerActiveScalar, JacobianInputsAtCompileTime, 1 >
OuterDerivativeType
classEigen_1_1AutoDiffChainHessian.html
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ValueType::Scalar
Scalar
classEigen_1_1AutoDiffChainHessian.html
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ValuesAtCompileTime
classEigen_1_1AutoDiffChainHessian.html
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Functor::ValueType
ValueType
classEigen_1_1AutoDiffChainHessian.html
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AutoDiffChainHessian
classEigen_1_1AutoDiffChainHessian.html
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()
AutoDiffChainHessian
classEigen_1_1AutoDiffChainHessian.html
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(const Functor &f)
AutoDiffChainHessian
classEigen_1_1AutoDiffChainHessian.html
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(const T0 &a0)
AutoDiffChainHessian
classEigen_1_1AutoDiffChainHessian.html
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(const T0 &a0, const T1 &a1)
AutoDiffChainHessian
classEigen_1_1AutoDiffChainHessian.html
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(const T0 &a0, const T1 &a1, const T2 &a2)
EIGEN_STRONG_INLINE void
operator()
classEigen_1_1AutoDiffChainHessian.html
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(const InputType &x, ValueType &v) const
void
operator()
classEigen_1_1AutoDiffChainHessian.html
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(const InputType &x, ValueType &v, JacobianType &jac) const
void
operator()
classEigen_1_1AutoDiffChainHessian.html
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(const InputType &x, ValueType &v, JacobianType &jac, const InputJacobianType &ijac) const
void
operator()
classEigen_1_1AutoDiffChainHessian.html
a7b0bc19c4fa1e5964fff77ab47a0996f
(const InputType &x, ValueType &v, JacobianType &jac, HessianType &hess) const
void
operator()
classEigen_1_1AutoDiffChainHessian.html
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(const InputType &x, ValueType &v, JacobianType &jac, HessianType &hess, const InputJacobianType &ijac, const InputHessianType &ihess) const
void
operator()
classEigen_1_1AutoDiffChainHessian.html
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(const InputType &x, ValueType &v, JacobianType &jac=0, HessianType &hess, const InputJacobianType *_ijac=0, const InputHessianType *_ihess=0) const
Eigen::AutoDiffChainHessianSparse
classEigen_1_1AutoDiffChainHessianSparse.html
InputsAtCompileTime
classEigen_1_1AutoDiffChainHessianSparse.html
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ValuesAtCompileTime
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JacobianInputsAtCompileTime
classEigen_1_1AutoDiffChainHessianSparse.html
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Matrix< OuterActiveScalar, InputsAtCompileTime, 1 >
ActiveInput
classEigen_1_1AutoDiffChainHessianSparse.html
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Matrix< OuterActiveScalar, ValuesAtCompileTime, 1 >
ActiveValue
classEigen_1_1AutoDiffChainHessianSparse.html
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InnerDerivativeType::InnerIterator
HessianInnerIteratorType
classEigen_1_1AutoDiffChainHessianSparse.html
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Array< SparseMatrix< Scalar >, ValuesAtCompileTime, 1 >
HessianType
classEigen_1_1AutoDiffChainHessianSparse.html
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JacobianType::Index
Index
classEigen_1_1AutoDiffChainHessianSparse.html
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AutoDiffScalar< InnerDerivativeType >
InnerActiveScalar
classEigen_1_1AutoDiffChainHessianSparse.html
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SparseVector< Scalar >
InnerDerivativeType
classEigen_1_1AutoDiffChainHessianSparse.html
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Array< SparseMatrix< Scalar >, InputsAtCompileTime, 1 >
InputHessianType
classEigen_1_1AutoDiffChainHessianSparse.html
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SparseMatrix< Scalar >
InputJacobianType
classEigen_1_1AutoDiffChainHessianSparse.html
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InputsAtCompileTime
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Functor::InputType
InputType
classEigen_1_1AutoDiffChainHessianSparse.html
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OuterDerivativeType::InnerIterator
JacobianInnerIteratorType
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JacobianInputsAtCompileTime
classEigen_1_1AutoDiffChainHessianSparse.html
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SparseMatrix< Scalar >
JacobianType
classEigen_1_1AutoDiffChainHessianSparse.html
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AutoDiffScalar< OuterDerivativeType >
OuterActiveScalar
classEigen_1_1AutoDiffChainHessianSparse.html
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SparseVector< InnerActiveScalar >
OuterDerivativeType
classEigen_1_1AutoDiffChainHessianSparse.html
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ValueType::Scalar
Scalar
classEigen_1_1AutoDiffChainHessianSparse.html
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ValuesAtCompileTime
classEigen_1_1AutoDiffChainHessianSparse.html
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Functor::ValueType
ValueType
classEigen_1_1AutoDiffChainHessianSparse.html
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AutoDiffChainHessianSparse
classEigen_1_1AutoDiffChainHessianSparse.html
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()
AutoDiffChainHessianSparse
classEigen_1_1AutoDiffChainHessianSparse.html
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(const Functor &f)
AutoDiffChainHessianSparse
classEigen_1_1AutoDiffChainHessianSparse.html
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(const T0 &a0)
AutoDiffChainHessianSparse
classEigen_1_1AutoDiffChainHessianSparse.html
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(const T0 &a0, const T1 &a1)
AutoDiffChainHessianSparse
classEigen_1_1AutoDiffChainHessianSparse.html
aa78b94373cd0eccab624ebc748883cfb
(const T0 &a0, const T1 &a1, const T2 &a2)
EIGEN_STRONG_INLINE void
operator()
classEigen_1_1AutoDiffChainHessianSparse.html
a5fb1917c0e6a6af25c1c8e572e7c1a9d
(const InputType &x, ValueType &v) const
void
operator()
classEigen_1_1AutoDiffChainHessianSparse.html
a20e0f1646774bd9aea960431518ae758
(const InputType &x, ValueType &v, JacobianType &jac) const
void
operator()
classEigen_1_1AutoDiffChainHessianSparse.html
a7fc50557dc9215669a371f3b2de2b846
(const InputType &x, ValueType &v, JacobianType &jac, const InputJacobianType &ijac) const
void
operator()
classEigen_1_1AutoDiffChainHessianSparse.html
a236723e40e39090f46364bdba45e4e1f
(const InputType &x, ValueType &v, JacobianType &jac, HessianType &hess) const
void
operator()
classEigen_1_1AutoDiffChainHessianSparse.html
aa7a5a59ce69fb71d1f6fd5ce4da3a1f5
(const InputType &x, ValueType &v, JacobianType &jac, HessianType &hess, const InputJacobianType &ijac, const InputHessianType &ihess) const
void
operator()
classEigen_1_1AutoDiffChainHessianSparse.html
a898071a12140ac80e73d4a5657e58495
(const InputType &x, ValueType &v, JacobianType &jac=0, HessianType &hess, const InputJacobianType *_ijac=0, const InputHessianType *_ihess=0) const
Eigen::AutoDiffChainJacobian
classEigen_1_1AutoDiffChainJacobian.html
InputsAtCompileTime
classEigen_1_1AutoDiffChainJacobian.html
a3b31e51c5ba09d94989b4d39f5a2ea6ca4c34429d945d547b573a9cfe5b51c214
ValuesAtCompileTime
classEigen_1_1AutoDiffChainJacobian.html
a3b31e51c5ba09d94989b4d39f5a2ea6ca9222d4381d35da13d7be1d27c8588790
JacobianInputsAtCompileTime
classEigen_1_1AutoDiffChainJacobian.html
a3b31e51c5ba09d94989b4d39f5a2ea6caabe409f5ae13bc439cbd4dd968d55108
Matrix< ActiveScalar, InputsAtCompileTime, 1 >
ActiveInput
classEigen_1_1AutoDiffChainJacobian.html
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AutoDiffScalar< DerivativeType >
ActiveScalar
classEigen_1_1AutoDiffChainJacobian.html
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Matrix< ActiveScalar, ValuesAtCompileTime, 1 >
ActiveValue
classEigen_1_1AutoDiffChainJacobian.html
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Matrix< Scalar, JacobianInputsAtCompileTime, 1 >
DerivativeType
classEigen_1_1AutoDiffChainJacobian.html
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JacobianType::Index
Index
classEigen_1_1AutoDiffChainJacobian.html
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Matrix< Scalar, InputsAtCompileTime, JacobianInputsAtCompileTime >
InputJacobianType
classEigen_1_1AutoDiffChainJacobian.html
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InputsAtCompileTime
classEigen_1_1AutoDiffChainJacobian.html
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Functor::InputType
InputType
classEigen_1_1AutoDiffChainJacobian.html
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JacobianInputsAtCompileTime
classEigen_1_1AutoDiffChainJacobian.html
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Matrix< Scalar, ValuesAtCompileTime, JacobianInputsAtCompileTime >
JacobianType
classEigen_1_1AutoDiffChainJacobian.html
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ValueType::Scalar
Scalar
classEigen_1_1AutoDiffChainJacobian.html
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ValuesAtCompileTime
classEigen_1_1AutoDiffChainJacobian.html
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Functor::ValueType
ValueType
classEigen_1_1AutoDiffChainJacobian.html
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AutoDiffChainJacobian
classEigen_1_1AutoDiffChainJacobian.html
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()
AutoDiffChainJacobian
classEigen_1_1AutoDiffChainJacobian.html
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(const Functor &f)
AutoDiffChainJacobian
classEigen_1_1AutoDiffChainJacobian.html
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(const T0 &a0)
AutoDiffChainJacobian
classEigen_1_1AutoDiffChainJacobian.html
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(const T0 &a0, const T1 &a1)
AutoDiffChainJacobian
classEigen_1_1AutoDiffChainJacobian.html
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(const T0 &a0, const T1 &a1, const T2 &a2)
EIGEN_STRONG_INLINE void
operator()
classEigen_1_1AutoDiffChainJacobian.html
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(const InputType &x, ValueType &v) const
void
operator()
classEigen_1_1AutoDiffChainJacobian.html
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(const InputType &x, ValueType &v, JacobianType &jac) const
void
operator()
classEigen_1_1AutoDiffChainJacobian.html
ab8aa4dbd49af96e3241e6ba29344c8f7
(const InputType &x, ValueType &v, JacobianType &jac, const InputJacobianType &ijac) const
void
operator()
classEigen_1_1AutoDiffChainJacobian.html
a7402c116d96b70ff632e04153cf6c6c0
(const InputType &x, ValueType &v, JacobianType &jac=0, const InputJacobianType *_ijac=0) const
Eigen::AutoDiffChainJacobianSparse
classEigen_1_1AutoDiffChainJacobianSparse.html
InputsAtCompileTime
classEigen_1_1AutoDiffChainJacobianSparse.html
adac499915bf0df91b176eb2873459cf0a16f620d1b1bcf4ff453243fc70a8d0cb
ValuesAtCompileTime
classEigen_1_1AutoDiffChainJacobianSparse.html
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JacobianInputsAtCompileTime
classEigen_1_1AutoDiffChainJacobianSparse.html
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Matrix< ActiveScalar, InputsAtCompileTime, 1 >
ActiveInput
classEigen_1_1AutoDiffChainJacobianSparse.html
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AutoDiffScalar< DerivativeType >
ActiveScalar
classEigen_1_1AutoDiffChainJacobianSparse.html
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Matrix< ActiveScalar, ValuesAtCompileTime, 1 >
ActiveValue
classEigen_1_1AutoDiffChainJacobianSparse.html
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SparseVector< Scalar >
DerivativeType
classEigen_1_1AutoDiffChainJacobianSparse.html
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JacobianType::Index
Index
classEigen_1_1AutoDiffChainJacobianSparse.html
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SparseMatrix< Scalar >
InputJacobianType
classEigen_1_1AutoDiffChainJacobianSparse.html
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InputsAtCompileTime
classEigen_1_1AutoDiffChainJacobianSparse.html
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Functor::InputType
InputType
classEigen_1_1AutoDiffChainJacobianSparse.html
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DerivativeType::InnerIterator
JacobianInnerIteratorType
classEigen_1_1AutoDiffChainJacobianSparse.html
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JacobianInputsAtCompileTime
classEigen_1_1AutoDiffChainJacobianSparse.html
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SparseMatrix< Scalar >
JacobianType
classEigen_1_1AutoDiffChainJacobianSparse.html
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ValueType::Scalar
Scalar
classEigen_1_1AutoDiffChainJacobianSparse.html
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ValuesAtCompileTime
classEigen_1_1AutoDiffChainJacobianSparse.html
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Functor::ValueType
ValueType
classEigen_1_1AutoDiffChainJacobianSparse.html
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AutoDiffChainJacobianSparse
classEigen_1_1AutoDiffChainJacobianSparse.html
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()
AutoDiffChainJacobianSparse
classEigen_1_1AutoDiffChainJacobianSparse.html
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(const Functor &f)
AutoDiffChainJacobianSparse
classEigen_1_1AutoDiffChainJacobianSparse.html
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(const T0 &a0)
AutoDiffChainJacobianSparse
classEigen_1_1AutoDiffChainJacobianSparse.html
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(const T0 &a0, const T1 &a1)
AutoDiffChainJacobianSparse
classEigen_1_1AutoDiffChainJacobianSparse.html
aab2f16b9410b26de6c3eb3d424643249
(const T0 &a0, const T1 &a1, const T2 &a2)
EIGEN_STRONG_INLINE void
operator()
classEigen_1_1AutoDiffChainJacobianSparse.html
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(const InputType &x, ValueType &v) const
void
operator()
classEigen_1_1AutoDiffChainJacobianSparse.html
a49b956022609ff2160992f9745d97f5c
(const InputType &x, ValueType &v, JacobianType &jac) const
void
operator()
classEigen_1_1AutoDiffChainJacobianSparse.html
aee5f5df0cd5fb35ef6a0c52c1855ce54
(const InputType &x, ValueType &v, JacobianType &jac, const InputJacobianType &ijac) const
void
operator()
classEigen_1_1AutoDiffChainJacobianSparse.html
a1f7454a75f5ad1da5fd1bbb4011722db
(const InputType &x, ValueType &v, JacobianType &jac=0, const InputJacobianType *_ijac=0) const
Eigen::AutoDiffScalar
classEigen_1_1AutoDiffScalar.html
internal::auto_diff_special_op< _DerType, !internal::is_same< typename internal::traits< typename internal::remove_all< _DerType >::type >::Scalar, typename NumTraits< typename internal::traits< typename internal::remove_all< _DerType >::type >::Scalar >::Real >::value >
Base
classEigen_1_1AutoDiffScalar.html
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internal::remove_all< _DerType >::type
DerType
classEigen_1_1AutoDiffScalar.html
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NumTraits< Scalar >::Real
Real
classEigen_1_1AutoDiffScalar.html
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internal::traits< DerType >::Scalar
Scalar
classEigen_1_1AutoDiffScalar.html
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AutoDiffScalar
classEigen_1_1AutoDiffScalar.html
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()
AutoDiffScalar
classEigen_1_1AutoDiffScalar.html
ae400a7ea2732a0157671b29a7be2f6d3
(const AutoDiffScalar &other)
AutoDiffScalar
classEigen_1_1AutoDiffScalar.html
a6a4599f4b696c612d010e77101e704f8
(const AutoDiffScalar< OtherDerType > &other, typename internal::enable_if< internal::is_same< Scalar, typename internal::traits< typename internal::remove_all< OtherDerType >::type >::Scalar >::value &&internal::is_convertible< OtherDerType, DerType >::value, void * >::type=0)
AutoDiffScalar
classEigen_1_1AutoDiffScalar.html
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(const Real &value)
AutoDiffScalar
classEigen_1_1AutoDiffScalar.html
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(const Scalar &value, const DerType &der)
AutoDiffScalar
classEigen_1_1AutoDiffScalar.html
a7f4f44f682ba5d500c34c4f2fa6ecb9e
(const Scalar &value, int nbDer, int derNumber)
DerType &
derivatives
classEigen_1_1AutoDiffScalar.html
acaa6af130147e21082998a9b111cb51c
()
const DerType &
derivatives
classEigen_1_1AutoDiffScalar.html
a751db20e34259b41b88a6358ef20e857
() const
bool
operator!=
classEigen_1_1AutoDiffScalar.html
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(const AutoDiffScalar< OtherDerType > &b) const
bool
operator!=
classEigen_1_1AutoDiffScalar.html
a2b38b00f5ea9930da21ffc01fc7133db
(const Scalar &other) const
const AutoDiffScalar< CwiseBinaryOp< internal::scalar_sum_op< Scalar >, const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DerType, Scalar, product), const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(typename internal::remove_all< OtherDerType >::type, Scalar, product)> >
operator*
classEigen_1_1AutoDiffScalar.html
a1eba6c8f2f34a2ec08262f7a17a1b458
(const AutoDiffScalar< OtherDerType > &other) const
const AutoDiffScalar< EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DerType, Scalar, product)>
operator*
classEigen_1_1AutoDiffScalar.html
a55693ea285c120efb8c186ff94c53e07
(const Scalar &other) const
AutoDiffScalar &
operator*=
classEigen_1_1AutoDiffScalar.html
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(const AutoDiffScalar< OtherDerType > &other)
AutoDiffScalar &
operator*=
classEigen_1_1AutoDiffScalar.html
aaec5be3f951c260748d61c033486e9be
(const Scalar &other)
const AutoDiffScalar< CwiseBinaryOp< internal::scalar_sum_op< Scalar >, const DerType, const typename internal::remove_all< OtherDerType >::type > >
operator+
classEigen_1_1AutoDiffScalar.html
ab2e4d6004befb3f9a29eb585ffde593b
(const AutoDiffScalar< OtherDerType > &other) const
const AutoDiffScalar< DerType & >
operator+
classEigen_1_1AutoDiffScalar.html
a12267b69c364570a39320d8592da94d6
(const Scalar &other) const
AutoDiffScalar &
operator+=
classEigen_1_1AutoDiffScalar.html
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(const AutoDiffScalar< OtherDerType > &other)
AutoDiffScalar &
operator+=
classEigen_1_1AutoDiffScalar.html
a4d5eff892114cf0b7ebbfd0747cdef0f
(const Scalar &other)
const AutoDiffScalar< CwiseUnaryOp< internal::scalar_opposite_op< Scalar >, const DerType > >
operator-
classEigen_1_1AutoDiffScalar.html
af5057735847ea0948e92c08e1945ed02
() const
const AutoDiffScalar< CwiseBinaryOp< internal::scalar_difference_op< Scalar >, const DerType, const typename internal::remove_all< OtherDerType >::type > >
operator-
classEigen_1_1AutoDiffScalar.html
a14e18f675a8d82bd039ab0c75681ba5e
(const AutoDiffScalar< OtherDerType > &other) const
const AutoDiffScalar< DerType & >
operator-
classEigen_1_1AutoDiffScalar.html
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(const Scalar &b) const
AutoDiffScalar &
operator-=
classEigen_1_1AutoDiffScalar.html
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(const AutoDiffScalar< OtherDerType > &other)
AutoDiffScalar &
operator-=
classEigen_1_1AutoDiffScalar.html
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(const Scalar &other)
const AutoDiffScalar< EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(CwiseBinaryOp< internal::scalar_difference_op< Scalar > EIGEN_COMMA const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DerType, Scalar, product) EIGEN_COMMA const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(typename internal::remove_all< OtherDerType >::type, Scalar, product)>, Scalar, product)>
operator/
classEigen_1_1AutoDiffScalar.html
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(const AutoDiffScalar< OtherDerType > &other) const
const AutoDiffScalar< EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DerType, Scalar, product)>
operator/
classEigen_1_1AutoDiffScalar.html
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(const Scalar &other) const
AutoDiffScalar &
operator/=
classEigen_1_1AutoDiffScalar.html
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(const AutoDiffScalar< OtherDerType > &other)
AutoDiffScalar &
operator/=
classEigen_1_1AutoDiffScalar.html
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(const Scalar &other)
bool
operator<
classEigen_1_1AutoDiffScalar.html
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(const AutoDiffScalar< OtherDerType > &b) const
bool
operator<
classEigen_1_1AutoDiffScalar.html
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(const Scalar &other) const
bool
operator<=
classEigen_1_1AutoDiffScalar.html
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(const AutoDiffScalar< OtherDerType > &b) const
bool
operator<=
classEigen_1_1AutoDiffScalar.html
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(const Scalar &other) const
AutoDiffScalar &
operator=
classEigen_1_1AutoDiffScalar.html
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(const AutoDiffScalar &other)
AutoDiffScalar &
operator=
classEigen_1_1AutoDiffScalar.html
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(const AutoDiffScalar< OtherDerType > &other)
AutoDiffScalar &
operator=
classEigen_1_1AutoDiffScalar.html
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(const Scalar &other)
bool
operator==
classEigen_1_1AutoDiffScalar.html
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(const AutoDiffScalar< OtherDerType > &b) const
bool
operator==
classEigen_1_1AutoDiffScalar.html
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(const Scalar &other) const
bool
operator>
classEigen_1_1AutoDiffScalar.html
a620709009b961f29437b2beeb6037d19
(const AutoDiffScalar< OtherDerType > &b) const
bool
operator>
classEigen_1_1AutoDiffScalar.html
a744744758d7f84a6c5025eef26acfbb4
(const Scalar &other) const
bool
operator>=
classEigen_1_1AutoDiffScalar.html
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(const AutoDiffScalar< OtherDerType > &b) const
bool
operator>=
classEigen_1_1AutoDiffScalar.html
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(const Scalar &other) const
Scalar &
value
classEigen_1_1AutoDiffScalar.html
ac74045cd21468b08404b476f40d91433
()
const Scalar &
value
classEigen_1_1AutoDiffScalar.html
a3fb25233941b46affc60c9569829656b
() const
DerType
m_derivatives
classEigen_1_1AutoDiffScalar.html
aa76f86fcb362af42944a13e6f2bb3a37
Scalar
m_value
classEigen_1_1AutoDiffScalar.html
ae7a12e09b363116102be944b9ca30dae
friend bool
operator!=
classEigen_1_1AutoDiffScalar.html
ad4fbf9cab7f13777cab64dc8b262f14b
(const Scalar &a, const AutoDiffScalar &b)
const friend AutoDiffScalar< EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DerType, Scalar, product)>
operator*
classEigen_1_1AutoDiffScalar.html
adbaeead15b05987c8b325e7d5a2959d4
(const Scalar &other, const AutoDiffScalar &a)
const friend AutoDiffScalar< DerType & >
operator+
classEigen_1_1AutoDiffScalar.html
ac47c674468791dcf7168cc3121217614
(const Scalar &a, const AutoDiffScalar &b)
const friend AutoDiffScalar< CwiseUnaryOp< internal::scalar_opposite_op< Scalar >, const DerType > >
operator-
classEigen_1_1AutoDiffScalar.html
ae1e2ac52195341af9c0e2dc6c667f5b9
(const Scalar &a, const AutoDiffScalar &b)
const friend AutoDiffScalar< EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DerType, Scalar, product)>
operator/
classEigen_1_1AutoDiffScalar.html
a3b2b65f70e8f68e0d4d8bde119261421
(const Scalar &other, const AutoDiffScalar &a)
friend bool
operator<
classEigen_1_1AutoDiffScalar.html
a7f329201c1c6671fa0bd1aaa1be0e30b
(const Scalar &a, const AutoDiffScalar &b)
friend std::ostream &
operator<<
classEigen_1_1AutoDiffScalar.html
aaa3efe607e0e4cac21c7ccb1d0f5f800
(std::ostream &s, const AutoDiffScalar &a)
friend bool
operator<=
classEigen_1_1AutoDiffScalar.html
adbe3f187ba731644689b7908c1edbe22
(const Scalar &a, const AutoDiffScalar &b)
friend bool
operator==
classEigen_1_1AutoDiffScalar.html
aca029e0c06ceede1858ee90101484d28
(const Scalar &a, const AutoDiffScalar &b)
friend bool
operator>
classEigen_1_1AutoDiffScalar.html
abf6b293bf812336bd22db1a4d1894751
(const Scalar &a, const AutoDiffScalar &b)
friend bool
operator>=
classEigen_1_1AutoDiffScalar.html
af1c73c080143c2e35e61c4655bacbb44
(const Scalar &a, const AutoDiffScalar &b)
exotica::visualization::Base
structexotica_1_1visualization_1_1Base.html
Base
structexotica_1_1visualization_1_1Base.html
aa868b57a481ab430d6d625d1cca764b5
()=default
Base
structexotica_1_1visualization_1_1Base.html
a50f62eb562d87c018a79747635445784
(const std::string &type_in, const std::string &path_in)
std::string
path
structexotica_1_1visualization_1_1Base.html
a5164751a6f60101192f3b89483edb5b0
std::string
type
structexotica_1_1visualization_1_1Base.html
a58512135c9b798876ae41f430c574688
exotica::BoundedEndPoseProblem
classexotica_1_1BoundedEndPoseProblem.html
exotica::PlanningProblem
Instantiable< BoundedEndPoseProblemInitializer >
BoundedEndPoseProblem
classexotica_1_1BoundedEndPoseProblem.html
a02d63550fdc6ab0b334aa2a8e91ca372
()
Eigen::MatrixXd
GetBounds
classexotica_1_1BoundedEndPoseProblem.html
a6075924563314fe5b9eb9808e32fc8e9
() const
Eigen::VectorXd
GetGoal
classexotica_1_1BoundedEndPoseProblem.html
a82f00214b229b3bb92f5ecf5bc2173d7
(const std::string &task_name)
double
GetRho
classexotica_1_1BoundedEndPoseProblem.html
ab049bd7c739ec1ee976d648bba2782ed
(const std::string &task_name)
double
GetScalarCost
classexotica_1_1BoundedEndPoseProblem.html
ad2c60005ed8e59b556ffdb2ce2e49f08
() const
Eigen::RowVectorXd
GetScalarJacobian
classexotica_1_1BoundedEndPoseProblem.html
a89973e353b0471ca4a5e47692359df44
() const
double
GetScalarTaskCost
classexotica_1_1BoundedEndPoseProblem.html
ad5c725a00ab022812074eb33289dc7e0
(const std::string &task_name) const
void
Instantiate
classexotica_1_1BoundedEndPoseProblem.html
ac4cebeeec1688342b6a4ccbcf8ecfbde
(const BoundedEndPoseProblemInitializer &init) override
bool
IsValid
classexotica_1_1BoundedEndPoseProblem.html
afb3476fdf16544f9ca63a75020324c3d
() override
void
PreUpdate
classexotica_1_1BoundedEndPoseProblem.html
a4797c6c3b79ef664996e8d38002fb335
() override
void
SetGoal
classexotica_1_1BoundedEndPoseProblem.html
a94ff8ea619826764474c57bdadb73651
(const std::string &task_name, Eigen::VectorXdRefConst goal)
void
SetRho
classexotica_1_1BoundedEndPoseProblem.html
a9a5620071f29bb3ffe4a7ec2ab61db8d
(const std::string &task_name, const double &rho)
void
Update
classexotica_1_1BoundedEndPoseProblem.html
ac8fdd5f0d3b07650131cdfc1de44fda1
(Eigen::VectorXdRefConst x)
virtual
~BoundedEndPoseProblem
classexotica_1_1BoundedEndPoseProblem.html
aa3119c3c62e4d2a3504ecbf7370ac610
()
EndPoseTask
cost
classexotica_1_1BoundedEndPoseProblem.html
a67240d148c0ea5746edf99f4e9d71aad
Hessian
hessian
classexotica_1_1BoundedEndPoseProblem.html
a34627cfc0809520e7bc86af2344656fd
Eigen::MatrixXd
jacobian
classexotica_1_1BoundedEndPoseProblem.html
ab6875a4b8a6ed2ab649542205938c2e9
int
length_jacobian
classexotica_1_1BoundedEndPoseProblem.html
a3b26e93907be7443c15eac4d66f9e395
int
length_Phi
classexotica_1_1BoundedEndPoseProblem.html
a242a79e0ea00c6e51d7774bee58e839a
int
num_tasks
classexotica_1_1BoundedEndPoseProblem.html
a63e2a9d6ec71528005e69e4f21939459
TaskSpaceVector
Phi
classexotica_1_1BoundedEndPoseProblem.html
a3d696a65d85abf974a39997e8f0ff1c8
Eigen::MatrixXd
W
classexotica_1_1BoundedEndPoseProblem.html
aed04eda07aa51159eb22247761da2ad8
exotica::BoundedTimeIndexedProblem
classexotica_1_1BoundedTimeIndexedProblem.html
exotica::AbstractTimeIndexedProblem
Instantiable< BoundedTimeIndexedProblemInitializer >
BoundedTimeIndexedProblem
classexotica_1_1BoundedTimeIndexedProblem.html
a75f3d0db76bba47df1b95dc1a06cd559
()=default
int
get_active_nonlinear_equality_constraints_dimension
classexotica_1_1BoundedTimeIndexedProblem.html
a420a26ebeac5a08fc7bc573e3079a681
() const =delete
int
get_active_nonlinear_inequality_constraints_dimension
classexotica_1_1BoundedTimeIndexedProblem.html
afbf3514f93710f673579cd73ba6f49b0
() const =delete
int
get_joint_velocity_constraint_dimension
classexotica_1_1BoundedTimeIndexedProblem.html
ae26dc509d334edaf38fa57bc5ba3a076
() const =delete
Eigen::VectorXd
GetEquality
classexotica_1_1BoundedTimeIndexedProblem.html
a8556510a79a57a7d1b2e036e7600d326
() const =delete
Eigen::VectorXd
GetEquality
classexotica_1_1BoundedTimeIndexedProblem.html
afe70160759fd3d7aeb9ca5fc4c46e785
(int t) const =delete
Eigen::SparseMatrix< double >
GetEqualityJacobian
classexotica_1_1BoundedTimeIndexedProblem.html
a3e4a43e75bb462e0cf7ac6a0830f885a
() const =delete
Eigen::MatrixXd
GetEqualityJacobian
classexotica_1_1BoundedTimeIndexedProblem.html
ae6af168bc5117220e01541ee92bcfc7f
(int t) const =delete
std::vector< Eigen::Triplet< double > >
GetEqualityJacobianTriplets
classexotica_1_1BoundedTimeIndexedProblem.html
ae782f346891e80ca8abc5f87506216bb
() const =delete
Eigen::VectorXd
GetGoalEQ
classexotica_1_1BoundedTimeIndexedProblem.html
aaa74c34c7d2ba9017daf111041852025
(const std::string &task_name, int t=0)=delete
Eigen::VectorXd
GetGoalNEQ
classexotica_1_1BoundedTimeIndexedProblem.html
a3859170f56c88bbb395ccf4dda6a1e55
(const std::string &task_name, int t=0)=delete
Eigen::VectorXd
GetInequality
classexotica_1_1BoundedTimeIndexedProblem.html
a9caca8a166fc3065c9246385c1ab4bca
() const =delete
Eigen::VectorXd
GetInequality
classexotica_1_1BoundedTimeIndexedProblem.html
a6869e9a8aec3fd7dfb9c1c0675c4243c
(int t) const =delete
Eigen::SparseMatrix< double >
GetInequalityJacobian
classexotica_1_1BoundedTimeIndexedProblem.html
adddd1a71f09e72da11864e48405a9dcd
() const =delete
Eigen::MatrixXd
GetInequalityJacobian
classexotica_1_1BoundedTimeIndexedProblem.html
a871c798a610c64338532797a04260ed7
(int t) const =delete
std::vector< Eigen::Triplet< double > >
GetInequalityJacobianTriplets
classexotica_1_1BoundedTimeIndexedProblem.html
af3d40e182351d8de69f5fd0dc58ae6b8
() const =delete
Eigen::VectorXd
GetJointVelocityConstraint
classexotica_1_1BoundedTimeIndexedProblem.html
a529ce1b7a23b5336cf2392257211ff18
() const =delete
Eigen::MatrixXd
GetJointVelocityConstraintBounds
classexotica_1_1BoundedTimeIndexedProblem.html
ae41800833566aadb78004301d9ead848
() const =delete
std::vector< Eigen::Triplet< double > >
GetJointVelocityConstraintJacobianTriplets
classexotica_1_1BoundedTimeIndexedProblem.html
a61cff8edea8eb78992321c18fa02a951
() const =delete
Eigen::VectorXd
GetJointVelocityLimits
classexotica_1_1BoundedTimeIndexedProblem.html
af045b88b9553498ecc80c20e87358387
() const =delete
double
GetRhoEQ
classexotica_1_1BoundedTimeIndexedProblem.html
a9264ce7a5d34385e1aa670c6144b283a
(const std::string &task_name, int t=0)=delete
double
GetRhoNEQ
classexotica_1_1BoundedTimeIndexedProblem.html
a21337185c0808db314270246b6662d25
(const std::string &task_name, int t=0)=delete
void
Instantiate
classexotica_1_1BoundedTimeIndexedProblem.html
a7bf6f947a42de99ccb13170560b90548
(const BoundedTimeIndexedProblemInitializer &init) override
bool
IsValid
classexotica_1_1BoundedTimeIndexedProblem.html
a6c4add03a78fe42ccf46bef7fefb3e1d
() override
void
PreUpdate
classexotica_1_1BoundedTimeIndexedProblem.html
ab21fff96517b9083ae16dacda9fafb7c
() override
void
SetGoalEQ
classexotica_1_1BoundedTimeIndexedProblem.html
a3df624afdc51d7e7d496112e86ae19c3
(const std::string &task_name, Eigen::VectorXdRefConst goal, int t=0)=delete
void
SetGoalNEQ
classexotica_1_1BoundedTimeIndexedProblem.html
a74f83331f9a94d4c54aa0dfabd3a41c4
(const std::string &task_name, Eigen::VectorXdRefConst goal, int t=0)=delete
void
SetJointVelocityLimits
classexotica_1_1BoundedTimeIndexedProblem.html
a3193a180cb27685cf694ef2ba2f41db1
(const Eigen::VectorXd &qdot_max_in)=delete
void
SetRhoEQ
classexotica_1_1BoundedTimeIndexedProblem.html
a2f59c330e2240dc5b89f1a700b9d16e1
(const std::string &task_name, const double rho, int t=0)=delete
void
SetRhoNEQ
classexotica_1_1BoundedTimeIndexedProblem.html
a69c2bf1e1fb445d262ad855f20a108f5
(const std::string &task_name, const double rho, int t=0)=delete
void
Update
classexotica_1_1BoundedTimeIndexedProblem.html
a3a661cfdf945a25752735e36527bbee5
(Eigen::VectorXdRefConst x, int t) override
virtual void
Update
classexotica_1_1BoundedTimeIndexedProblem.html
a566244bdaf80d1e2bde4f5bba8765ea7
(Eigen::VectorXdRefConst x_in, int t)
void
Update
classexotica_1_1BoundedTimeIndexedProblem.html
ac18ae69a2eded019e4866302c07dbc95
(Eigen::VectorXdRefConst x_trajectory_in)
virtual
~BoundedTimeIndexedProblem
classexotica_1_1BoundedTimeIndexedProblem.html
a4217902d32e9051e0c72f5836d3daa3e
()=default
void
ReinitializeVariables
classexotica_1_1BoundedTimeIndexedProblem.html
a274444a1c39b3e51a3d61afde89801d4
() override
exotica::BoxQPSolution
structexotica_1_1BoxQPSolution.html
std::vector< size_t >
clamped_idx
structexotica_1_1BoxQPSolution.html
ac8a411eebd1f59efc0a45cc57b435e95
std::vector< size_t >
free_idx
structexotica_1_1BoxQPSolution.html
a9c2f23f0222234d8d260d3eaeb77fc09
Eigen::MatrixXd
Hff_inv
structexotica_1_1BoxQPSolution.html
a548159143d9367da222c76e113e19eb8
Eigen::VectorXd
x
structexotica_1_1BoxQPSolution.html
ae251f6c0d7369d08d50c2a599d1c49cd
exotica::visualization::Clip
structexotica_1_1visualization_1_1Clip.html
Clip
structexotica_1_1visualization_1_1Clip.html
a1225c2f5a23ef2967624a5fce9e1cf81
()=default
Clip
structexotica_1_1visualization_1_1Clip.html
ab79323474b2e567b1512388eb10c9f49
(double fps_in, const std::string &name_in)
MSGPACK_DEFINE
structexotica_1_1visualization_1_1Clip.html
a224df7a9cc6eb2dd19c159889d46e453
(fps, name, tracks)
double
fps
structexotica_1_1visualization_1_1Clip.html
a3cbebf8ac955cc9b719207c288439771
std::string
name
structexotica_1_1visualization_1_1Clip.html
a76eef8304183e80fa5bb9e3a2a8f4287
std::vector< Track >
tracks
structexotica_1_1visualization_1_1Clip.html
a5f2e1d7ade3abff638288aa1fe955e10
exotica::CollisionProxy
structexotica_1_1CollisionProxy.html
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
CollisionProxy
structexotica_1_1CollisionProxy.html
af54f32246c4efa4296fbf6f75682275f
()
std::string
Print
structexotica_1_1CollisionProxy.html
ac4ee03f79b7058da0d6104170b9c3189
() const
Eigen::Vector3d
contact1
structexotica_1_1CollisionProxy.html
ad92ed228be908d287da3333d31b91e59
Eigen::Vector3d
contact2
structexotica_1_1CollisionProxy.html
a56b0df87437c99ca9748c6dbac21fe3d
double
distance
structexotica_1_1CollisionProxy.html
af593dcc0dfd2b1736ecd088d3e297704
std::shared_ptr< KinematicElement >
e1
structexotica_1_1CollisionProxy.html
a8bee99c1874db590f96300728a51e4f1
std::shared_ptr< KinematicElement >
e2
structexotica_1_1CollisionProxy.html
a80054c3e9efeb635098072c2c88b5f21
Eigen::Vector3d
normal1
structexotica_1_1CollisionProxy.html
a05efad3d395e52c4e424096f7f00f9a8
Eigen::Vector3d
normal2
structexotica_1_1CollisionProxy.html
a71e20ce0be1c81562e29981de63bf056
exotica::CollisionScene
classexotica_1_1CollisionScene.html
exotica::Object
exotica::Uncopyable
exotica::InstantiableBase
void
AssignScene
classexotica_1_1CollisionScene.html
add11f6fc584f45c3d7b68cfd81001473
(std::shared_ptr< Scene > scene)
CollisionScene
classexotica_1_1CollisionScene.html
a8721092c0bd0fe985c2e1e32dde5055f
()
virtual std::vector< ContinuousCollisionProxy >
ContinuousCollisionCast
classexotica_1_1CollisionScene.html
ac24e3ca374c803234edb94c0d3dc723b
(const std::vector< std::vector< std::tuple< std::string, Eigen::Isometry3d, Eigen::Isometry3d >>> &motion_transforms)
virtual ContinuousCollisionProxy
ContinuousCollisionCheck
classexotica_1_1CollisionScene.html
aff2be9edb3208f612aa633d5fb5e6ca0
(const std::string &o1, const KDL::Frame &tf1_beg, const KDL::Frame &tf1_end, const std::string &o2, const KDL::Frame &tf2_beg, const KDL::Frame &tf2_end)
bool
get_replace_cylinders_with_capsules
classexotica_1_1CollisionScene.html
aed7affb989921ff09464101ec5600cb7
() const
bool
GetAlwaysExternallyUpdatedCollisionScene
classexotica_1_1CollisionScene.html
a4cd955f4f3f0e6d50512ff63fb8a250d
() const
virtual std::vector< CollisionProxy >
GetCollisionDistance
classexotica_1_1CollisionScene.html
afd36388fa3ee61bda8f1a88085afad51
(bool self)
virtual std::vector< CollisionProxy >
GetCollisionDistance
classexotica_1_1CollisionScene.html
a6d7d19ff5138bc376106120c6ee4a6a5
(const std::string &o1, const bool &self)
virtual std::vector< CollisionProxy >
GetCollisionDistance
classexotica_1_1CollisionScene.html
a58b87c9151edbace42884561d1c788b4
(const std::string &o1, const bool &self, const bool &disable_collision_scene_update)
virtual std::vector< CollisionProxy >
GetCollisionDistance
classexotica_1_1CollisionScene.html
a893e2211654d2876b67a004dcd725033
(const std::string &o1, const std::string &o2)
virtual std::vector< CollisionProxy >
GetCollisionDistance
classexotica_1_1CollisionScene.html
a5de3a131c9faa82665ed97d0aec4933b
(const std::vector< std::string > &objects, const bool &self)
virtual std::vector< std::string >
GetCollisionRobotLinks
classexotica_1_1CollisionScene.html
af08e486c5e1e3e9a45fbc3267bc6c7c4
()=0
virtual std::vector< std::string >
GetCollisionWorldLinks
classexotica_1_1CollisionScene.html
a719e999f78f6d284b4bb7119d9c6778c
()=0
bool
GetReplacePrimitiveShapesWithMeshes
classexotica_1_1CollisionScene.html
a2e68f47ce60e768a3802f7bc9aeb0aee
() const
double
GetRobotLinkPadding
classexotica_1_1CollisionScene.html
af17ac1480c80273fee7b6d244469fcf3
() const
double
GetRobotLinkScale
classexotica_1_1CollisionScene.html
a7ac31ab43d25c08f4c6626bb09c55f55
() const
virtual std::vector< CollisionProxy >
GetRobotToRobotCollisionDistance
classexotica_1_1CollisionScene.html
a5e78933b8fea6760216bf6917f26fada
(double check_margin)
virtual std::vector< CollisionProxy >
GetRobotToWorldCollisionDistance
classexotica_1_1CollisionScene.html
a75d8e8f31cdab4c8658f7f17d5e62348
(double check_margin)
virtual Eigen::Vector3d
GetTranslation
classexotica_1_1CollisionScene.html
a1d54602940e594c72a32a18cb1837bde
(const std::string &name)=0
double
GetWorldLinkPadding
classexotica_1_1CollisionScene.html
adeb0fcf0f30eeb1d6de0c26def3b4a4d
() const
double
GetWorldLinkScale
classexotica_1_1CollisionScene.html
a21a55869a9ecedae445d93ea01af3aa8
() const
virtual void
InstantiateBase
classexotica_1_1CollisionScene.html
a04a99d6b990f9c60dea678eb215d984d
(const Initializer &init)
virtual bool
IsAllowedToCollide
classexotica_1_1CollisionScene.html
a04f4ef00f951cc9e187b311737b16842
(const std::string &o1, const std::string &o2, const bool &self)
virtual bool
IsCollisionFree
classexotica_1_1CollisionScene.html
a2db8b8a463f4206151f856fcdfe5dfe7
(const std::string &o1, const std::string &o2, double safe_distance=0.0)
virtual bool
IsStateValid
classexotica_1_1CollisionScene.html
a44739688ff439047a31763d1ac38c0c0
(bool self=true, double safe_distance=0.0)=0
void
set_replace_cylinders_with_capsules
classexotica_1_1CollisionScene.html
a9ad6a550945a251eb405e60734b9ef99
(const bool value)
void
SetACM
classexotica_1_1CollisionScene.html
ac6b0faea28db7ec189795ecd40787f11
(const AllowedCollisionMatrix &acm)
void
SetAlwaysExternallyUpdatedCollisionScene
classexotica_1_1CollisionScene.html
a4646c77237a15aa84b1e6aab1057d885
(const bool value)
void
SetReplacePrimitiveShapesWithMeshes
classexotica_1_1CollisionScene.html
a99b854cd76fc0dfb0f7a95a9b3314e48
(const bool value)
void
SetRobotLinkPadding
classexotica_1_1CollisionScene.html
a7ff04b8b419331588ee2feda6d9368fe
(const double padding)
void
SetRobotLinkScale
classexotica_1_1CollisionScene.html
a843df4d03a5e411aba2ea66057be196a
(const double scale)
virtual void
Setup
classexotica_1_1CollisionScene.html
a467e97d390057b36f7050ea62bb905d6
()
void
SetWorldLinkPadding
classexotica_1_1CollisionScene.html
a63ed453157f2a508398c5b68340e3ead
(const double padding)
void
SetWorldLinkScale
classexotica_1_1CollisionScene.html
a998a70a6a4251dc58989f3c0316d65e7
(const double scale)
virtual void
UpdateCollisionObjects
classexotica_1_1CollisionScene.html
abdba5d9852935f0cbb756bfa6e72ecda
(const std::map< std::string, std::weak_ptr< KinematicElement >> &objects)=0
virtual void
UpdateCollisionObjectTransforms
classexotica_1_1CollisionScene.html
a51d7cbe2e1656f293728f79b37342ba8
()=0
virtual
~CollisionScene
classexotica_1_1CollisionScene.html
a751ead4209d28c9c7867b312c1e3a5c1
()
bool
debug_
classexotica_1_1CollisionScene.html
aadadc92c4bee1dc8b43503d20d1d2c26
AllowedCollisionMatrix
acm_
classexotica_1_1CollisionScene.html
ad0effd2303e6de9dcbaa9cf3f850f59e
bool
always_externally_updated_collision_scene_
classexotica_1_1CollisionScene.html
a2a6a0d1b120c44e8a7a3cc0fa2da97b4
bool
needs_update_of_collision_objects_
classexotica_1_1CollisionScene.html
a3f172df59b4a28bb7a9e292f476dd6b3
bool
replace_cylinders_with_capsules_
classexotica_1_1CollisionScene.html
a8de40ee96823e2e75bda953fc30dbfe3
bool
replace_primitive_shapes_with_meshes_
classexotica_1_1CollisionScene.html
afbbc846768db5076bd671893092d171a
double
robot_link_padding_
classexotica_1_1CollisionScene.html
a6662ec6b5a478e45892825b13009a97a
std::string
robot_link_replacement_config_
classexotica_1_1CollisionScene.html
abad64b9a13fdeec173f804cc2903c40e
double
robot_link_scale_
classexotica_1_1CollisionScene.html
afbb8b2b6f6a41ea5a07353a8d13232a4
std::weak_ptr< Scene >
scene_
classexotica_1_1CollisionScene.html
af9dcd85e00b2254297029b6d0c71e5ca
double
world_link_padding_
classexotica_1_1CollisionScene.html
a34067a293254c4ac486ee373a7c0e554
double
world_link_scale_
classexotica_1_1CollisionScene.html
ad4e4827b411eb8d05229824e3abd7e11
exotica::ContinuousCollisionProxy
structexotica_1_1ContinuousCollisionProxy.html
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
ContinuousCollisionProxy
structexotica_1_1ContinuousCollisionProxy.html
a5d5757057bc4a50e4cb644d2781ea174
()
std::string
Print
structexotica_1_1ContinuousCollisionProxy.html
a7d9986721da65cdf8acaf9bc3306603f
() const
Eigen::Vector3d
contact_normal
structexotica_1_1ContinuousCollisionProxy.html
a8770cdf8db463757c8fefef3be01dd0b
Eigen::Vector3d
contact_pos
structexotica_1_1ContinuousCollisionProxy.html
ac0e53f6e043069e391c7fa7db3381e3a
KDL::Frame
contact_tf1
structexotica_1_1ContinuousCollisionProxy.html
a29935222df9c7ae126e1df19e2ced006
KDL::Frame
contact_tf2
structexotica_1_1ContinuousCollisionProxy.html
adea5736acd29fd81d7f08b23df600d92
std::shared_ptr< KinematicElement >
e1
structexotica_1_1ContinuousCollisionProxy.html
a92349bf258370340f0c095b285462332
std::shared_ptr< KinematicElement >
e2
structexotica_1_1ContinuousCollisionProxy.html
af0fa9ca4114595a6257694c1101baf4b
bool
in_collision
structexotica_1_1ContinuousCollisionProxy.html
a8ac476dc994d283f96c307c64a4f2199
double
penetration_depth
structexotica_1_1ContinuousCollisionProxy.html
a225dd78559e1551992dab47e629ee7d4
double
time_of_contact
structexotica_1_1ContinuousCollisionProxy.html
a2e811fcbc3dfc79fafe22d56b7c8785d
exotica::visualization::Delete
structexotica_1_1visualization_1_1Delete.html
Delete
structexotica_1_1visualization_1_1Delete.html
a592c1ac59b6b4908ad59661d4113fda7
()=default
Delete
structexotica_1_1visualization_1_1Delete.html
a204ff417c4e90ff56de2ae67e5d847ac
(const std::string &path_in)
MSGPACK_DEFINE
structexotica_1_1visualization_1_1Delete.html
ac71408970ea3420dde6ed87bf9b5723b
(type, path)
std::string
path
structexotica_1_1visualization_1_1Delete.html
a817760890c66c75e5d45b2e9e247d9f1
std::string
type
structexotica_1_1visualization_1_1Delete.html
a0f32a485a0bbb2cfa8e291b68c64be5b
exotica::DynamicTimeIndexedShootingProblem
classexotica_1_1DynamicTimeIndexedShootingProblem.html
exotica::PlanningProblem
Instantiable< DynamicTimeIndexedShootingProblemInitializer >
Eigen::VectorXd
ApplyStartState
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a4c6de34d8c80789fd7f5703d251a087a
(bool update_traj=true) override
void
DisableStochasticUpdates
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a9a7c57f9c5912437065bba32333e8022
()
DynamicTimeIndexedShootingProblem
classexotica_1_1DynamicTimeIndexedShootingProblem.html
aac17f189ae6670e3a6d8d23c9bc75bfd
()
void
EnableStochasticUpdates
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a911aa4ca3a41f80821c739e74feaacbb
()
double
get_control_cost_weight
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a980f5fbc1e6be6944ea92ffa7c4d45f3
() const
Eigen::MatrixXd
get_F
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a6fe6b52a8938a38289e068d72c40e660
(int t) const
const ControlCostLossTermType &
get_loss_type
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a05b23864a2401c3707a0f90178726988
() const
const Eigen::MatrixXd &
get_Q
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ae9d30001d9e3eb54a73be1f6957a518b
(int t) const
const Eigen::MatrixXd &
get_Qf
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a3b60bc8b1751a71945292a31a90add45
() const
const Eigen::MatrixXd &
get_R
classexotica_1_1DynamicTimeIndexedShootingProblem.html
aa8de4f3bf44deae41db3e724d5bc6287
() const
const int &
get_T
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a0f12bba54e307533f347ef819441082d
() const
const double &
get_tau
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ae12f7d61fe4b40a33af7d91a8b457a9c
() const
const Eigen::MatrixXd &
get_U
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a2fa06ac7152d228206826e048dab2085
() const
Eigen::VectorXd
get_U
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a96b58614379b8fbf5fcbb3e31beea680
(int t) const
const Eigen::MatrixXd &
get_X
classexotica_1_1DynamicTimeIndexedShootingProblem.html
abece0ed7eeaa296c7eb5b0329c37dbca
() const
Eigen::VectorXd
get_X
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ab7e200b0514a038e941cc5c243bcedc4
(int t) const
const Eigen::MatrixXd &
get_X_star
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a2009f3ebd1a3571082a3916091eda3df
() const
double
GetControlCost
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a9a453a9099db761a0257d8a54b288154
(int t) const
Eigen::MatrixXd
GetControlCostHessian
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a205f4f4301a3ded675782b50d698e602
(int t)
Eigen::VectorXd
GetControlCostJacobian
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a759abbbadd2277be84ea7d455fb0e281
(int t)
const Eigen::MatrixXd &
GetControlNoiseJacobian
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ada545e228e17a3df6e932fd88a1f2f3c
(int column_idx) const
Eigen::MatrixXd
GetStateControlCostHessian
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a0c66d1cf6d6335f4e6120af3d397e611
()
double
GetStateCost
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a19824d0dbe365d39e49da942c1017374
(int t) const
Eigen::MatrixXd
GetStateCostHessian
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a6c84b97df4988464b95920f99ad87095
(int t)
Eigen::VectorXd
GetStateCostJacobian
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a3c2a42349a7ea4c11a75a95f5ce8e583
(int t)
void
Instantiate
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ade4cf806ac218273536ec30164e67380
(const DynamicTimeIndexedShootingProblemInitializer &init) override
void
OnSolverIterationEnd
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ac795b51367d036f8336372b396b5022f
()
void
PreUpdate
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a9cbd76c24f8fb21c35097b430a39fc6d
() override
void
set_control_cost_weight
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ab9ffd093323d8792c9c652a28592ba49
(const double control_cost_weight_in)
void
set_loss_type
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ab304177c46ab3c9aeec442f0eacbbcb0
(const ControlCostLossTermType &loss_type_in)
void
set_Q
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a4e11c7bca429fcbb8b7e855028229253
(Eigen::MatrixXdRefConst Q_in, int t)
void
set_Qf
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a03dd45067c5cccda848411a434e12a04
(Eigen::MatrixXdRefConst Q_in)
void
set_T
classexotica_1_1DynamicTimeIndexedShootingProblem.html
afb62edde2297cbcf72698996021c8bf8
(const int &T_in)
void
set_U
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ae00272003823baf42006bab48993e7c5
(Eigen::MatrixXdRefConst U_in)
void
set_X
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a505554c22d59b52c57593798819917b6
(Eigen::MatrixXdRefConst X_in)
void
set_X_star
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a0c04b3b6f5ac0ddc8d8554f1d95a61e3
(Eigen::MatrixXdRefConst X_star_in)
void
Update
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a27674ada6c114c2c84484b84af3e2a16
(Eigen::VectorXdRefConst u, int t)
void
Update
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a3f5e93bd11bc8815451d5ad6aa991210
(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, int t)
void
UpdateTerminalState
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ab7b60510c6ef8a6796a70b35703b6ef3
(Eigen::VectorXdRefConst x)
virtual
~DynamicTimeIndexedShootingProblem
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a75f25b1b81d854b494b2af6430f5c3b5
()
TimeIndexedTask
cost
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a2da98c1100674f555a02ce9543db7ee6
std::vector< Hessian >
ddPhi_ddu
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ac5b0cd321a653f778ea5936960bc9474
std::vector< Hessian >
ddPhi_ddx
classexotica_1_1DynamicTimeIndexedShootingProblem.html
af87ebaac7e54dc23a47d530496eacf3d
std::vector< Hessian >
ddPhi_dxdu
classexotica_1_1DynamicTimeIndexedShootingProblem.html
af1f34cbd43381ec3531bfa4ec1fe5871
std::vector< Eigen::MatrixXd >
dPhi_du
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a1c2e116051a1da1675e375353421f50a
std::vector< Eigen::MatrixXd >
dPhi_dx
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a7aff782396a2cbcd60cb52016393baae
int
length_jacobian
classexotica_1_1DynamicTimeIndexedShootingProblem.html
aa45cdd95e09d8b65544c2891de74180b
int
length_Phi
classexotica_1_1DynamicTimeIndexedShootingProblem.html
abe7517d94ad2d07580b2ba6e3d59bad0
int
num_tasks
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a3d7a34f306944797a27039d78ed1298c
std::vector< TaskSpaceVector >
Phi
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a640c49e898a747912c0a8595326d3b97
void
InstantiateCostTerms
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ac5f5a61699bf993a3e1263f836a10982
(const DynamicTimeIndexedShootingProblemInitializer &init)
void
ReinitializeVariables
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a14131f4247bd45e4709ee0f9cb823ee7
()
void
UpdateTaskMaps
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ad15c4a1a04d088d8bf722561f9c0e738
(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, int t)
void
ValidateTimeIndex
classexotica_1_1DynamicTimeIndexedShootingProblem.html
acfb382b71d21d8c42eaba6bee195a77f
(int &t_in) const
Eigen::VectorXd
bimodal_huber_mode1_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a685d4babdaa7a09c28da7039a639312e
Eigen::VectorXd
bimodal_huber_mode2_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a79dce02c450cea7453422125af9895e1
std::vector< Eigen::MatrixXd >
Ci_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a01326a7d97274a439b35291a4b586586
std::vector< Eigen::MatrixXd >
control_cost_hessian_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a5d2dedd83c71d58a1dd8f3cb992d616e
std::vector< Eigen::VectorXd >
control_cost_jacobian_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a6afec58ef487fa33d540c702fb42418b
double
control_cost_weight_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a53eae8c227a31b2ef50dbee8d3743db6
TaskSpaceVector
cost_Phi
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a25793e9527118df8d94592a09e390bf8
Eigen::MatrixXd
CW_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a6e9b3d0bf23cfb31dca65f0be2ab6825
std::vector< Eigen::MatrixXd >
dxdiff_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a8e8d56b872973f14bcbbf4550b1ff364
std::vector< Eigen::MatrixXd >
general_cost_hessian_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
af3bba3502f96859019ca2621519dc54d
std::vector< Eigen::VectorXd >
general_cost_jacobian_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a17596cb8ab688d35f1acefdfb854a0b0
std::mt19937
generator_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
aba46c9718307c89d1e0fddcbbfc8b900
Eigen::VectorXd
huber_rate_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ac75566d13a3727c3d31890374a09c39f
std::vector< std::shared_ptr< KinematicResponse > >
kinematic_solutions_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a9a48ff5862e65232e74119cd8b3e0f56
Eigen::VectorXd
l1_rate_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ab92a7646c51a9e0dbf8308ceb4da7000
ControlCostLossTermType
loss_type_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a44809f34e5c8e574e947d8c445a9b664
std::vector< Eigen::MatrixXd >
Q_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
aeba1f3d737fa710376e3c0b5e04c2c9d
Eigen::MatrixXd
Qf_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a458af8d1cf530e162677c7f098a99353
Eigen::MatrixXd
R_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a5a79f75587a0f702a9b8a0bf668e83a6
Eigen::VectorXd
smooth_l1_mean_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a0939a4670e89b57882b03f5b02c6ff46
Eigen::VectorXd
smooth_l1_std_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a06276576ff26b7f5fedb715e6168998c
std::normal_distribution< double >
standard_normal_noise_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a468174c491ebe51a1f7adecd847ddf3b
std::vector< Eigen::MatrixXd >
state_cost_hessian_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a14f2b473befca91a3b26c84f77b94a1e
std::vector< Eigen::VectorXd >
state_cost_jacobian_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
ac594121946066cd512bd219fdda8a1f2
bool
stochastic_matrices_specified_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a60cbc9ae00dc5b75d48d4e2d27cd0f69
bool
stochastic_updates_enabled_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a922e7d6a3886ef13c4965e8e3f299d47
int
T_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a3a1a12886652321b2a50159ceb95c259
double
tau_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a0c2dbcf354e495fe56c631b23a60049a
Eigen::MatrixXd
U_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a1a74016a4bdf676b1acf8f2bc367e196
Eigen::MatrixXd
X_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a711c293478e568c13e9048f36126f415
Eigen::MatrixXd
X_diff_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
afc40800c4c4797fef98489ba57670d04
Eigen::MatrixXd
X_star_
classexotica_1_1DynamicTimeIndexedShootingProblem.html
a57bcc0cd8080e36b00c0c2e2fb3bf2da
exotica::EndPoseProblem
classexotica_1_1EndPoseProblem.html
exotica::PlanningProblem
Instantiable< EndPoseProblemInitializer >
EndPoseProblem
classexotica_1_1EndPoseProblem.html
a4150e31a1c8011a5aacd619e7b5f0462
()
Eigen::MatrixXd
GetBounds
classexotica_1_1EndPoseProblem.html
ad352d87ec7616e4adad869e1010389bb
() const
Eigen::VectorXd
GetEquality
classexotica_1_1EndPoseProblem.html
aa1541c875f4b446c3102379125b50e38
()
Eigen::MatrixXd
GetEqualityJacobian
classexotica_1_1EndPoseProblem.html
ac04e74b5ae15c23f786a2ed7adb6f040
()
Eigen::VectorXd
GetGoal
classexotica_1_1EndPoseProblem.html
acc17a3a13298120b990fe0f0ff83652a
(const std::string &task_name)
Eigen::VectorXd
GetGoalEQ
classexotica_1_1EndPoseProblem.html
ac5cf948ec4f82ffcaea3347890b4530c
(const std::string &task_name)
Eigen::VectorXd
GetGoalNEQ
classexotica_1_1EndPoseProblem.html
a5d1ef19f7af3d28e49e868dccf595016
(const std::string &task_name)
Eigen::VectorXd
GetInequality
classexotica_1_1EndPoseProblem.html
ab5856f38bcc27cbd586e0e79a6689fb3
()
Eigen::MatrixXd
GetInequalityJacobian
classexotica_1_1EndPoseProblem.html
a50071f2c8f15c213b001d1c2165aca90
()
double
GetRho
classexotica_1_1EndPoseProblem.html
a4d70f7f056a9743058217c55d398ccd6
(const std::string &task_name)
double
GetRhoEQ
classexotica_1_1EndPoseProblem.html
ac68e791023e3ca5e692eee8b4eca1dac
(const std::string &task_name)
double
GetRhoNEQ
classexotica_1_1EndPoseProblem.html
ab019ddda291528fb759903f9fbf89f9b
(const std::string &task_name)
double
GetScalarCost
classexotica_1_1EndPoseProblem.html
a4dd5f177d1b858b46b4cbd491c1d76fb
()
Eigen::RowVectorXd
GetScalarJacobian
classexotica_1_1EndPoseProblem.html
a706a167f49fe0e5b5013006c137fb63f
()
double
GetScalarTaskCost
classexotica_1_1EndPoseProblem.html
a917e00f8bb30fb7e18152da93783eabb
(const std::string &task_name) const
void
Instantiate
classexotica_1_1EndPoseProblem.html
a02a29fb6d44316936fbeb64263c23510
(const EndPoseProblemInitializer &init) override
bool
IsValid
classexotica_1_1EndPoseProblem.html
a3a29af2902f04e755e2b89ab6854bbbd
() override
void
PreUpdate
classexotica_1_1EndPoseProblem.html
ae9483abeff23b6527ade863542823e90
() override
void
SetGoal
classexotica_1_1EndPoseProblem.html
ada4a826a41c190dee9f22851a8d718c6
(const std::string &task_name, Eigen::VectorXdRefConst goal)
void
SetGoalEQ
classexotica_1_1EndPoseProblem.html
a9d9fd8c74be7f401bc958a29e2dea32d
(const std::string &task_name, Eigen::VectorXdRefConst goal)
void
SetGoalNEQ
classexotica_1_1EndPoseProblem.html
a57aac1c20a581d1779cb0866f19ec709
(const std::string &task_name, Eigen::VectorXdRefConst goal)
void
SetRho
classexotica_1_1EndPoseProblem.html
a7c6c5fb3abd816ce372daa6714d29b6c
(const std::string &task_name, const double &rho)
void
SetRhoEQ
classexotica_1_1EndPoseProblem.html
a7db9bbae49baf0862baecef8edbe36b0
(const std::string &task_name, const double &rho)
void
SetRhoNEQ
classexotica_1_1EndPoseProblem.html
a5c5fa94b41df5672adcda0b6bec0b894
(const std::string &task_name, const double &rho)
void
Update
classexotica_1_1EndPoseProblem.html
ad786d730813d5410c94c3e623e8bf8dc
(Eigen::VectorXdRefConst x)
virtual
~EndPoseProblem
classexotica_1_1EndPoseProblem.html
aeb474cb1a1912c34ca87ce423ce73e9e
()
EndPoseTask
cost
classexotica_1_1EndPoseProblem.html
aab6dd60073bc70ccf29bd28bc1980c6b
EndPoseTask
equality
classexotica_1_1EndPoseProblem.html
a002ef24334f1ba5895417cb7bff4ec14
Hessian
hessian
classexotica_1_1EndPoseProblem.html
ac0af03b258e94f32e7970b300e2708ca
EndPoseTask
inequality
classexotica_1_1EndPoseProblem.html
a3d6022f84494316e2228c7b8dd6e2bf4
Eigen::MatrixXd
jacobian
classexotica_1_1EndPoseProblem.html
a00584477c262c9a307177fc2b3f5a871
int
length_jacobian
classexotica_1_1EndPoseProblem.html
a873738033d2a68c3b94f8333e9f69da8
int
length_Phi
classexotica_1_1EndPoseProblem.html
a7e77d48c055799181570a8ec75a6cce8
int
num_tasks
classexotica_1_1EndPoseProblem.html
ab0e5d6257b3317ab2a15fd95eb71e419
TaskSpaceVector
Phi
classexotica_1_1EndPoseProblem.html
a9da1bfd76f224289782dd6305777dc30
bool
use_bounds
classexotica_1_1EndPoseProblem.html
a8f9954cf97c4e5842a971d86cf34ef02
Eigen::MatrixXd
W
classexotica_1_1EndPoseProblem.html
a5b7256592fd840eade49d333a7d843a0
exotica::EndPoseTask
structexotica_1_1EndPoseTask.html
exotica::Task
EndPoseTask
structexotica_1_1EndPoseTask.html
a8d24226dfbd95871e753ecf62c66445e
()=default
Eigen::VectorXd
GetGoal
structexotica_1_1EndPoseTask.html
ab7d580230bb0bbaaeafb87eda8fcd708
(const std::string &task_name) const
double
GetRho
structexotica_1_1EndPoseTask.html
afd00e93b9fa497185ef417929bd4a2f5
(const std::string &task_name) const
Eigen::MatrixXd
GetS
structexotica_1_1EndPoseTask.html
ac2653952cb654115c0f2690bffbae3d5
(const std::string &task_name) const
Eigen::VectorXd
GetTaskError
structexotica_1_1EndPoseTask.html
aaf8ee2e254a951c0c7fde05d956aa5ff
(const std::string &task_name) const
Eigen::MatrixXd
GetTaskJacobian
structexotica_1_1EndPoseTask.html
a49a54ba46f7e416736e640fc0313f938
(const std::string &task_name) const
virtual void
Initialize
structexotica_1_1EndPoseTask.html
a15adbc79a05248ba9d43135ca26c76fd
(const std::vector< exotica::Initializer > &inits, std::shared_ptr< PlanningProblem > prob, TaskSpaceVector &Phi)
void
SetGoal
structexotica_1_1EndPoseTask.html
af1f2bd601d0cfcdbb4cc646876a85441
(const std::string &task_name, Eigen::VectorXdRefConst goal)
void
SetRho
structexotica_1_1EndPoseTask.html
ad25b130619e28406ce5c60ce550f6c7a
(const std::string &task_name, const double rho_in)
void
Update
structexotica_1_1EndPoseTask.html
a2fc7d0d91bc70c06269973b1100653bb
(const TaskSpaceVector &big_Phi)
void
Update
structexotica_1_1EndPoseTask.html
a425724649f894eb82fbd1e3dc7a75f3d
(const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_jacobian)
void
Update
structexotica_1_1EndPoseTask.html
a5c5e764d91c642d0081a5268e403f16b
(const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_jacobian, HessianRefConst big_hessian)
void
UpdateS
structexotica_1_1EndPoseTask.html
a3f7b1d1e55dcb1a89079f5803307cd88
()
virtual
~EndPoseTask
structexotica_1_1EndPoseTask.html
ade9ee919ea3f0a5887b8daeb45f66789
()=default
Hessian
hessian
structexotica_1_1EndPoseTask.html
ae5313d236216d374450a7164f3bed10c
Eigen::MatrixXd
jacobian
structexotica_1_1EndPoseTask.html
abcfb506cbd709bd7dccdd0c475d49940
TaskSpaceVector
Phi
structexotica_1_1EndPoseTask.html
aa3ca084f2a979d434ecdf851b2d94a56
Eigen::VectorXd
rho
structexotica_1_1EndPoseTask.html
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Eigen::MatrixXd
S
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TaskSpaceVector
y
structexotica_1_1EndPoseTask.html
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Eigen::VectorXd
ydiff
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exotica::Exception
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Exception
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virtual const char *
what
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() const noexcept
std::string
msg_
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static ReportingType
reporting_
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std::shared_ptr< BaseClass >
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(const std::string &type)
std::vector< std::string >
GetDeclaredClasses
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()
void
RegisterType
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(const std::string &type, BaseClass *(*creator_function)())
static Factory< BaseClass > &
Instance
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(void)
Factory
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()
std::string
base_type_
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std::map< std::string, BaseClass *(*)()>
type_registry_
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friend class
Registrar< BaseClass >
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Factory< PlanningProblem >
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std::shared_ptr< PlanningProblem >
CreateInstance
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(const std::string &type)
std::vector< std::string >
GetDeclaredClasses
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void
RegisterType
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(const std::string &type, PlanningProblem *(*creator_function)())
static Factory< PlanningProblem > &
Instance
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(void)
Factory
classexotica_1_1Factory.html
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()
std::string
base_type_
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std::map< std::string, PlanningProblem *(*)()>
type_registry_
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friend class
Registrar< BaseClass >
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exotica::FeedbackMotionSolver
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exotica::MotionSolver
virtual Eigen::VectorXd
GetFeedbackControl
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HessianType
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JacobianType::Index
Index
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Matrix< Scalar, JacobianInputsAtCompileTime, 1 >
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Scalar
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ValuesAtCompileTime
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ValueType
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FiniteDiffChainHessian
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FiniteDiffChainHessian
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(const Functor &f, UpdateFunctionCallbackType update, Scalar epsfcn=0.)
FiniteDiffChainHessian
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FiniteDiffChainHessian
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(const T0 &a0, Scalar epsfcn=0.)
FiniteDiffChainHessian
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(Scalar epsfcn=0.)
FiniteDiffChainHessian
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FiniteDiffChainHessian
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FiniteDiffChainHessian
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(UpdateFunctionCallbackType update, Scalar epsfcn=0., const T0 &a0, const T1 &a1, const T2 &a2)
EIGEN_STRONG_INLINE int
operator()
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(const InputJacobianRowType &_jx, ValueType &v) const
int
operator()
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(const InputJacobianRowType &_jx, ValueType &v, JacobianType &jac) const
int
operator()
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(const InputJacobianRowType &_jx, ValueType &v, JacobianType &jac, HessianType &hess) const
Scalar
epsfcn_
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UpdateFunctionCallbackType
update_
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Eigen::FiniteDiffChainJacobian
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ValuesAtCompileTime
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JacobianInputsAtCompileTime
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JacobianType::Index
Index
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Matrix< Scalar, JacobianInputsAtCompileTime, 1 >
InputJacobianRowType
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Functor::InputType
InputType
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JacobianInputsAtCompileTime
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Matrix< Scalar, ValuesAtCompileTime, JacobianInputsAtCompileTime >
JacobianType
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ValueType::Scalar
Scalar
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std::function< void(const InputJacobianRowType &, InputType &)>
UpdateFunctionCallbackType
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ValuesAtCompileTime
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Functor::ValueType
ValueType
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FiniteDiffChainJacobian
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(const Functor &f, Scalar epsfcn=0.)
FiniteDiffChainJacobian
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FiniteDiffChainJacobian
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(const T0 &a0, const T1 &a1, const T2 &a2, Scalar epsfcn=0.)
FiniteDiffChainJacobian
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(const T0 &a0, const T1 &a1, Scalar epsfcn=0.)
FiniteDiffChainJacobian
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(const T0 &a0, Scalar epsfcn=0.)
FiniteDiffChainJacobian
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(Scalar epsfcn=0.)
FiniteDiffChainJacobian
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(UpdateFunctionCallbackType update, Scalar epsfcn=0., const T0 &a0)
FiniteDiffChainJacobian
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(UpdateFunctionCallbackType update, Scalar epsfcn=0., const T0 &a0, const T1 &a1)
FiniteDiffChainJacobian
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(UpdateFunctionCallbackType update, Scalar epsfcn=0., const T0 &a0, const T1 &a1, const T2 &a2)
EIGEN_STRONG_INLINE int
operator()
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(const InputJacobianRowType &_jx, ValueType &v) const
int
operator()
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(const InputJacobianRowType &_jx, ValueType &v, JacobianType &jac) const
Scalar
epsfcn_
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UpdateFunctionCallbackType
update_
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exotica::FunctorBase
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CompileTimeInputSize
CompileTimeValueSize
CompileTimeJacobianCols
JacobianColsAtCompileTime
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Eigen::Matrix< Scalar, CompileTimeInputSize, 1 >
InputType
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JacobianColsAtCompileTime
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Eigen::Matrix< Scalar, CompileTimeValueSize, 1 >
ValueType
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FunctorBase
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exotica::visualization::Geometry
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Geometry
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()=default
Geometry
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(const std::string &type_in, const std::string &uuid_in="")
std::string
type
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std::string
uuid
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exotica::visualization::GeometryBox
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exotica::visualization::Geometry
GeometryBox
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()
GeometryBox
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(double width_in, double height_in, double depth_in, const std::string &uuid_in="")
double
depth
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double
height
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double
width
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exotica::visualization::GeometryCylinder
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exotica::visualization::Geometry
GeometryCylinder
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()
GeometryCylinder
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(double radius_in, double height_in, int radialSegments_in=50, const std::string &uuid_in="")
double
height
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int
radialSegments
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double
radiusBottom
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double
radiusTop
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exotica::visualization::GeometryMesh
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exotica::visualization::Geometry
GeometryMesh
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()
GeometryMesh
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(const GeometryMesh &other)
GeometryMesh
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(const std::string &file_name_in, const std::string &url_in="", const std::string &format_in="", const std::string &uuid_in="")
GeometryMesh &
operator=
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(const GeometryMesh &other)
std::vector< char >
buffer
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msgpack_raw_ref
data
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std::string
file_name
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std::string
format
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std::vector< double >
matrix
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std::map< std::string, std::string >
resources
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std::string
url
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exotica::visualization::GeometryMeshBuffer
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GeometryMeshBuffer
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()
GeometryMeshBuffer
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(shapes::ShapePtr shape_in, const std::string &uuid_in="")
GeometryMeshBufferData
data
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std::vector< double >
matrix
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exotica::visualization::GeometryMeshBufferData
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GeometryMeshBufferData
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()=default
GeometryMeshBufferData
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(shapes::ShapePtr shape_in)
std::map< std::string, ArrayFloat >
attributes
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ArrayInt
index
structexotica_1_1visualization_1_1GeometryMeshBufferData.html
a585d4c6925e7e96ed598be22f2a9a956
exotica::visualization::GeometrySphere
structexotica_1_1visualization_1_1GeometrySphere.html
exotica::visualization::Geometry
GeometrySphere
structexotica_1_1visualization_1_1GeometrySphere.html
ab4ca37da6b60a4e38ad16caa4beecee3
()
GeometrySphere
structexotica_1_1visualization_1_1GeometrySphere.html
a6a357b77b180b8a2d777c96915dff3f1
(double radius_in, int widthSegments_in=50, int heightSegments_in=50, const std::string &uuid_in="")
int
heightSegments
structexotica_1_1visualization_1_1GeometrySphere.html
a485f38e2f589712dad9085d7ed4a07df
double
radius
structexotica_1_1visualization_1_1GeometrySphere.html
a57e23d62c76b18cce4e0378323380c55
int
widthSegments
structexotica_1_1visualization_1_1GeometrySphere.html
a60bed95c6dd2ebf834f261380b59d729
exotica::Initializer
classexotica_1_1Initializer.html
void
AddProperty
classexotica_1_1Initializer.html
a69dcf001b6440bfd6ec1662f61466b15
(const Property &prop)
const std::string &
GetName
classexotica_1_1Initializer.html
a47609d924e574ed041187a6c3be11094
() const
boost::any
GetProperty
classexotica_1_1Initializer.html
a5fd832061a378cee961106aceb4183a7
(const std::string &name) const
std::vector< std::string >
GetPropertyNames
classexotica_1_1Initializer.html
ad19f5c90e92e71cde76d5f487c23cccc
() const
bool
HasProperty
classexotica_1_1Initializer.html
a24c37304edeed46d47e46c679b5ab7bf
(const std::string &name) const
Initializer
classexotica_1_1Initializer.html
ad8a7446a4ccb872bfbf306700bf6a05d
()
Initializer
classexotica_1_1Initializer.html
a5d4b1c0f7aacc15b33f4f7dfba62b471
(const std::string &name)
Initializer
classexotica_1_1Initializer.html
ab1314cc9531d7f19014e50b52f9a5244
(const std::string &name, const std::map< std::string, boost::any > &properties)
void
SetName
classexotica_1_1Initializer.html
a666d2947b2b17dfd92c9a9005dbb76b4
(const std::string &name)
void
SetProperty
classexotica_1_1Initializer.html
ac36eacb8085246cc5b25a100d0348d4b
(const std::string &name, boost::any)
std::string
name_
classexotica_1_1Initializer.html
a856bb1f8637c7d551953f83086827347
std::map< std::string, Property >
properties_
classexotica_1_1Initializer.html
a8b3345024b539bac31fd6e770e77275f
exotica::InitializerBase
classexotica_1_1InitializerBase.html
virtual void
Check
classexotica_1_1InitializerBase.html
a573c364dcaa73f2ab1840dee8ec06c22
(const Initializer &other) const =0
virtual std::vector< Initializer >
GetAllTemplates
classexotica_1_1InitializerBase.html
ab5357af52754c9417a6720a23c0e471b
() const =0
virtual Initializer
GetTemplate
classexotica_1_1InitializerBase.html
a3e0513df6557ef9224b5f9dfb34d7b1f
() const =0
InitializerBase
classexotica_1_1InitializerBase.html
a3f002895a094ad9b75601502dd4085a0
()=default
virtual
~InitializerBase
classexotica_1_1InitializerBase.html
a8be0c547558d53765c632b3184294428
()=default
exotica::Instantiable
classexotica_1_1Instantiable.html
exotica::InstantiableBase
std::vector< Initializer >
GetAllTemplates
classexotica_1_1Instantiable.html
a251401189559e5598436a42ee6ead412
() const override
Initializer
GetInitializerTemplate
classexotica_1_1Instantiable.html
a75e20d4500abdcec6a6a61312c08730d
() override
const C &
GetParameters
classexotica_1_1Instantiable.html
aeee8891224bd9624ca2b79f16f6cc68e
() const
virtual void
Instantiate
classexotica_1_1Instantiable.html
a4d6322162962e48a2c4bc187bdff25bc
(const C &init)
void
InstantiateInternal
classexotica_1_1Instantiable.html
a7871d0d32782e202615312848938d61f
(const Initializer &init) override
C
parameters_
classexotica_1_1Instantiable.html
aa2d71772c0b51e17b7907591ebcdb844
Instantiable< BoundedEndPoseProblemInitializer >
classexotica_1_1Instantiable.html
exotica::InstantiableBase
std::vector< Initializer >
GetAllTemplates
classexotica_1_1Instantiable.html
a251401189559e5598436a42ee6ead412
() const override
Initializer
GetInitializerTemplate
classexotica_1_1Instantiable.html
a75e20d4500abdcec6a6a61312c08730d
() override
const BoundedEndPoseProblemInitializer &
GetParameters
classexotica_1_1Instantiable.html
aeee8891224bd9624ca2b79f16f6cc68e
() const
virtual void
Instantiate
classexotica_1_1Instantiable.html
a4d6322162962e48a2c4bc187bdff25bc
(const BoundedEndPoseProblemInitializer &init)
void
InstantiateInternal
classexotica_1_1Instantiable.html
a7871d0d32782e202615312848938d61f
(const Initializer &init) override
BoundedEndPoseProblemInitializer
parameters_
classexotica_1_1Instantiable.html
aa2d71772c0b51e17b7907591ebcdb844
Instantiable< BoundedTimeIndexedProblemInitializer >
classexotica_1_1Instantiable.html
exotica::InstantiableBase
std::vector< Initializer >
GetAllTemplates
classexotica_1_1Instantiable.html
a251401189559e5598436a42ee6ead412
() const override
Initializer
GetInitializerTemplate
classexotica_1_1Instantiable.html
a75e20d4500abdcec6a6a61312c08730d
() override
const BoundedTimeIndexedProblemInitializer &
GetParameters
classexotica_1_1Instantiable.html
aeee8891224bd9624ca2b79f16f6cc68e
() const
virtual void
Instantiate
classexotica_1_1Instantiable.html
a4d6322162962e48a2c4bc187bdff25bc
(const BoundedTimeIndexedProblemInitializer &init)
void
InstantiateInternal
classexotica_1_1Instantiable.html
a7871d0d32782e202615312848938d61f
(const Initializer &init) override
BoundedTimeIndexedProblemInitializer
parameters_
classexotica_1_1Instantiable.html
aa2d71772c0b51e17b7907591ebcdb844
Instantiable< DynamicTimeIndexedShootingProblemInitializer >
classexotica_1_1Instantiable.html
exotica::InstantiableBase
std::vector< Initializer >
GetAllTemplates
classexotica_1_1Instantiable.html
a251401189559e5598436a42ee6ead412
() const override
Initializer
GetInitializerTemplate
classexotica_1_1Instantiable.html
a75e20d4500abdcec6a6a61312c08730d
() override
const DynamicTimeIndexedShootingProblemInitializer &
GetParameters
classexotica_1_1Instantiable.html
aeee8891224bd9624ca2b79f16f6cc68e
() const
virtual void
Instantiate
classexotica_1_1Instantiable.html
a4d6322162962e48a2c4bc187bdff25bc
(const DynamicTimeIndexedShootingProblemInitializer &init)
void
InstantiateInternal
classexotica_1_1Instantiable.html
a7871d0d32782e202615312848938d61f
(const Initializer &init) override
DynamicTimeIndexedShootingProblemInitializer
parameters_
classexotica_1_1Instantiable.html
aa2d71772c0b51e17b7907591ebcdb844
Instantiable< EndPoseProblemInitializer >
classexotica_1_1Instantiable.html
exotica::InstantiableBase
std::vector< Initializer >
GetAllTemplates
classexotica_1_1Instantiable.html
a251401189559e5598436a42ee6ead412
() const override
Initializer
GetInitializerTemplate
classexotica_1_1Instantiable.html
a75e20d4500abdcec6a6a61312c08730d
() override
const EndPoseProblemInitializer &
GetParameters
classexotica_1_1Instantiable.html
aeee8891224bd9624ca2b79f16f6cc68e
() const
virtual void
Instantiate
classexotica_1_1Instantiable.html
a4d6322162962e48a2c4bc187bdff25bc
(const EndPoseProblemInitializer &init)
void
InstantiateInternal
classexotica_1_1Instantiable.html
a7871d0d32782e202615312848938d61f
(const Initializer &init) override
EndPoseProblemInitializer
parameters_
classexotica_1_1Instantiable.html
aa2d71772c0b51e17b7907591ebcdb844
Instantiable< SamplingProblemInitializer >
classexotica_1_1Instantiable.html
exotica::InstantiableBase
std::vector< Initializer >
GetAllTemplates
classexotica_1_1Instantiable.html
a251401189559e5598436a42ee6ead412
() const override
Initializer
GetInitializerTemplate
classexotica_1_1Instantiable.html
a75e20d4500abdcec6a6a61312c08730d
() override
const SamplingProblemInitializer &
GetParameters
classexotica_1_1Instantiable.html
aeee8891224bd9624ca2b79f16f6cc68e
() const
virtual void
Instantiate
classexotica_1_1Instantiable.html
a4d6322162962e48a2c4bc187bdff25bc
(const SamplingProblemInitializer &init)
void
InstantiateInternal
classexotica_1_1Instantiable.html
a7871d0d32782e202615312848938d61f
(const Initializer &init) override
SamplingProblemInitializer
parameters_
classexotica_1_1Instantiable.html
aa2d71772c0b51e17b7907591ebcdb844
Instantiable< SceneInitializer >
classexotica_1_1Instantiable.html
exotica::InstantiableBase
std::vector< Initializer >
GetAllTemplates
classexotica_1_1Instantiable.html
a251401189559e5598436a42ee6ead412
() const override
Initializer
GetInitializerTemplate
classexotica_1_1Instantiable.html
a75e20d4500abdcec6a6a61312c08730d
() override
const SceneInitializer &
GetParameters
classexotica_1_1Instantiable.html
aeee8891224bd9624ca2b79f16f6cc68e
() const
virtual void
Instantiate
classexotica_1_1Instantiable.html
a4d6322162962e48a2c4bc187bdff25bc
(const SceneInitializer &init)
void
InstantiateInternal
classexotica_1_1Instantiable.html
a7871d0d32782e202615312848938d61f
(const Initializer &init) override
SceneInitializer
parameters_
classexotica_1_1Instantiable.html
aa2d71772c0b51e17b7907591ebcdb844
Instantiable< TimeIndexedProblemInitializer >
classexotica_1_1Instantiable.html
exotica::InstantiableBase
std::vector< Initializer >
GetAllTemplates
classexotica_1_1Instantiable.html
a251401189559e5598436a42ee6ead412
() const override
Initializer
GetInitializerTemplate
classexotica_1_1Instantiable.html
a75e20d4500abdcec6a6a61312c08730d
() override
const TimeIndexedProblemInitializer &
GetParameters
classexotica_1_1Instantiable.html
aeee8891224bd9624ca2b79f16f6cc68e
() const
virtual void
Instantiate
classexotica_1_1Instantiable.html
a4d6322162962e48a2c4bc187bdff25bc
(const TimeIndexedProblemInitializer &init)
void
InstantiateInternal
classexotica_1_1Instantiable.html
a7871d0d32782e202615312848938d61f
(const Initializer &init) override
TimeIndexedProblemInitializer
parameters_
classexotica_1_1Instantiable.html
aa2d71772c0b51e17b7907591ebcdb844
Instantiable< TimeIndexedSamplingProblemInitializer >
classexotica_1_1Instantiable.html
exotica::InstantiableBase
std::vector< Initializer >
GetAllTemplates
classexotica_1_1Instantiable.html
a251401189559e5598436a42ee6ead412
() const override
Initializer
GetInitializerTemplate
classexotica_1_1Instantiable.html
a75e20d4500abdcec6a6a61312c08730d
() override
const TimeIndexedSamplingProblemInitializer &
GetParameters
classexotica_1_1Instantiable.html
aeee8891224bd9624ca2b79f16f6cc68e
() const
virtual void
Instantiate
classexotica_1_1Instantiable.html
a4d6322162962e48a2c4bc187bdff25bc
(const TimeIndexedSamplingProblemInitializer &init)
void
InstantiateInternal
classexotica_1_1Instantiable.html
a7871d0d32782e202615312848938d61f
(const Initializer &init) override
TimeIndexedSamplingProblemInitializer
parameters_
classexotica_1_1Instantiable.html
aa2d71772c0b51e17b7907591ebcdb844
Instantiable< UnconstrainedEndPoseProblemInitializer >
classexotica_1_1Instantiable.html
exotica::InstantiableBase
std::vector< Initializer >
GetAllTemplates
classexotica_1_1Instantiable.html
a251401189559e5598436a42ee6ead412
() const override
Initializer
GetInitializerTemplate
classexotica_1_1Instantiable.html
a75e20d4500abdcec6a6a61312c08730d
() override
const UnconstrainedEndPoseProblemInitializer &
GetParameters
classexotica_1_1Instantiable.html
aeee8891224bd9624ca2b79f16f6cc68e
() const
virtual void
Instantiate
classexotica_1_1Instantiable.html
a4d6322162962e48a2c4bc187bdff25bc
(const UnconstrainedEndPoseProblemInitializer &init)
void
InstantiateInternal
classexotica_1_1Instantiable.html
a7871d0d32782e202615312848938d61f
(const Initializer &init) override
UnconstrainedEndPoseProblemInitializer
parameters_
classexotica_1_1Instantiable.html
aa2d71772c0b51e17b7907591ebcdb844
Instantiable< UnconstrainedTimeIndexedProblemInitializer >
classexotica_1_1Instantiable.html
exotica::InstantiableBase
std::vector< Initializer >
GetAllTemplates
classexotica_1_1Instantiable.html
a251401189559e5598436a42ee6ead412
() const override
Initializer
GetInitializerTemplate
classexotica_1_1Instantiable.html
a75e20d4500abdcec6a6a61312c08730d
() override
const UnconstrainedTimeIndexedProblemInitializer &
GetParameters
classexotica_1_1Instantiable.html
aeee8891224bd9624ca2b79f16f6cc68e
() const
virtual void
Instantiate
classexotica_1_1Instantiable.html
a4d6322162962e48a2c4bc187bdff25bc
(const UnconstrainedTimeIndexedProblemInitializer &init)
void
InstantiateInternal
classexotica_1_1Instantiable.html
a7871d0d32782e202615312848938d61f
(const Initializer &init) override
UnconstrainedTimeIndexedProblemInitializer
parameters_
classexotica_1_1Instantiable.html
aa2d71772c0b51e17b7907591ebcdb844
exotica::InstantiableBase
classexotica_1_1InstantiableBase.html
virtual std::vector< Initializer >
GetAllTemplates
classexotica_1_1InstantiableBase.html
a2482933f368afb1ddb0209c92282a4ae
() const =0
virtual Initializer
GetInitializerTemplate
classexotica_1_1InstantiableBase.html
a551a68c08addddf5d0d4881a03fe6ad7
()=0
InstantiableBase
classexotica_1_1InstantiableBase.html
a2106f79335dad049ab4193acdccc6d56
()=default
virtual void
InstantiateBase
classexotica_1_1InstantiableBase.html
aca92715caadbfed4d9d5ff1abac509fa
(const Initializer &init)
virtual void
InstantiateInternal
classexotica_1_1InstantiableBase.html
aecee2b2a007405c7b4c37c1042f602bc
(const Initializer &init)=0
virtual
~InstantiableBase
classexotica_1_1InstantiableBase.html
a91f964f837854c16e37133a6d51825de
()=default
exotica::visualization::Key
structexotica_1_1visualization_1_1Key.html
Key
structexotica_1_1visualization_1_1Key.html
ace71a2889fb47a555a5e87776c9977f4
()=default
Key
structexotica_1_1visualization_1_1Key.html
a1784bc357e0204b3d09b0e30c0f5d042
(double time_in, const std::vector< double > &value_in)
MSGPACK_DEFINE
structexotica_1_1visualization_1_1Key.html
a74b8d359e0f201a2d42a5d690f17c4f2
(time, value)
double
time
structexotica_1_1visualization_1_1Key.html
ad8486c6d18d621801f98ab07493a16f8
std::vector< double >
value
structexotica_1_1visualization_1_1Key.html
a45d0cc1b304db9a7748b2f76baddb8fe
exotica::KinematicElement
classexotica_1_1KinematicElement.html
KDL::Frame
GetPose
classexotica_1_1KinematicElement.html
a1ea129bc6c77c468fd591952fd6a060e
(const double &x=0.0)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
KinematicElement
classexotica_1_1KinematicElement.html
ad4f142b8ef2a8886a050ff06fd004f5f
(int _id, std::shared_ptr< KinematicElement > _parent, const KDL::Segment &_segment)
void
RemoveExpiredChildren
classexotica_1_1KinematicElement.html
a468b2df36cb29076597ab9b70517dca6
()
void
UpdateClosestRobotLink
classexotica_1_1KinematicElement.html
ac9f1d9a3fa908ad4e69263f6db74c21e
()
~KinematicElement
classexotica_1_1KinematicElement.html
adec7328f97e598713b3d645a9b8650b3
()
double
acceleration_limit
classexotica_1_1KinematicElement.html
a393df2c1cdd24e7b33359c56669e8ddb
std::vector< std::weak_ptr< KinematicElement > >
children
classexotica_1_1KinematicElement.html
aacccfa9964eb280cc4d534e11d176956
std::weak_ptr< KinematicElement >
closest_robot_link
classexotica_1_1KinematicElement.html
a106c55b24cefd5168f62efe6b8299445
Eigen::Vector4d
color
classexotica_1_1KinematicElement.html
ada156f4c02d381dbbe54fa976ccd20bb
int
control_id
classexotica_1_1KinematicElement.html
a74f6d512a0c984bc0310e1d62920286c
KDL::Frame
frame
classexotica_1_1KinematicElement.html
a090d1d217d7642aac802d681ffea5a81
KDL::Frame
generated_offset
classexotica_1_1KinematicElement.html
ae0d9e3539dfc361e66065275a8a7dd44
int
id
classexotica_1_1KinematicElement.html
a42a58042b9e02affa61610cd78711999
bool
is_controlled
classexotica_1_1KinematicElement.html
a5259060a712b235795a6ce921f17ba35
bool
is_robot_link
classexotica_1_1KinematicElement.html
af9cc9b43a4d38757491c823537241465
bool
is_trajectory_generated
classexotica_1_1KinematicElement.html
a20872d70704d4d548a638add49a71d6e
std::vector< double >
joint_limits
classexotica_1_1KinematicElement.html
afd7fc22ab7520f4dbdf6b7995b200117
std::weak_ptr< KinematicElement >
parent
classexotica_1_1KinematicElement.html
aade87aa843ec4d10458e6c63240a8ea0
std::string
parent_name
classexotica_1_1KinematicElement.html
a1a4a3333141d6d86316ea080d0ad9e5f
Eigen::Vector3d
scale
classexotica_1_1KinematicElement.html
a2dd8ccba386199a5626cddaf90694c70
KDL::Segment
segment
classexotica_1_1KinematicElement.html
a351f22b804c92b2cee8de20a89a257cc
shapes::ShapeConstPtr
shape
classexotica_1_1KinematicElement.html
aca07e0679ffe88dbb8063d3e4f3554f3
std::string
shape_resource_path
classexotica_1_1KinematicElement.html
a838b51ae09aee0d7d862e2b6fe730c25
double
velocity_limit
classexotica_1_1KinematicElement.html
a06b969998667efdbf7025877729e461d
std::vector< VisualElement >
visual
classexotica_1_1KinematicElement.html
a27c26a107d801a2b8f486befdffd0dfb
void
SetChildrenClosestRobotLink
classexotica_1_1KinematicElement.html
acf50cff668742d411dce3fa82d937dc8
()
exotica::KinematicFrame
structexotica_1_1KinematicFrame.html
std::weak_ptr< KinematicElement >
frame_A
structexotica_1_1KinematicFrame.html
aad17e0845e855088f54a9fb4fb5c5d0d
KDL::Frame
frame_A_offset
structexotica_1_1KinematicFrame.html
a231537bf8f1a4c59f4ff865b9862a7cf
std::weak_ptr< KinematicElement >
frame_B
structexotica_1_1KinematicFrame.html
aa8805fb89c2a5f834c476bef8d4d8e26
KDL::Frame
frame_B_offset
structexotica_1_1KinematicFrame.html
a248fa4a59846407d9980ff384bc85fbb
KDL::Frame
temp_A
structexotica_1_1KinematicFrame.html
a6f5bc2f4a525925ddceca86a70f9f93f
KDL::Frame
temp_AB
structexotica_1_1KinematicFrame.html
a22223f0b107b5e187570754f88d8435c
KDL::Frame
temp_B
structexotica_1_1KinematicFrame.html
af7bd1b19854104e17918c9788f6d910c
exotica::KinematicFrameRequest
structexotica_1_1KinematicFrameRequest.html
KinematicFrameRequest
structexotica_1_1KinematicFrameRequest.html
a984cf5077f23e81106c94d39dd3ebb93
()
KinematicFrameRequest
structexotica_1_1KinematicFrameRequest.html
a710f7fac53620637771a05ec3a9f4f94
(std::string _frame_A_link_name, KDL::Frame _frame_A_offset=KDL::Frame(), std::string _frame_B_link_name="", KDL::Frame _frame_B_offset=KDL::Frame())
std::string
frame_A_link_name
structexotica_1_1KinematicFrameRequest.html
ab88b8193ab2a35997f4a056c8ecd89b3
KDL::Frame
frame_A_offset
structexotica_1_1KinematicFrameRequest.html
af3dc13b2d6027075bdddaea8ccfa7ca0
std::string
frame_B_link_name
structexotica_1_1KinematicFrameRequest.html
a3c2a604cac6ce24f4964a834b38c512c
KDL::Frame
frame_B_offset
structexotica_1_1KinematicFrameRequest.html
ae0b331279efb43eaa15e780eef2fa527
exotica::KinematicResponse
structexotica_1_1KinematicResponse.html
KinematicResponse
structexotica_1_1KinematicResponse.html
a3fe381d9d0f47f0e851eaf4c2c482206
()
KinematicResponse
structexotica_1_1KinematicResponse.html
a7c062a4a70d50d468f24b894cc416248
(KinematicRequestFlags _flags, int _size, int _N=0)
KinematicRequestFlags
flags
structexotica_1_1KinematicResponse.html
a5cb5012599d008e0f6f5d6c9fa84cf21
std::vector< KinematicFrame >
frame
structexotica_1_1KinematicResponse.html
a2dd70ea278fcfb948ea0384cd1d41dcd
ArrayHessian
hessian
structexotica_1_1KinematicResponse.html
aca2041dd469d48b6b705e657cb20f081
ArrayJacobian
jacobian
structexotica_1_1KinematicResponse.html
a797455fe6d225bff0699874b6f9b0583
ArrayFrame
Phi
structexotica_1_1KinematicResponse.html
aff34f5630a82c72e61dbde90feecdc15
ArrayTwist
Phi_dot
structexotica_1_1KinematicResponse.html
afbe54d77b5c8bda51d41c3a3c2d7c0f6
Eigen::VectorXd
x
structexotica_1_1KinematicResponse.html
a563503ddfd0667524b43b3769b87c644
exotica::KinematicSolution
classexotica_1_1KinematicSolution.html
void
Create
classexotica_1_1KinematicSolution.html
a09c60df31b366c42ee84d64c6a028dcd
(std::shared_ptr< KinematicResponse > solution)
KinematicSolution
classexotica_1_1KinematicSolution.html
a44353b0ad06fc19bd269bdc55d2f12d7
()
KinematicSolution
classexotica_1_1KinematicSolution.html
aa2ed9d7b4c6cc2e977b85fdc972cd29e
(int start, int length)
Eigen::Map< ArrayHessian >
hessian
classexotica_1_1KinematicSolution.html
a6543283a924915c2846d4ddaf7277e12
Eigen::Map< ArrayJacobian >
jacobian
classexotica_1_1KinematicSolution.html
a94086a3d7c71b5bdb96d91b3befa6bdf
int
length
classexotica_1_1KinematicSolution.html
af2bb483d73568df5064012dd8710436b
Eigen::Map< ArrayFrame >
Phi
classexotica_1_1KinematicSolution.html
a47b557ab535858058bdd33f0a8093973
Eigen::Map< ArrayTwist >
Phi_dot
classexotica_1_1KinematicSolution.html
a14431e44d45d861990c69c7492a55f4e
int
start
classexotica_1_1KinematicSolution.html
a129185da40fc20deee3fdc3aa02a112f
Eigen::Map< Eigen::VectorXd >
X
classexotica_1_1KinematicSolution.html
a8702462df478617694e92d1569836715
exotica::KinematicsRequest
structexotica_1_1KinematicsRequest.html
KinematicsRequest
structexotica_1_1KinematicsRequest.html
a52f4f19d72bde177dcdcc84a46f43e6d
()
KinematicRequestFlags
flags
structexotica_1_1KinematicsRequest.html
a91e82491ece0c489d49a9a7f28b739cd
std::vector< KinematicFrameRequest >
frames
structexotica_1_1KinematicsRequest.html
a11838915d3042ae2a845d77eca3e203a
exotica::KinematicTree
classexotica_1_1KinematicTree.html
exotica::Uncopyable
std::shared_ptr< KinematicElement >
AddElement
classexotica_1_1KinematicTree.html
a69934d96d2747399fba11c9a7bad1918
(const std::string &name, const Eigen::Isometry3d &transform, const std::string &parent, const std::string &shape_resource_path, Eigen::Vector3d scale=Eigen::Vector3d::Ones(), const KDL::RigidBodyInertia &inertia=KDL::RigidBodyInertia::Zero(), const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const std::vector< VisualElement > &visual={}, bool is_controlled=false)
std::shared_ptr< KinematicElement >
AddElement
classexotica_1_1KinematicTree.html
aa38edbea7248f6f778c56fd002c6ce13
(const std::string &name, const Eigen::Isometry3d &transform, const std::string &parent="", shapes::ShapeConstPtr shape=shapes::ShapeConstPtr(nullptr), const KDL::RigidBodyInertia &inertia=KDL::RigidBodyInertia::Zero(), const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const std::vector< VisualElement > &visual={}, bool is_controlled=false)
std::shared_ptr< KinematicElement >
AddEnvironmentElement
classexotica_1_1KinematicTree.html
aa17b421cea7c0973553888d23301c6bd
(const std::string &name, const Eigen::Isometry3d &transform, const std::string &parent="", shapes::ShapeConstPtr shape=shapes::ShapeConstPtr(nullptr), const KDL::RigidBodyInertia &inertia=KDL::RigidBodyInertia::Zero(), const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const std::vector< VisualElement > &visual={}, bool is_controlled=false)
void
ChangeParent
classexotica_1_1KinematicTree.html
a068e629952e228d26261eb94e502dbf0
(const std::string &name, const std::string &parent, const KDL::Frame &pose, bool relative)
bool
DoesLinkWithNameExist
classexotica_1_1KinematicTree.html
a67ccd39b804da73f85c4e904f2110424
(std::string name) const
std::shared_ptr< KinematicElement >
FindKinematicElementByName
classexotica_1_1KinematicTree.html
ae5a9bd949fa2a1db1bbbc1c58a36f010
(const std::string &frame_name)
KDL::Frame
FK
classexotica_1_1KinematicTree.html
adf83cc1eb3fcd9163148bb78e4ae332b
(const std::string &element_A, const KDL::Frame &offset_a, const std::string &element_B, const KDL::Frame &offset_b) const
KDL::Frame
FK
classexotica_1_1KinematicTree.html
ab6f7f6c8bf51299785fefee03428fb3b
(KinematicFrame &frame) const
KDL::Frame
FK
classexotica_1_1KinematicTree.html
a9ebb6b52c58b6acd7541825c89a96bdc
(std::shared_ptr< KinematicElement > element_A, const KDL::Frame &offset_a, std::shared_ptr< KinematicElement > element_B, const KDL::Frame &offset_b) const
const Eigen::VectorXd &
GetAccelerationLimits
classexotica_1_1KinematicTree.html
a2d4c5e5891d090cc255f614102124815
() const
std::map< std::string, shapes::ShapeType >
GetCollisionObjectTypes
classexotica_1_1KinematicTree.html
ae7869058c518c3ab06c551458884fc30
() const
const std::map< std::string, std::weak_ptr< KinematicElement > > &
GetCollisionTreeMap
classexotica_1_1KinematicTree.html
a551070477c424193a0f941745eea7b7c
() const
BaseType
GetControlledBaseType
classexotica_1_1KinematicTree.html
a7587e4631c98e5e14ec64548130b86b3
() const
const std::vector< std::string > &
GetControlledJointNames
classexotica_1_1KinematicTree.html
aca3ec2864e59742a9206b37324d48cd7
() const
const std::vector< std::weak_ptr< KinematicElement > > &
GetControlledJoints
classexotica_1_1KinematicTree.html
a015596b95d13ea78f21c78d6e1d6dee3
() const
const std::map< std::string, std::weak_ptr< KinematicElement > > &
GetControlledJointsMap
classexotica_1_1KinematicTree.html
af1bf84c809a9ab9303f9326441f2187a
() const
Eigen::VectorXd
GetControlledLinkMass
classexotica_1_1KinematicTree.html
a879f7cef4312881ed60ae7fd802188b5
() const
const std::vector< std::string > &
GetControlledLinkNames
classexotica_1_1KinematicTree.html
a5616d8f6f2c2fe0221948b5533a1220e
() const
Eigen::VectorXd
GetControlledState
classexotica_1_1KinematicTree.html
ae746aade919ff9a90399f7706c18d280
() const
const Eigen::MatrixXd &
GetJointLimits
classexotica_1_1KinematicTree.html
a17fc03ce91ca1b63000fad86d55a62ac
() const
std::vector< std::string >
GetKinematicChain
classexotica_1_1KinematicTree.html
a98b7d57941baee43acac2d04180668cd
(const std::string &begin, const std::string &end) const
std::vector< std::string >
GetKinematicChainLinks
classexotica_1_1KinematicTree.html
ae2dec293260718a762550904e06791a9
(const std::string &begin, const std::string &end) const
std::shared_ptr< KinematicResponse >
GetKinematicResponse
classexotica_1_1KinematicTree.html
a54cc5495c7c09d2c4c112236766ed2bb
()
BaseType
GetModelBaseType
classexotica_1_1KinematicTree.html
a9b4d49f705106f8116be521fbc29c37f
() const
const std::vector< std::string > &
GetModelJointNames
classexotica_1_1KinematicTree.html
a29271354954c40b4834687959c9d7e21
() const
const std::map< std::string, std::weak_ptr< KinematicElement > > &
GetModelJointsMap
classexotica_1_1KinematicTree.html
ac4df35855550ad2442e4fa07041029f0
() const
const std::vector< std::string > &
GetModelLinkNames
classexotica_1_1KinematicTree.html
a14332fbc516d21337be2cf7e4349ebf4
() const
Eigen::VectorXd
GetModelState
classexotica_1_1KinematicTree.html
a1d23694f497e6b5dd88e6c8ccb734b8f
() const
std::map< std::string, double >
GetModelStateMap
classexotica_1_1KinematicTree.html
a5ed12065c24e08b226335ad41306d3b7
() const
const std::vector< std::shared_ptr< KinematicElement > > &
GetModelTree
classexotica_1_1KinematicTree.html
a700504489d2453cc3580ea70ec030595
() const
int
GetNumControlledJoints
classexotica_1_1KinematicTree.html
a1e4fda1580cb704a36694a836c65b578
() const
int
GetNumModelJoints
classexotica_1_1KinematicTree.html
a65a9085d5a9f96c2d4dfe1a8cf1a5bbf
() const
Eigen::VectorXd
GetRandomControlledState
classexotica_1_1KinematicTree.html
a35d6ba13db602a29fa323a160b2466d1
()
robot_model::RobotModelPtr
GetRobotModel
classexotica_1_1KinematicTree.html
a7c60b02d5349882450cc71ad4208ebfb
() const
const std::string &
GetRootFrameName
classexotica_1_1KinematicTree.html
a2bfa7ecf540f6bb5d46f2d208d01f8af
() const
const std::string &
GetRootJointName
classexotica_1_1KinematicTree.html
adab8a2dea866dbc070088661a7a977b5
() const
const std::vector< std::weak_ptr< KinematicElement > > &
GetTree
classexotica_1_1KinematicTree.html
abc0d260c020a64723d3e10b1bf1ff4b6
() const
const std::map< std::string, std::weak_ptr< KinematicElement > > &
GetTreeMap
classexotica_1_1KinematicTree.html
a4252f60ea6d24d671e2db470e84efa5e
() const
std::map< std::string, std::vector< double > >
GetUsedJointLimits
classexotica_1_1KinematicTree.html
ab05be04e14a22502407b96169646400f
() const
const Eigen::VectorXd &
GetVelocityLimits
classexotica_1_1KinematicTree.html
a6ad0e122ef67dbe55ce5022e34cc4549
() const
const bool &
HasAccelerationLimits
classexotica_1_1KinematicTree.html
a23515127173ae816256db70d298dc0f3
() const
bool
HasModelLink
classexotica_1_1KinematicTree.html
a2f7c1673ab7dd5614e8b49cedda63006
(const std::string &link) const
exotica::Hessian
Hessian
classexotica_1_1KinematicTree.html
a5d1e4a4cc8ebedbfd8ed0f77961b5a0d
(const std::string &element_A, const KDL::Frame &offset_a, const std::string &element_B, const KDL::Frame &offset_b) const
exotica::Hessian
Hessian
classexotica_1_1KinematicTree.html
a861804f5cd26ac916b591cd752f79b02
(std::shared_ptr< KinematicElement > element_A, const KDL::Frame &offset_a, std::shared_ptr< KinematicElement > element_B, const KDL::Frame &offset_b) const
void
Instantiate
classexotica_1_1KinematicTree.html
af3e0e521433b030b5aebec2ce05109e7
(const std::string &joint_group, robot_model::RobotModelPtr model, const std::string &name)
int
IsControlled
classexotica_1_1KinematicTree.html
ace8e69bd5ff0f66f8d74269f985f211e
(std::shared_ptr< KinematicElement > joint)
int
IsControlledLink
classexotica_1_1KinematicTree.html
a138f971631c03566d2abf46938a1deb7
(const std::string &link_name)
Eigen::MatrixXd
Jacobian
classexotica_1_1KinematicTree.html
a42e7679f9d2d58774c00d544def51b61
(const std::string &element_A, const KDL::Frame &offset_a, const std::string &element_B, const KDL::Frame &offset_b) const
Eigen::MatrixXd
Jacobian
classexotica_1_1KinematicTree.html
a52e79e35e8619014e9de725049f2834e
(std::shared_ptr< KinematicElement > element_A, const KDL::Frame &offset_a, std::shared_ptr< KinematicElement > element_B, const KDL::Frame &offset_b) const
void
PublishFrames
classexotica_1_1KinematicTree.html
a501ec7888eb0e53013f58d1eee82aa20
(const std::string &tf_prefix="exotica")
std::shared_ptr< KinematicResponse >
RequestFrames
classexotica_1_1KinematicTree.html
a96092c8eef49bff0c24e760139e42d1f
(const KinematicsRequest &request)
void
ResetJointLimits
classexotica_1_1KinematicTree.html
a2d8ee3928cfd0f82f028372d939b3e59
()
void
ResetModel
classexotica_1_1KinematicTree.html
a8f616e48b3c1512e341fb44023321dc2
()
void
SetFloatingBaseLimitsPosXYZEulerZYX
classexotica_1_1KinematicTree.html
abbe4d7e9353bde73ec7c1bef38351afc
(const std::vector< double > &lower, const std::vector< double > &upper)
void
SetFloatingBaseLimitsPosXYZEulerZYX
classexotica_1_1KinematicTree.html
a761df425cb0ebd0954490bc08518f4f1
(const std::vector< double > &lower, const std::vector< double > &upper, const std::vector< double > &velocity, const std::vector< double > &acceleration)
void
SetJointAccelerationLimits
classexotica_1_1KinematicTree.html
a3695de16424c8fe4ae37c42556edd09b
(Eigen::VectorXdRefConst acceleration_in)
void
SetJointLimitsLower
classexotica_1_1KinematicTree.html
ab93a61ab0308dde38a4e83155b7d06d4
(Eigen::VectorXdRefConst lower_in)
void
SetJointLimitsUpper
classexotica_1_1KinematicTree.html
a28c18ff5d04cd9344194a0a8f4ec7af2
(Eigen::VectorXdRefConst upper_in)
void
SetJointVelocityLimits
classexotica_1_1KinematicTree.html
a9c96747513a25f1a462972c316544585
(Eigen::VectorXdRefConst velocity_in)
void
SetKinematicResponse
classexotica_1_1KinematicTree.html
ac17e05eb23eb801740c2f669edb47207
(std::shared_ptr< KinematicResponse > response_in)
void
SetModelState
classexotica_1_1KinematicTree.html
af68b9713793ac07bf2d58450ef56f77a
(const std::map< std::string, double > &x)
void
SetModelState
classexotica_1_1KinematicTree.html
a2b157948e520045ae5794d3db7504995
(Eigen::VectorXdRefConst x)
void
SetPlanarBaseLimitsPosXYEulerZ
classexotica_1_1KinematicTree.html
af15b32b3d8d7e3d3da44082893163a16
(const std::vector< double > &lower, const std::vector< double > &upper)
void
SetPlanarBaseLimitsPosXYEulerZ
classexotica_1_1KinematicTree.html
a28cb68930fa235b7094ab2c0ac913f3a
(const std::vector< double > &lower, const std::vector< double > &upper, const std::vector< double > &velocity, const std::vector< double > &acceleration)
void
SetSeed
classexotica_1_1KinematicTree.html
a08fea0bde38a4ce646cd3d2601c3cfb0
(const uint_fast32_t seed)
void
Update
classexotica_1_1KinematicTree.html
a4ef8e8e7dd428c05ee0d7618d81cf582
(Eigen::VectorXdRefConst x)
void
UpdateModel
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a04de6b1c6594dde815759733809b9a84
()
bool
debug
classexotica_1_1KinematicTree.html
ab3a99492f88a576a5f894058b13b7b56
void
AddElementFromSegmentMapIterator
classexotica_1_1KinematicTree.html
ab29d459c134a958341eb2bf1a4da37e8
(KDL::SegmentMap::const_iterator segment, std::shared_ptr< KinematicElement > parent)
void
BuildTree
classexotica_1_1KinematicTree.html
ad830092d775aaa0dc1646742be712398
(const KDL::Tree &RobotKinematics)
void
ComputeH
classexotica_1_1KinematicTree.html
ac30eeae5e522710f1072c80efa12a58a
(KinematicFrame &frame, const KDL::Jacobian &jacobian, exotica::Hessian &hessian) const
void
ComputeJ
classexotica_1_1KinematicTree.html
a382b28f97d67df6af83e669b6e94fc8b
(KinematicFrame &frame, KDL::Jacobian &jacobian) const
void
UpdateFK
classexotica_1_1KinematicTree.html
af0be207dfa080d7e7cc6b23579e780c4
()
void
UpdateH
classexotica_1_1KinematicTree.html
afb6bacccb7bd78c20be0d98e94da4721
()
void
UpdateJ
classexotica_1_1KinematicTree.html
a8f71fa81a7eb3111f34a568f1a5283a2
()
void
UpdateJointLimits
classexotica_1_1KinematicTree.html
a6f9c730c1e9ce2144224e186e75c89ba
()
void
UpdateTree
classexotica_1_1KinematicTree.html
a5b01d20ca3adda8cca3b2ad388356451
()
Eigen::VectorXd
acceleration_limits_
classexotica_1_1KinematicTree.html
a2fe79cc3f5a4c00a2986f88c0bed8f5c
std::map< std::string, std::weak_ptr< KinematicElement > >
collision_tree_map_
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adbfbbd6c04750c37e3bdcac5c7a4043f
BaseType
controlled_base_type_
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af041135261db3e0fe3ef8927a368833f
std::vector< std::weak_ptr< KinematicElement > >
controlled_joints_
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a5c6513f74b1e64c8deb69557a02f66cf
std::map< std::string, std::weak_ptr< KinematicElement > >
controlled_joints_map_
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a184670492b7f0271e2fe2d4079ef2005
std::vector< std::string >
controlled_joints_names_
classexotica_1_1KinematicTree.html
abe3b014e73c99ec40c5c6197c53b5c3a
std::vector< std::string >
controlled_link_names_
classexotica_1_1KinematicTree.html
a1c7ebcc6f3c3cfae9c4b67861e4d3ea5
std::vector< tf::StampedTransform >
debug_frames_
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a55210bff09c1da4284c1c3dccb57891a
bool
debug_scene_changed_
classexotica_1_1KinematicTree.html
a08ea9d365c8f25179bce7c5a7a52b5b5
std::vector< tf::StampedTransform >
debug_tree_
classexotica_1_1KinematicTree.html
a0398d67b07c85e68235ab5c5f61e6f26
std::vector< std::shared_ptr< KinematicElement > >
environment_tree_
classexotica_1_1KinematicTree.html
a9371316815c505a626642526415defb8
KinematicRequestFlags
flags_
classexotica_1_1KinematicTree.html
a0daa279f4d05a842014826a22d731f4e
std::mt19937
generator_
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a22e699ca8cba0276f1aec508211a80b0
bool
has_acceleration_limit_
classexotica_1_1KinematicTree.html
a90ef452273257eb41f82f286322d3704
Eigen::MatrixXd
joint_limits_
classexotica_1_1KinematicTree.html
a6335215380acf93aa1b7372f8c249f4b
visualization_msgs::MarkerArray
marker_array_msg_
classexotica_1_1KinematicTree.html
a54d1d03682c167eef6eb44acdf7a576d
robot_model::RobotModelPtr
model_
classexotica_1_1KinematicTree.html
a980292f56c8422b865e330844e5ebd56
BaseType
model_base_type_
classexotica_1_1KinematicTree.html
aae888ae3bdd3383075df1c6fb01ab399
std::map< std::string, std::weak_ptr< KinematicElement > >
model_joints_map_
classexotica_1_1KinematicTree.html
a287300b38592a40bff29957a1fcd402f
std::vector< std::string >
model_joints_names_
classexotica_1_1KinematicTree.html
ad0dfc8138de8855c124525dfa2613b99
std::vector< std::string >
model_link_names_
classexotica_1_1KinematicTree.html
a6a2da3d29f1864fd452f5215f49114b7
std::vector< std::shared_ptr< KinematicElement > >
model_tree_
classexotica_1_1KinematicTree.html
a9a5a22315dfcb1fd91a43b549d89b263
std::string
name_
classexotica_1_1KinematicTree.html
ae533ecb4ceb834493f7227ae2d3888cd
int
num_controlled_joints_
classexotica_1_1KinematicTree.html
a8524f5a78f0e167961e97c5b41797841
int
num_joints_
classexotica_1_1KinematicTree.html
a5a26098e3724ec98e464eed8195d0625
ros::Publisher
octomap_pub_
classexotica_1_1KinematicTree.html
a9617b4c093c094731f612212c01f805b
std::vector< std::uniform_real_distribution< double > >
random_state_distributions_
classexotica_1_1KinematicTree.html
a5c82c581de0fb25d9280efb80c9039d4
std::random_device
rd_
classexotica_1_1KinematicTree.html
a9b89697791dfe3fbd6b5c4e68384f6b8
std::shared_ptr< KinematicElement >
root_
classexotica_1_1KinematicTree.html
a0d5729732aba249b1dc0b909b7893a34
std::string
root_joint_name_
classexotica_1_1KinematicTree.html
af31eee217740eb310361c35348951763
ros::Publisher
shapes_pub_
classexotica_1_1KinematicTree.html
aa0de1df7fac6cd329ed57e5e6e29e320
std::shared_ptr< KinematicResponse >
solution_
classexotica_1_1KinematicTree.html
a1e51cdde25f9393998fd812f9dd93217
int
state_size_
classexotica_1_1KinematicTree.html
a190d2805c8906ea5942d9a7076b01a25
std::vector< std::weak_ptr< KinematicElement > >
tree_
classexotica_1_1KinematicTree.html
acf7764dfea225d85ff90bea257af4702
std::map< std::string, std::weak_ptr< KinematicElement > >
tree_map_
classexotica_1_1KinematicTree.html
abc52e958c2c111ff0501b734026212ff
Eigen::VectorXd
tree_state_
classexotica_1_1KinematicTree.html
ae0e1cd72546dacac370c228b15fd5b7d
Eigen::VectorXd
velocity_limits_
classexotica_1_1KinematicTree.html
afd5b8e956304c9f383258b90e8dc6ab4
Eigen::internal::make_coherent_impl
structEigen_1_1internal_1_1make__coherent__impl.html
static void
run
structEigen_1_1internal_1_1make__coherent__impl.html
a1ab9909f24a2b569359f3baa6a38d1df
(A &, B &)
Eigen::internal::make_coherent_impl< A, Matrix< B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols > >
structEigen_1_1internal_1_1make__coherent__impl_3_01A_00_01Matrix_3_01B__Scalar_00_01B__Rows_00_4137d1e9eddd7bc6003bd375f95bd6e5.html
B_Rows
B_Cols
B_Options
B_MaxRows
B_MaxCols
Matrix< B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols >
B
structEigen_1_1internal_1_1make__coherent__impl_3_01A_00_01Matrix_3_01B__Scalar_00_01B__Rows_00_4137d1e9eddd7bc6003bd375f95bd6e5.html
a0911a904a9e79c2ae16f5f7925bf9be5
static void
run
structEigen_1_1internal_1_1make__coherent__impl_3_01A_00_01Matrix_3_01B__Scalar_00_01B__Rows_00_4137d1e9eddd7bc6003bd375f95bd6e5.html
ac5a19e6808140c2a38e071359aca9dcb
(A &a, B &b)
Eigen::internal::make_coherent_impl< A, SparseVector< B_Scalar, B_Options, B_Index > >
structEigen_1_1internal_1_1make__coherent__impl_3_01A_00_01SparseVector_3_01B__Scalar_00_01B__Options_00_01B__Index_01_4_01_4.html
B_Options
SparseVector< B_Scalar, B_Options, B_Index >
B
structEigen_1_1internal_1_1make__coherent__impl_3_01A_00_01SparseVector_3_01B__Scalar_00_01B__Options_00_01B__Index_01_4_01_4.html
a0a261e0fe86ab21a74caf439011ba01f
static void
run
structEigen_1_1internal_1_1make__coherent__impl_3_01A_00_01SparseVector_3_01B__Scalar_00_01B__Options_00_01B__Index_01_4_01_4.html
ab34f01873da7d5187072ec397c67a0c5
(A &a, B &b)
Eigen::internal::make_coherent_impl< Matrix< A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols >, B >
structEigen_1_1internal_1_1make__coherent__impl_3_01Matrix_3_01A__Scalar_00_01A__Rows_00_01A__Co052edc6deb08a98ccf0e53a2b26e4fca.html
A_Rows
A_Cols
A_Options
A_MaxRows
A_MaxCols
Matrix< A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols >
A
structEigen_1_1internal_1_1make__coherent__impl_3_01Matrix_3_01A__Scalar_00_01A__Rows_00_01A__Co052edc6deb08a98ccf0e53a2b26e4fca.html
a2a0c708aafc868168231316712d384f2
static void
run
structEigen_1_1internal_1_1make__coherent__impl_3_01Matrix_3_01A__Scalar_00_01A__Rows_00_01A__Co052edc6deb08a98ccf0e53a2b26e4fca.html
ab87460e4383bd06e3100fb51d9577b1a
(A &a, B &b)
Eigen::internal::make_coherent_impl< Matrix< A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols >, Matrix< B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols > >
structEigen_1_1internal_1_1make__coherent__impl_3_01Matrix_3_01A__Scalar_00_01A__Rows_00_01A__Coa043412ba1c6f3eb81990c57fa68da91.html
A_Rows
A_Cols
A_Options
A_MaxRows
A_MaxCols
B_Rows
B_Cols
B_Options
B_MaxRows
B_MaxCols
Matrix< A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols >
A
structEigen_1_1internal_1_1make__coherent__impl_3_01Matrix_3_01A__Scalar_00_01A__Rows_00_01A__Coa043412ba1c6f3eb81990c57fa68da91.html
a4f14df60079e0a62ff60db3b1ced5893
Matrix< B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols >
B
structEigen_1_1internal_1_1make__coherent__impl_3_01Matrix_3_01A__Scalar_00_01A__Rows_00_01A__Coa043412ba1c6f3eb81990c57fa68da91.html
adad7107b006e6205a74e332850e6f12d
static void
run
structEigen_1_1internal_1_1make__coherent__impl_3_01Matrix_3_01A__Scalar_00_01A__Rows_00_01A__Coa043412ba1c6f3eb81990c57fa68da91.html
a439d054bc6c744d11e24361cb589ac92
(A &a, B &b)
Eigen::internal::make_coherent_impl< SparseVector< A_Scalar, A_Options, A_Index >, B >
structEigen_1_1internal_1_1make__coherent__impl_3_01SparseVector_3_01A__Scalar_00_01A__Options_00_01A__Index_01_4_00_01B_01_4.html
A_Options
SparseVector< A_Scalar, A_Options, A_Index >
A
structEigen_1_1internal_1_1make__coherent__impl_3_01SparseVector_3_01A__Scalar_00_01A__Options_00_01A__Index_01_4_00_01B_01_4.html
ac17ca22cf090b2cfff3bd7f48d1a3c00
static void
run
structEigen_1_1internal_1_1make__coherent__impl_3_01SparseVector_3_01A__Scalar_00_01A__Options_00_01A__Index_01_4_00_01B_01_4.html
af3258d54a8afc03f7f90b79ea20c92d6
(A &a, B &b)
Eigen::internal::make_coherent_impl< SparseVector< A_Scalar, A_Options, A_Index >, SparseVector< B_Scalar, B_Options, B_Index > >
structEigen_1_1internal_1_1make__coherent__impl_3_01SparseVector_3_01A__Scalar_00_01A__Options_07bc2f677685d52b03dad1903999fe19e.html
A_Options
B_Options
SparseVector< A_Scalar, A_Options, A_Index >
A
structEigen_1_1internal_1_1make__coherent__impl_3_01SparseVector_3_01A__Scalar_00_01A__Options_07bc2f677685d52b03dad1903999fe19e.html
ae789bc9a3c233e1b15beaecf6a2e9ebb
SparseVector< B_Scalar, B_Options, B_Index >
B
structEigen_1_1internal_1_1make__coherent__impl_3_01SparseVector_3_01A__Scalar_00_01A__Options_07bc2f677685d52b03dad1903999fe19e.html
ad9fa944ccea66b60f7e2f3ecba092be6
static void
run
structEigen_1_1internal_1_1make__coherent__impl_3_01SparseVector_3_01A__Scalar_00_01A__Options_07bc2f677685d52b03dad1903999fe19e.html
a252ee3be7860560545e34ade8ce85846
(A &a, B &b)
exotica::visualization::Material
structexotica_1_1visualization_1_1Material.html
Material
structexotica_1_1visualization_1_1Material.html
ab7d99c72a599d98090bd1f7b991a85d1
()
Material
structexotica_1_1visualization_1_1Material.html
a3ef8a92fdc097b41313ead0c553a54f2
(long color_in, double opacity_in=1.0, const std::string &type_in="MeshPhongMaterial", const std::string &uuid_in="")
MSGPACK_DEFINE
structexotica_1_1visualization_1_1Material.html
ae315dec6723e35e3f07739ab0173483b
(uuid, type, color, ambient, emissive, specular, shininess, opacity, transparent, wireframe)
long
ambient
structexotica_1_1visualization_1_1Material.html
a7d2603a34f68cbfade3b9dacdc5558f2
long
color
structexotica_1_1visualization_1_1Material.html
a98928f6f136dbe90b9f873d233e37371
long
emissive
structexotica_1_1visualization_1_1Material.html
a4e05f3858ec1153ff33517db7fc1ff4a
double
opacity
structexotica_1_1visualization_1_1Material.html
ab9a4243582fd2eedc2b87375d8832e13
double
shininess
structexotica_1_1visualization_1_1Material.html
ac8e6010c4295c9aa722fc3b04d63808d
long
specular
structexotica_1_1visualization_1_1Material.html
a588d650ffaa111a2a770ccba37b3db10
bool
transparent
structexotica_1_1visualization_1_1Material.html
ad9dc29db95efd57fc063d28e0e977afb
std::string
type
structexotica_1_1visualization_1_1Material.html
a1ab436e63d92a46fb71ef863007a9eae
std::string
uuid
structexotica_1_1visualization_1_1Material.html
a904807b58b0e3d31a84962f79d2030fd
bool
wireframe
structexotica_1_1visualization_1_1Material.html
a55eb3877fee4a3aaa4bc22c0aa27813a
exotica::visualization::MeshObject
structexotica_1_1visualization_1_1MeshObject.html
MSGPACK_DEFINE
structexotica_1_1visualization_1_1MeshObject.html
a71ff938a674e9b83c48708d9030febbc
(metadata, geometries, materials, object)
std::vector< T >
geometries
structexotica_1_1visualization_1_1MeshObject.html
a175cd65459baf0ec89a6f280c760f59c
std::vector< Material >
materials
structexotica_1_1visualization_1_1MeshObject.html
a296519f482a68c0c1d181d4fb9242de4
MetaData
metadata
structexotica_1_1visualization_1_1MeshObject.html
ad5c9cc0ed6616523bb956ac7fde85a3f
T
object
structexotica_1_1visualization_1_1MeshObject.html
ae000b7a9812ab019f87790eca58aa052
exotica::visualization::MetaData
structexotica_1_1visualization_1_1MetaData.html
MetaData
structexotica_1_1visualization_1_1MetaData.html
ab5647fd625392734eb9f84e2f38cc98b
()=default
MetaData
structexotica_1_1visualization_1_1MetaData.html
ab6304d77ccdec232739e65da62657b67
(double version_in, const std::string &type_in)
MSGPACK_DEFINE
structexotica_1_1visualization_1_1MetaData.html
a6ccb0e5335c3855baabb14d31c7cc17a
(version, type)
std::string
type
structexotica_1_1visualization_1_1MetaData.html
a4cdbdadabfe74c7d2ac1b3efb555a610
double
version
structexotica_1_1visualization_1_1MetaData.html
adfcded81e9f8050262a6f527bce2494a
exotica::MotionSolver
classexotica_1_1MotionSolver.html
exotica::Object
exotica::Uncopyable
exotica::InstantiableBase
int
GetNumberOfMaxIterations
classexotica_1_1MotionSolver.html
a593594b272a9749b108ce7bbec1ef6a3
()
double
GetPlanningTime
classexotica_1_1MotionSolver.html
af26011b32a8054b4bbdd00b7b0cac773
()
PlanningProblemPtr
GetProblem
classexotica_1_1MotionSolver.html
ad8f2c4b08258653a46b306cc0998ded3
() const
void
InstantiateBase
classexotica_1_1MotionSolver.html
ad74823eb3f4e0057e8edc405fafcdef2
(const Initializer &init) override
MotionSolver
classexotica_1_1MotionSolver.html
ab73612f6106a3c2e321dbeb1cf3e28c1
()=default
std::string
Print
classexotica_1_1MotionSolver.html
a76ecc61445917ea2be0168459ddce148
(const std::string &prepend) const override
void
SetNumberOfMaxIterations
classexotica_1_1MotionSolver.html
ae458dc8fa56f8ee9811e12d8babd7a73
(int max_iter)
virtual void
Solve
classexotica_1_1MotionSolver.html
af80ff4e02e245a5c330a8747b8116f4b
(Eigen::MatrixXd &solution)=0
virtual void
SpecifyProblem
classexotica_1_1MotionSolver.html
a250d6d6f5ed6d1dfc2da438a5a3f401f
(PlanningProblemPtr pointer)
virtual
~MotionSolver
classexotica_1_1MotionSolver.html
a7a4eb1731e1b41479d2be2711a924eae
()=default
int
max_iterations_
classexotica_1_1MotionSolver.html
a2f3026fc9ddf59e47abe4caf74864aeb
double
planning_time_
classexotica_1_1MotionSolver.html
a219f108762a76ccc124e238313d96a57
PlanningProblemPtr
problem_
classexotica_1_1MotionSolver.html
abcf4542ec442634a32f286604151d794
std::numeric_limits< Eigen::AutoDiffScalar< T & > >
classstd_1_1numeric__limits_3_01Eigen_1_1AutoDiffScalar_3_01T_01_6_01_4_01_4.html
std::numeric_limits< Eigen::AutoDiffScalar< T > >
classstd_1_1numeric__limits_3_01Eigen_1_1AutoDiffScalar_3_01T_01_4_01_4.html
Eigen::NumTraits< AutoDiffScalar< DerType > >
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01DerType_01_4_01_4.html
RequireInitialization
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01DerType_01_4_01_4.html
aa889f59d9704d23dfc3ab25c51a8608ba4fbb1778281c9d037b2b34952941ee28
internal::remove_all< DerType >::type
DerTypeCleaned
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01DerType_01_4_01_4.html
aa108a6a451dfc85fea0c4a485d8401d0
NumTraits< typename DerTypeCleaned::Scalar >::Literal
Literal
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01DerType_01_4_01_4.html
a2f014c8b9cb807dd4f8e45a1ddafd683
AutoDiffScalar< DerType >
Nested
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01DerType_01_4_01_4.html
ada3e807a032847e41f78cdc845b68572
AutoDiffScalar< DerType >
NonInteger
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01DerType_01_4_01_4.html
a189d1370ef670215ec26db536be0575a
AutoDiffScalar< Matrix< typename NumTraits< typename DerTypeCleaned::Scalar >::Real, DerTypeCleaned::RowsAtCompileTime, DerTypeCleaned::ColsAtCompileTime, 0, DerTypeCleaned::MaxRowsAtCompileTime, DerTypeCleaned::MaxColsAtCompileTime > >
Real
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01DerType_01_4_01_4.html
a98a33e2b7fcb0b3ea3faa982952a4c35
RequireInitialization
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01DerType_01_4_01_4.html
aa889f59d9704d23dfc3ab25c51a8608ba4fbb1778281c9d037b2b34952941ee28
Eigen::NumTraits< AutoDiffScalar< SparseVector< DerType_ > > >
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01SparseVector_3_01DerType___01_4_01_4_01_4.html
RequireInitialization
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01SparseVector_3_01DerType___01_4_01_4_01_4.html
ab1a8fa5c48207b2478fd74e316801c1fa0ad2e10f4646deb78357c2490bfe5c88
internal::remove_all< SparseVector< DerType_ > >::type
DerTypeCleaned
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01SparseVector_3_01DerType___01_4_01_4_01_4.html
aff59350f121ceb533796e834188dc856
NumTraits< typename DerTypeCleaned::Scalar >::Literal
Literal
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01SparseVector_3_01DerType___01_4_01_4_01_4.html
a16183f80836fb86b39ca0100367e5853
AutoDiffScalar< SparseVector< DerType_ > >
Nested
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01SparseVector_3_01DerType___01_4_01_4_01_4.html
a0ff772f44d168cd114fc013889a690d8
AutoDiffScalar< SparseVector< DerType_ > >
NonInteger
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01SparseVector_3_01DerType___01_4_01_4_01_4.html
a8fec9631c7d6838daa4b073030134951
AutoDiffScalar< SparseVector< typename NumTraits< typename DerTypeCleaned::Scalar >::Real, DerTypeCleaned::Options, typename DerTypeCleaned::StorageIndex > >
Real
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01SparseVector_3_01DerType___01_4_01_4_01_4.html
afcf7a024ed54d9fb7bd2c2adbb440b66
RequireInitialization
structEigen_1_1NumTraits_3_01AutoDiffScalar_3_01SparseVector_3_01DerType___01_4_01_4_01_4.html
ab1a8fa5c48207b2478fd74e316801c1fa0ad2e10f4646deb78357c2490bfe5c88
exotica::visualization::Object
structexotica_1_1visualization_1_1Object.html
MSGPACK_DEFINE
structexotica_1_1visualization_1_1Object.html
ad5ab2c04b1eaa380207cbf797dde15dc
(metadata, geometries, materials, object)
std::vector< T >
geometries
structexotica_1_1visualization_1_1Object.html
a10c956c97860a50883d7269c478161e3
std::vector< Material >
materials
structexotica_1_1visualization_1_1Object.html
a39e7881ec5f18de26a30d62ca17159cd
MetaData
metadata
structexotica_1_1visualization_1_1Object.html
a1c09df1b83263ece91ea945f4b0d598f
ObjectData
object
structexotica_1_1visualization_1_1Object.html
af46a925bbb6df71b4fa0cc16b30ebe3a
exotica::Object
classexotica_1_1Object.html
std::string
GetObjectName
classexotica_1_1Object.html
ac28824c5d57b0f28fea7a487d211a4b6
()
void
InstantiateObject
classexotica_1_1Object.html
a081338253532f0a2d0411ec74261abee
(const Initializer &init)
Object
classexotica_1_1Object.html
aef47459dab7f2c4dcb140ed3308b6a23
()
virtual std::string
Print
classexotica_1_1Object.html
a2312e2fe324f1940c02fb542c8141793
(const std::string &prepend) const
virtual std::string
type
classexotica_1_1Object.html
a729d399f4fb2599c1b088a0d06e89f25
() const
virtual
~Object
classexotica_1_1Object.html
a9aa15a4033e57e70672a964c9dfe91e9
()
bool
debug_
classexotica_1_1Object.html
a17e2f6c54f371f3e08c12d65813ce8be
std::string
ns_
classexotica_1_1Object.html
a7ae06802c7b25ee0d71988fc1141a70b
std::string
object_name_
classexotica_1_1Object.html
aa2cadef78bc6a94145249c32e5d378be
friend class
Factory
classexotica_1_1Object.html
a9e1985bccbe54790d70ef45cf33621ad
exotica::visualization::ObjectData
structexotica_1_1visualization_1_1ObjectData.html
MSGPACK_DEFINE
structexotica_1_1visualization_1_1ObjectData.html
ac78aa6bdabb50cc78bc7a573f20db85f
(type, uuid, geometry, material, matrix)
ObjectData
structexotica_1_1visualization_1_1ObjectData.html
ad61bc1114b272e228d2155a8faa8ca21
()=default
ObjectData
structexotica_1_1visualization_1_1ObjectData.html
a3e3dd861784a268bf919222928fde8f2
(const std::string &type_in, const std::string &uuid_in, const std::string &geometry_in, const std::string &material_in)
std::string
geometry
structexotica_1_1visualization_1_1ObjectData.html
a11a5bacd67f25698bdac7a2f4648f92b
std::string
material
structexotica_1_1visualization_1_1ObjectData.html
a97d0d570a90d81c06a8c613a86461699
std::vector< double >
matrix
structexotica_1_1visualization_1_1ObjectData.html
aabd46c35502fbc16e21e998a49975921
std::string
type
structexotica_1_1visualization_1_1ObjectData.html
a05cf6c8c2f858dfe545ad50025820ef2
std::string
uuid
structexotica_1_1visualization_1_1ObjectData.html
af149aca1652355ff0d0228d9148f279b
exotica::PlanningProblem
classexotica_1_1PlanningProblem.html
exotica::Object
exotica::Uncopyable
exotica::InstantiableBase
virtual Eigen::VectorXd
ApplyStartState
classexotica_1_1PlanningProblem.html
af0adbca562e56d6a00e947d8fbcc13c1
(bool update_traj=true)
int
get_num_controls
classexotica_1_1PlanningProblem.html
a7d47e019beccb80ec8270ff2930f1647
() const
int
get_num_positions
classexotica_1_1PlanningProblem.html
a8b36bed2b96fafa3040ef237c1e94ebb
() const
int
get_num_velocities
classexotica_1_1PlanningProblem.html
aca688c62347e3300f5786ea62d63aee0
() const
std::pair< std::vector< double >, std::vector< double > >
GetCostEvolution
classexotica_1_1PlanningProblem.html
a3a97fa2a240177b332b9eaeca208f094
() const
double
GetCostEvolution
classexotica_1_1PlanningProblem.html
a1374361a84f038290bbf866c2ee9d116
(int index) const
KinematicRequestFlags
GetFlags
classexotica_1_1PlanningProblem.html
a9e0b062ba935fbe7f8d9f768aa071e8d
() const
int
GetNumberOfIterations
classexotica_1_1PlanningProblem.html
a2430d563d8d7257f2f58391c8e247313
() const
unsigned int
GetNumberOfProblemUpdates
classexotica_1_1PlanningProblem.html
a25bb6f03e5b278707364d3f70835e4da
() const
ScenePtr
GetScene
classexotica_1_1PlanningProblem.html
ada9cb62003588399fec5ac35bf98b484
() const
Eigen::VectorXd
GetStartState
classexotica_1_1PlanningProblem.html
af391a2b451c508d262dcba47d72e9fe4
() const
double
GetStartTime
classexotica_1_1PlanningProblem.html
add82c590253d64786362e31da0c1b32f
() const
TaskMapMap &
GetTaskMaps
classexotica_1_1PlanningProblem.html
ae50d9b83171b40ebc12c70257281f51e
()
TaskMapVec &
GetTasks
classexotica_1_1PlanningProblem.html
aec4b3d9f1fa634bd4d7cf6ee81473077
()
void
InstantiateBase
classexotica_1_1PlanningProblem.html
a0ef704f7823dfd25af8d938780c61a61
(const Initializer &init) override
virtual bool
IsValid
classexotica_1_1PlanningProblem.html
a90c31c93cc5459565c147de7293e2938
()
PlanningProblem
classexotica_1_1PlanningProblem.html
a944777c5d630bfabcbf68956418a811c
()
virtual void
PreUpdate
classexotica_1_1PlanningProblem.html
ad68ee0fa459148cabe1b68ff285f48dd
()
std::string
Print
classexotica_1_1PlanningProblem.html
ae62e68be79ed6dc9583e1ef882e93886
(const std::string &prepend) const override
void
ResetCostEvolution
classexotica_1_1PlanningProblem.html
ab12ae0061f44a578aa43bf2ad6ac170f
(size_t size)
void
ResetNumberOfProblemUpdates
classexotica_1_1PlanningProblem.html
a1054066c458f3bc884d10cbebef19495
()
void
SetCostEvolution
classexotica_1_1PlanningProblem.html
a4cbeec3e4425785f9070d45a162890bd
(int index, double value)
void
SetStartState
classexotica_1_1PlanningProblem.html
aa2674f6bc30a9c36a135c4313b9939a6
(Eigen::VectorXdRefConst x)
void
SetStartTime
classexotica_1_1PlanningProblem.html
add1713bf517fa253479813b8b4c1a9e8
(double t)
virtual
~PlanningProblem
classexotica_1_1PlanningProblem.html
aee30a7fd77b27df5d8189835d2685bc3
()
int
N
classexotica_1_1PlanningProblem.html
ad5ffb405956b8d5b0fb241a91042cebb
double
t_start
classexotica_1_1PlanningProblem.html
ac235a1438a781caa1df542b0b06422ba
TerminationCriterion
termination_criterion
classexotica_1_1PlanningProblem.html
aa556c745cf1e9411fe46da5fe056de67
void
UpdateMultipleTaskKinematics
classexotica_1_1PlanningProblem.html
a7e59a768470f5f0ed96cd1119a518305
(std::vector< std::shared_ptr< KinematicResponse >> responses)
void
UpdateTaskKinematics
classexotica_1_1PlanningProblem.html
a14b73a9bf92f9aa6f484abaf0edfa80e
(std::shared_ptr< KinematicResponse > response)
std::vector< std::pair< std::chrono::high_resolution_clock::time_point, double > >
cost_evolution_
classexotica_1_1PlanningProblem.html
ab3850aeec64ed5ef63b17357080f4798
KinematicRequestFlags
flags_
classexotica_1_1PlanningProblem.html
adaf498f5c87183769e050aec3af342a9
unsigned int
number_of_problem_updates_
classexotica_1_1PlanningProblem.html
a502df5e4c5d5baeb668b7064345a57ac
ScenePtr
scene_
classexotica_1_1PlanningProblem.html
a893f2cdab5b91fa151a442499deae0be
Eigen::VectorXd
start_state_
classexotica_1_1PlanningProblem.html
a8c30ab0dad9db96224bb5a0425dbdf60
TaskMapMap
task_maps_
classexotica_1_1PlanningProblem.html
a5092a0313fd745f8fecd5dbd311acc58
TaskMapVec
tasks_
classexotica_1_1PlanningProblem.html
a6e1b66f418c92ddc82471ec38795faf5
exotica::Printable
classexotica_1_1Printable.html
virtual void
Print
classexotica_1_1Printable.html
abf20c0f2451b2d84ebc513803bbcc3af
(std::ostream &os) const =0
exotica::visualization::Property
structexotica_1_1visualization_1_1Property.html
exotica::visualization::Base
MSGPACK_DEFINE
structexotica_1_1visualization_1_1Property.html
a42b66d206149d8c24d67a8df4395d052
(type, path, property, value)
Property
structexotica_1_1visualization_1_1Property.html
a95d2b5bd3c0023afdc9791d6fa5f6693
()
Property
structexotica_1_1visualization_1_1Property.html
a600e6b72be82ff2a40db94e38959d657
(const std::string &path_in, const std::string &property_in, const T &value_in)
std::string
property
structexotica_1_1visualization_1_1Property.html
a8be906a40e42d242cf5a4fea095de826
T
value
structexotica_1_1visualization_1_1Property.html
a3ebe1f1fd6cc5aa9e14ee488d4fbaff6
exotica::Property
classexotica_1_1Property.html
boost::any
Get
classexotica_1_1Property.html
a9bb36564b2cffbda89632b388e4b3cd8
() const
const std::string &
GetName
classexotica_1_1Property.html
a48afd10e446642563321f9ced839b5ef
() const
std::string
GetType
classexotica_1_1Property.html
adfea7789948a5fd5fa1dd631d99bccec
() const
bool
IsInitializerVectorType
classexotica_1_1Property.html
ac62b67785cdb1cec2bf1e977b7db26ef
() const
bool
IsRequired
classexotica_1_1Property.html
ab2550e435c5ddc8aa7639400af5fbc58
() const
bool
IsSet
classexotica_1_1Property.html
af6042c1dad94e65b1aa1ae3da2456701
() const
bool
IsStringType
classexotica_1_1Property.html
ad912db1d492c84728c3005a4b629c611
() const
Property
classexotica_1_1Property.html
abe1ffdbeec65c4f122b3279949d0c620
(const std::string &prop_name)
Property
classexotica_1_1Property.html
a546c80e50189dde7910f5424a7b3e2e9
(const std::string &prop_name, bool is_required)
Property
classexotica_1_1Property.html
ad95371e873730fb18c0d614864f3be7a
(const std::string &prop_name, bool is_required, boost::any val)
Property
classexotica_1_1Property.html
a7babfd0e562c09dac36687f868564cd8
(std::initializer_list< boost::any > val)
void
Set
classexotica_1_1Property.html
a2c3992fd0f85cfaa9cad6cc0c1e74856
(const C val)
std::string
name_
classexotica_1_1Property.html
a8e77872501ca54eb12e48fc6aaf6afb7
bool
required_
classexotica_1_1Property.html
a0682a6cfbc0629ab0cffa6d7354449e5
boost::any
value_
classexotica_1_1Property.html
a832ff063620e2719de5f86fcc2d4a72b
exotica::Registrar
classexotica_1_1Registrar.html
Registrar
classexotica_1_1Registrar.html
ab34b5f4060a794e807330cd33b6fa620
(const std::string &name, BaseClass *(*creator)(), const std::string &base_type)
exotica::RosNode
classexotica_1_1RosNode.html
ros::NodeHandle &
GetNodeHandle
classexotica_1_1RosNode.html
a2bd2057dc39765491d78779db93e41c1
()
tf::TransformBroadcaster &
GetTF
classexotica_1_1RosNode.html
a32f564b114f71789768696badf84799d
()
RosNode
classexotica_1_1RosNode.html
a453751d881f423b9a9888f9079e616ea
()=delete
RosNode
classexotica_1_1RosNode.html
aa9eb0b5ff5ef2696efe7e262e7264c2b
(std::shared_ptr< ros::NodeHandle > nh, int numThreads=2)
~RosNode
classexotica_1_1RosNode.html
ae149ecc49911d1727d6f5902bc21072c
()
std::shared_ptr< ros::NodeHandle >
nh_
classexotica_1_1RosNode.html
aa90739f3ce068f7f204155c50399c860
ros::AsyncSpinner
sp_
classexotica_1_1RosNode.html
a41cc6137db4998d029dbc69d4b3cef8d
tf::TransformBroadcaster
tf_
classexotica_1_1RosNode.html
a834707abee94ff4db87f1bf55b939a98
exotica::SamplingProblem
classexotica_1_1SamplingProblem.html
exotica::PlanningProblem
Instantiable< SamplingProblemInitializer >
std::vector< double >
GetBounds
classexotica_1_1SamplingProblem.html
aee54dc90a293a47aaaed93357de72cbd
()
Eigen::VectorXd
GetGoalEQ
classexotica_1_1SamplingProblem.html
ad5f135280df2fc430365d34bb7639130
(const std::string &task_name)
Eigen::VectorXd
GetGoalNEQ
classexotica_1_1SamplingProblem.html
a34c9181b23150d40c980053ec0cee504
(const std::string &task_name)
const Eigen::VectorXd &
GetGoalState
classexotica_1_1SamplingProblem.html
a43dd0df53f65193d884fe73c9a46b52f
() const
double
GetRhoEQ
classexotica_1_1SamplingProblem.html
aee56dec16767aaf23795cef36f35059c
(const std::string &task_name)
double
GetRhoNEQ
classexotica_1_1SamplingProblem.html
a3428797c3ad754e37accff10eac259db
(const std::string &task_name)
int
GetSpaceDim
classexotica_1_1SamplingProblem.html
a74cc5344cc3c646f0c40deb5f78b92fd
()
void
Instantiate
classexotica_1_1SamplingProblem.html
ae59397f515ab2eba0ce7a1b99d744f5f
(const SamplingProblemInitializer &init) override
bool
IsCompoundStateSpace
classexotica_1_1SamplingProblem.html
a51940479067dd7493952a56ecb2df6d0
()
bool
IsStateValid
classexotica_1_1SamplingProblem.html
acdae351a5cefe241ad7ed9a9e2111ec1
(Eigen::VectorXdRefConst x)
bool
IsValid
classexotica_1_1SamplingProblem.html
aacb4f97ebf8d8163a1b7b2aa5e5e2ba8
() override
void
PreUpdate
classexotica_1_1SamplingProblem.html
acb1b06934ed182b27c8ab033b5dce602
() override
SamplingProblem
classexotica_1_1SamplingProblem.html
a7c02b3bfa93858ef803abe145f455d8d
()
void
SetGoalEQ
classexotica_1_1SamplingProblem.html
ad345cd18f88358468f72e96c8c1a3011
(const std::string &task_name, Eigen::VectorXdRefConst goal)
void
SetGoalNEQ
classexotica_1_1SamplingProblem.html
a5f513a518a57078b5b18738aa434d318
(const std::string &task_name, Eigen::VectorXdRefConst goal)
void
SetGoalState
classexotica_1_1SamplingProblem.html
a969ae89e434aa30a697554b895f40b1c
(Eigen::VectorXdRefConst qT)
void
SetRhoEQ
classexotica_1_1SamplingProblem.html
a9db957a41bc126b0359c23fafeacbcaf
(const std::string &task_name, const double &rho)
void
SetRhoNEQ
classexotica_1_1SamplingProblem.html
ae9d558b21515b110378eb65a47f1d7f7
(const std::string &task_name, const double &rho)
void
Update
classexotica_1_1SamplingProblem.html
a5f77f37ee43ccbb1efb39af1b5125f8f
(Eigen::VectorXdRefConst x)
virtual
~SamplingProblem
classexotica_1_1SamplingProblem.html
afad69de53af85e60b9aa298103e2fbf4
()
SamplingTask
equality
classexotica_1_1SamplingProblem.html
a30a0488a681df4ec7f713e680a0b7fd1
SamplingTask
inequality
classexotica_1_1SamplingProblem.html
a072d2f0a4bbf63b618f34321c2b4559b
int
length_jacobian
classexotica_1_1SamplingProblem.html
a3a2ba996b7e514914e710bdd956c2bdf
int
length_Phi
classexotica_1_1SamplingProblem.html
ad59d4c80c05b1208d375b31efba4c950
int
num_tasks
classexotica_1_1SamplingProblem.html
a5e5c5adb508822fac8f6fb5e46f2ee86
TaskSpaceVector
Phi
classexotica_1_1SamplingProblem.html
a5e5c8d5a1c2efc444c1ccaf5d537e1e9
bool
compound_
classexotica_1_1SamplingProblem.html
a9a81ec60393e7ac3a6ad4c594b7fafbc
Eigen::VectorXd
goal_
classexotica_1_1SamplingProblem.html
a79879b2f2aa56eaea1613933c251b8a2
exotica::SamplingTask
structexotica_1_1SamplingTask.html
exotica::Task
Eigen::VectorXd
GetGoal
structexotica_1_1SamplingTask.html
affabd751b7f298ee93f15cd348fc5518
(const std::string &task_name) const
double
GetRho
structexotica_1_1SamplingTask.html
ae16759fce426847bb0038f696e439916
(const std::string &task_name) const
virtual void
Initialize
structexotica_1_1SamplingTask.html
a396f8ec19c5e53302a116e114848b831
(const std::vector< exotica::Initializer > &inits, std::shared_ptr< PlanningProblem > prob, TaskSpaceVector &Phi)
SamplingTask
structexotica_1_1SamplingTask.html
ad20c0245f17f000deb3bdfa3409e9964
()=default
void
SetGoal
structexotica_1_1SamplingTask.html
a6523f82ea8e047c4d72602d6127f476e
(const std::string &task_name, Eigen::VectorXdRefConst goal)
void
SetRho
structexotica_1_1SamplingTask.html
a1eb26c49809a10999a992313dccfcbea
(const std::string &task_name, const double rho)
void
Update
structexotica_1_1SamplingTask.html
a1de05380dda707bf77f54039a420ef9e
(const TaskSpaceVector &big_Phi)
void
UpdateS
structexotica_1_1SamplingTask.html
a8dffec0ab0d2e30af8ed663307277ec5
()
virtual
~SamplingTask
structexotica_1_1SamplingTask.html
a2d6f1227ef927e2e735eef41b9e262dc
()=default
TaskSpaceVector
Phi
structexotica_1_1SamplingTask.html
a1e8246dc7c861455c5ebdb4722b81b08
Eigen::VectorXd
rho
structexotica_1_1SamplingTask.html
a316788d69afce10b92e51abb8f2c7859
Eigen::MatrixXd
S
structexotica_1_1SamplingTask.html
ac2999f868961f7590dcf3857f24fad75
TaskSpaceVector
y
structexotica_1_1SamplingTask.html
a5bba81af476a145012268945d9e78c1e
Eigen::VectorXd
ydiff
structexotica_1_1SamplingTask.html
ab10acf9f20117178d6f3c2741f2293ba
Eigen::ScalarBinaryOpTraits< AutoDiffScalar< DerType >, typename DerType::Scalar, BinOp >
structEigen_1_1ScalarBinaryOpTraits_3_01AutoDiffScalar_3_01DerType_01_4_00_01typename_01DerType_1_1Scalar_00_01BinOp_01_4.html
AutoDiffScalar< DerType >
ReturnType
structEigen_1_1ScalarBinaryOpTraits_3_01AutoDiffScalar_3_01DerType_01_4_00_01typename_01DerType_1_1Scalar_00_01BinOp_01_4.html
a5e8f04ebd3db02f2d308cc1690052840
Eigen::ScalarBinaryOpTraits< typename DerType::Scalar, AutoDiffScalar< DerType >, BinOp >
structEigen_1_1ScalarBinaryOpTraits_3_01typename_01DerType_1_1Scalar_00_01AutoDiffScalar_3_01DerType_01_4_00_01BinOp_01_4.html
AutoDiffScalar< DerType >
ReturnType
structEigen_1_1ScalarBinaryOpTraits_3_01typename_01DerType_1_1Scalar_00_01AutoDiffScalar_3_01DerType_01_4_00_01BinOp_01_4.html
a5f2f186ee03a4f32839029d3503807e9
exotica::Scene
classexotica_1_1Scene.html
exotica::Object
exotica::Uncopyable
Instantiable< SceneInitializer >
void
AddObject
classexotica_1_1Scene.html
a8e5dcf3575775246665f6f90ae2b6854
(const std::string &name, const KDL::Frame &transform=KDL::Frame(), const std::string &parent="", const std::string &shape_resource_path="", const Eigen::Vector3d &scale=Eigen::Vector3d::Ones(), const KDL::RigidBodyInertia &inertia=KDL::RigidBodyInertia::Zero(), const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const bool update_collision_scene=true)
void
AddObject
classexotica_1_1Scene.html
ab993857b776427b29dcdd9759beae5a0
(const std::string &name, const KDL::Frame &transform=KDL::Frame(), const std::string &parent="", shapes::ShapeConstPtr shape=shapes::ShapeConstPtr(nullptr), const KDL::RigidBodyInertia &inertia=KDL::RigidBodyInertia::Zero(), const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const bool update_collision_scene=true)
void
AddObjectToEnvironment
classexotica_1_1Scene.html
a70d6f49309bb4cdc5ace90098423ab8f
(const std::string &name, const KDL::Frame &transform=KDL::Frame(), shapes::ShapeConstPtr shape=nullptr, const Eigen::Vector4d &color=Eigen::Vector4d(0.5, 0.5, 0.5, 1.0), const bool update_collision_scene=true)
void
AddTrajectory
classexotica_1_1Scene.html
a87c1a47d769f2c501b19bf8f7c632eff
(const std::string &link, const std::string &traj)
void
AddTrajectory
classexotica_1_1Scene.html
a9192f6ff487ff9f444ff43c04d36a339
(const std::string &link, std::shared_ptr< Trajectory > traj)
void
AddTrajectoryFromFile
classexotica_1_1Scene.html
ae91650a37abb71460e9a3345fe1314e5
(const std::string &link, const std::string &traj)
bool
AlwaysUpdatesCollisionScene
classexotica_1_1Scene.html
a88d7ad8570a6ec4b1c735f30df116bd7
() const
void
AttachObject
classexotica_1_1Scene.html
a8f8e2337ea102cb66856991ac0fec7e1
(const std::string &name, const std::string &parent)
void
AttachObjectLocal
classexotica_1_1Scene.html
a53a145cd80322f888e6b4ecd9f348c58
(const std::string &name, const std::string &parent, const Eigen::VectorXd &pose)
void
AttachObjectLocal
classexotica_1_1Scene.html
a8d4398bfafbcbec2487b5afe8e335e78
(const std::string &name, const std::string &parent, const KDL::Frame &pose)
void
CleanScene
classexotica_1_1Scene.html
a5305a7f7fd675e67076159bdba35dbc9
()
void
DetachObject
classexotica_1_1Scene.html
ac8156f235bda877b66e3d387d4f7dd53
(const std::string &name)
bool
get_has_quaternion_floating_base
classexotica_1_1Scene.html
a9aa4c56e4073cf33b48c04a93beb1798
() const
int
get_num_controls
classexotica_1_1Scene.html
accf0d5f5171c4ff00b5ee9076284e8e4
() const
int
get_num_positions
classexotica_1_1Scene.html
a706634b0850c6dc1d238cf47abd1b4c5
() const
int
get_num_state
classexotica_1_1Scene.html
a7f0c308d109997f2ca6ee3e4b2d99232
() const
int
get_num_state_derivative
classexotica_1_1Scene.html
a8340a3c29e35429fbde6f1fc7bfc7077
() const
int
get_num_velocities
classexotica_1_1Scene.html
ac8059e2f922e9f3b8ae94cd8e10e845f
() const
const std::set< std::string > &
get_world_links_to_exclude_from_collision_scene
classexotica_1_1Scene.html
a660d965781476595ab3e9ddc17e969f0
() const
const CollisionScenePtr &
GetCollisionScene
classexotica_1_1Scene.html
ac3e138d51cf3cf3a17f4252c964406a5
() const
std::vector< std::string >
GetControlledJointNames
classexotica_1_1Scene.html
aad00b4bf6071551c0f1eac59edd1d4ef
()
const std::map< std::string, std::vector< std::string > > &
GetControlledJointToCollisionLinkMap
classexotica_1_1Scene.html
a3e7a61f8404da1e3bd4bbd3736089445
() const
std::vector< std::string >
GetControlledLinkNames
classexotica_1_1Scene.html
a754edc71e203732ee5d0d034be577720
()
Eigen::VectorXd
GetControlledState
classexotica_1_1Scene.html
a3b668a98ead8bce707886bb9033072c7
()
std::shared_ptr< DynamicsSolver >
GetDynamicsSolver
classexotica_1_1Scene.html
af4b6a27a2739b506786c0223de9387b3
() const
exotica::KinematicTree &
GetKinematicTree
classexotica_1_1Scene.html
a1af17ebf0c6a72087014868d50438c2c
()
std::vector< std::string >
GetModelJointNames
classexotica_1_1Scene.html
a30ff9d391d66382fbae17905a0ecf741
()
std::vector< std::string >
GetModelLinkNames
classexotica_1_1Scene.html
aad254a8a24cf204984408f165dd6b256
()
const std::map< std::string, std::vector< std::shared_ptr< KinematicElement > > > &
GetModelLinkToCollisionElementMap
classexotica_1_1Scene.html
a9398449371dee6dc9cf547111830beb0
() const
const std::map< std::string, std::vector< std::string > > &
GetModelLinkToCollisionLinkMap
classexotica_1_1Scene.html
acc5ea01a59a9cfb22e23141a46f9f690
() const
Eigen::VectorXd
GetModelState
classexotica_1_1Scene.html
a381e8a43fdc64768441c0b8d53d9f917
()
std::map< std::string, double >
GetModelStateMap
classexotica_1_1Scene.html
a29bdd6c00e9e9a382579c63f64b94ed6
()
const std::string &
GetName
classexotica_1_1Scene.html
a1ac0bea98f6fd5cb99d030d4a51ecf6d
() const
moveit_msgs::PlanningScene
GetPlanningSceneMsg
classexotica_1_1Scene.html
ab9ee61ecb21babe9fe5b2cec8fe3d9b7
()
std::string
GetRootFrameName
classexotica_1_1Scene.html
a1d6b5a5ed3014030d09e9ae3db97295f
()
std::string
GetRootJointName
classexotica_1_1Scene.html
a101f2e764fa76febd8cc3e0b07c797df
()
std::string
GetScene
classexotica_1_1Scene.html
a8e19fd0fd0d95f67b845a2af5c40b995
()
std::shared_ptr< Trajectory >
GetTrajectory
classexotica_1_1Scene.html
a9e5ed5c0959bee544e3ea68acc0b2e6a
(const std::string &link)
std::map< std::string, std::weak_ptr< KinematicElement > >
GetTreeMap
classexotica_1_1Scene.html
a533256577b5b6b3a4bf6a381288323eb
()
bool
HasAttachedObject
classexotica_1_1Scene.html
a392f796a6f5b6951718012ed909add9d
(const std::string &name)
virtual void
Instantiate
classexotica_1_1Scene.html
a52adb7519214f923219ba804cab996e5
(const SceneInitializer &init)
void
LoadScene
classexotica_1_1Scene.html
ad932645d037bf0788bbd27be21d1f7f1
(const std::string &scene, const Eigen::Isometry3d &offset=Eigen::Isometry3d::Identity(), bool update_collision_scene=true)
void
LoadScene
classexotica_1_1Scene.html
a6fe5509c623f208e87577bb6590f12ec
(const std::string &scene, const KDL::Frame &offset=KDL::Frame(), bool update_collision_scene=true)
void
LoadSceneFile
classexotica_1_1Scene.html
a40ef2ebefe512e7dc8080986f62c2735
(const std::string &file_name, const Eigen::Isometry3d &offset=Eigen::Isometry3d::Identity(), bool update_collision_scene=true)
void
LoadSceneFile
classexotica_1_1Scene.html
a8465c0462ad5ec154764f70d03a48567
(const std::string &file_name, const KDL::Frame &offset=KDL::Frame(), bool update_collision_scene=true)
visualization_msgs::Marker
ProxyToMarker
classexotica_1_1Scene.html
acdb1d0e29a30f6e590b6f40bb69d9fdb
(const std::vector< CollisionProxy > &proxies, const std::string &frame)
void
PublishProxies
classexotica_1_1Scene.html
ac5846c5382a7d46a101ce8439435f909
(const std::vector< CollisionProxy > &proxies)
void
PublishScene
classexotica_1_1Scene.html
a5c53bbdb300a6ce62977be5825854ffb
()
void
RemoveObject
classexotica_1_1Scene.html
a7859f2aba56fdd8f7c7b67983f85ce87
(const std::string &name)
void
RemoveTrajectory
classexotica_1_1Scene.html
acee91ca1d77e3d7f2c7d5c9b2133c5c3
(const std::string &link)
void
RequestKinematics
classexotica_1_1Scene.html
a3c4a129081aeb0f8b61fcb709fe34f86
(KinematicsRequest &request, std::function< void(std::shared_ptr< KinematicResponse >)> callback)
Scene
classexotica_1_1Scene.html
a82067bf70cc8cd9f9dc7892fbfc7dc55
()
Scene
classexotica_1_1Scene.html
a3697527fa4543c320587b1976f8d6867
(const std::string &name)
void
SetModelState
classexotica_1_1Scene.html
a283e0845122b94b0ef2bf7b5cf8a9564
(const std::map< std::string, double > &x, double t=0, bool update_traj=true)
void
SetModelState
classexotica_1_1Scene.html
a2b33984d2091dcb129b95f44e8837599
(Eigen::VectorXdRefConst x, double t=0, bool update_traj=true)
void
Update
classexotica_1_1Scene.html
a78da2030b64a460260b48fa946901adc
(Eigen::VectorXdRefConst x, double t=0)
void
UpdateCollisionObjects
classexotica_1_1Scene.html
a28e67c769ca24f61d1e6d44de4815d48
()
void
UpdatePlanningScene
classexotica_1_1Scene.html
a78fd708d89c6aaf2a79b2a5023d61165
(const moveit_msgs::PlanningScene &scene)
void
UpdatePlanningSceneWorld
classexotica_1_1Scene.html
a16b085c597411e4f2ade68ea1155bc37
(const moveit_msgs::PlanningSceneWorldConstPtr &world)
void
UpdateSceneFrames
classexotica_1_1Scene.html
a250a58f88851718a850ee02f13544a95
()
void
UpdateTrajectoryGenerators
classexotica_1_1Scene.html
afd18c0c1f2c5feda30e06871161b7298
(double t=0)
virtual
~Scene
classexotica_1_1Scene.html
a2b5c95f319192f4d33258f24a9a54810
()
void
LoadSceneFromStringStream
classexotica_1_1Scene.html
ac1b0de408cfa666f10d0be82152561ec
(std::istream &in, const Eigen::Isometry3d &offset, bool update_collision_scene)
void
UpdateInternalFrames
classexotica_1_1Scene.html
ac4a7ae1665e8057e1ff58d336cf0ee14
(bool update_request=true)
void
UpdateMoveItPlanningScene
classexotica_1_1Scene.html
a1839b1e471b2ccaed1c1a5863ab2de77
()
std::map< std::string, AttachedObject >
attached_objects_
classexotica_1_1Scene.html
a673ea7ee3efee4621fde02ac6159791d
CollisionScenePtr
collision_scene_
classexotica_1_1Scene.html
ae7f3e54a7fad60f960c025830ab76151
std::map< std::string, std::vector< std::string > >
controlled_joint_to_collision_link_map_
classexotica_1_1Scene.html
ab584a2eaf5cce3ecc802c03f0e423e43
std::vector< std::shared_ptr< KinematicElement > >
custom_links_
classexotica_1_1Scene.html
ab5eba668c14b4df25647bcaddccef60f
std::shared_ptr< DynamicsSolver >
dynamics_solver_
classexotica_1_1Scene.html
ac1355745576be8b0619c88072a407fcb
bool
force_collision_
classexotica_1_1Scene.html
a90e035604e0f5c50c27c0ebf7f3a246d
bool
has_quaternion_floating_base_
classexotica_1_1Scene.html
a6d2050000e6b8bf16bf6bcc72869d221
KinematicsRequest
kinematic_request_
classexotica_1_1Scene.html
a946f7dbf990b9ff9b5259a0ab5d78c4e
std::function< void(std::shared_ptr< KinematicResponse >)>
kinematic_request_callback_
classexotica_1_1Scene.html
a8755158207a3e2a273d8f636f1767e84
std::shared_ptr< KinematicResponse >
kinematic_solution_
classexotica_1_1Scene.html
af3afc81cbd9e7770630e8a6dbc67142c
exotica::KinematicTree
kinematica_
classexotica_1_1Scene.html
ad20516e13cdd941bbb46ea125ef478b0
std::map< std::string, std::vector< std::shared_ptr< KinematicElement > > >
model_link_to_collision_element_map_
classexotica_1_1Scene.html
a54b8a901566009063021d58017fbc6dd
std::map< std::string, std::vector< std::string > >
model_link_to_collision_link_map_
classexotica_1_1Scene.html
ae0cdae1036f21b5e3adee56c3abb5994
int
num_controls_
classexotica_1_1Scene.html
a7c4241a07bd9367a45f9d378f6b89e38
int
num_positions_
classexotica_1_1Scene.html
ab9232a94a2631e4a3bb8365a539ecad2
int
num_state_
classexotica_1_1Scene.html
a3c3de41e42da3043f1f1341bad4ce14a
int
num_state_derivative_
classexotica_1_1Scene.html
aea0cd0b360daf91f08b35be50741a1f4
int
num_velocities_
classexotica_1_1Scene.html
ab144f03bc52c465d2084cc6ed521e693
ros::Publisher
proxy_pub_
classexotica_1_1Scene.html
a75552b7e169d26d390e562ada1c48a94
planning_scene::PlanningScenePtr
ps_
classexotica_1_1Scene.html
aeb38e0e404b52c447016a7115cd22a31
ros::Publisher
ps_pub_
classexotica_1_1Scene.html
af1449effa8373da8afb4160fd87d6bf3
bool
request_needs_updating_
classexotica_1_1Scene.html
ad390c4cda2ec9858c9a27e6703110bbd
std::set< std::string >
robot_links_to_exclude_from_collision_scene_
classexotica_1_1Scene.html
aa39606cbc68fd100edabfe663f24e19e
std::map< std::string, std::pair< std::weak_ptr< KinematicElement >, std::shared_ptr< Trajectory > > >
trajectory_generators_
classexotica_1_1Scene.html
a0c7e16e98b38de9838b856789ea4d3cf
std::set< std::string >
world_links_to_exclude_from_collision_scene_
classexotica_1_1Scene.html
ab0e1ae9e3ae12749e2faafb531891ab4
exotica::Server
classexotica_1_1Server.html
exotica::Uncopyable
robot_model::RobotModelConstPtr
GetModel
classexotica_1_1Server.html
a8693c1a0a057965143c51f937019f6fa
(const std::string &path, const std::string &urdf="", const std::string &srdf="")
void
GetModel
classexotica_1_1Server.html
a914010d35f29d3f41e27214ccd4d64ca
(const std::string &path, robot_model::RobotModelPtr &model, const std::string &urdf="", const std::string &srdf="")
std::string
GetName
classexotica_1_1Server.html
aef8cbcd5b32c3081736e74b064f9718e
()
bool
HasModel
classexotica_1_1Server.html
a05ccff097373d56c3012f5f48e89c900
(const std::string &path)
virtual
~Server
classexotica_1_1Server.html
ab3a68966fe1491b5a27c783ad0cc3ab7
()
static ros::Publisher
Advertise
classexotica_1_1Server.html
a616a2dab8c0c99816558bb8f72fa29ce
(Args &&... args)
static void
Destroy
classexotica_1_1Server.html
add592ee591beb6947e9e8ce5a6878db3
()
static ros::NodeHandle &
GetNodeHandle
classexotica_1_1Server.html
a02c79bcc05dde89290f458bf35c3cc4c
()
static bool
GetParam
classexotica_1_1Server.html
aed9289f7887708d1bd30c6e2ca7268d5
(const std::string &name, T ¶m)
static bool
HasParam
classexotica_1_1Server.html
ae1a570b161849c861f57a65aba10f367
(const std::string &name)
static void
InitRos
classexotica_1_1Server.html
a0bddc2cd94e1ffc627300c634986dcbc
(std::shared_ptr< ros::NodeHandle > nh, int numThreads=2)
static std::shared_ptr< Server >
Instance
classexotica_1_1Server.html
a981751a1aff119e0250409a753672345
()
static bool
IsRos
classexotica_1_1Server.html
a0b61137ed66484dde0d6da46cd0e13ea
()
static void
SendTransform
classexotica_1_1Server.html
a0cba47dfa1b2b8b06605e11cab127706
(const geometry_msgs::TransformStamped &transform)
static void
SendTransform
classexotica_1_1Server.html
a415d9ea037f5316931a4d39b25cbf102
(const std::vector< geometry_msgs::TransformStamped > &transforms)
static void
SendTransform
classexotica_1_1Server.html
a9a184bcc42e057f270bbcfe3902ac615
(const std::vector< tf::StampedTransform > &transforms)
static void
SendTransform
classexotica_1_1Server.html
ac6b66522fa9b4e3ddf38c8a41f6b58a3
(const tf::StampedTransform &transform)
static ros::ServiceClient
ServiceClient
classexotica_1_1Server.html
a836cfc01efc3358d635b01cc4b02522f
(const std::string &service_name, bool persistent=false)
static void
SetParam
classexotica_1_1Server.html
afd0bb320107fa93ce5a2033d062bd3dc
(const std::string &name, T ¶m)
static ros::Subscriber
Subscribe
classexotica_1_1Server.html
afd0118a5e4fc1c1e52b3d9ed7aecfe0b
(Args &&... args)
robot_model::RobotModelPtr
LoadModel
classexotica_1_1Server.html
a8f048160c500a5b02c881eed38e4c8db
(const std::string &name, const std::string &urdf="", const std::string &srdf="")
void
operator=
classexotica_1_1Server.html
a74fc771a753eb4d8361a3de0c8ff8788
(Server const &)=delete
Server
classexotica_1_1Server.html
ab98292204ad81212cd63754509ec5720
()
Server
classexotica_1_1Server.html
a513219526c866c7ed5ca979978cf0efd
(Server const &)=delete
std::string
name_
classexotica_1_1Server.html
ae870dbb0f67f205fb24f641646d5f32d
std::shared_ptr< RosNode >
node_
classexotica_1_1Server.html
aad1f60472019cbc3b73f2872eef0a311
std::map< std::string, robot_model::RobotModelPtr >
robot_models_
classexotica_1_1Server.html
ab78155b0e278e63f44c7621400ddd2a2
static std::shared_ptr< Server >
singleton_server_
classexotica_1_1Server.html
a0b8c6edfc6f3e29d1ba002a65d65b95c
exotica::visualization::SetAnimation
structexotica_1_1visualization_1_1SetAnimation.html
MSGPACK_DEFINE
structexotica_1_1visualization_1_1SetAnimation.html
afe381df071c35e0673ea6d989d215062
(type, path, animations, options)
SetAnimation
structexotica_1_1visualization_1_1SetAnimation.html
ae2cbd76502e92136d82323a10c93cd53
()=default
std::vector< Animation >
animations
structexotica_1_1visualization_1_1SetAnimation.html
a34cda27ad7a9c940bb09ef84dd1d8192
AnimationOption
options
structexotica_1_1visualization_1_1SetAnimation.html
a399eddf2df0695a56a72190414c85e40
std::string
path
structexotica_1_1visualization_1_1SetAnimation.html
a87f95513b8bba9992a1919212a402548
std::string
type
structexotica_1_1visualization_1_1SetAnimation.html
a03509b24473b5b1b2f59f4e32cb83d01
exotica::visualization::SetObjectType
structexotica_1_1visualization_1_1SetObjectType.html
MSGPACK_DEFINE
structexotica_1_1visualization_1_1SetObjectType.html
ab2477ee06fd87b8512bc32b1736d12a2
(type, path, object)
SetObjectType
structexotica_1_1visualization_1_1SetObjectType.html
a0ffb5290d164e14d7ac4fbb0ac182d31
()=default
SetObjectType
structexotica_1_1visualization_1_1SetObjectType.html
a51e8578ba140662ef3cda9390e76c2d6
(const std::string &path_in, const T &object_in)
T
object
structexotica_1_1visualization_1_1SetObjectType.html
a165c085a62dd017217963fba7041503c
std::string
path
structexotica_1_1visualization_1_1SetObjectType.html
a684759407d29b1dea9e77ab3a97fd045
std::string
type
structexotica_1_1visualization_1_1SetObjectType.html
ad62b1a89ac3392c63dee7f68eab9331e
exotica::visualization::SetTransform
structexotica_1_1visualization_1_1SetTransform.html
MSGPACK_DEFINE
structexotica_1_1visualization_1_1SetTransform.html
a220b64fdd3e4e830be8c9b53d50cbb1c
(type, path, matrix)
SetTransform
structexotica_1_1visualization_1_1SetTransform.html
afa7b0eccf6e7920685d7b86b653fa779
()=default
SetTransform
structexotica_1_1visualization_1_1SetTransform.html
aa909cbe9e34260701a8fb688256511a5
(const std::string &path_in, const std::vector< double > &matrix_in)
std::vector< double >
matrix
structexotica_1_1visualization_1_1SetTransform.html
a15da2878fa740099a7b638f39804ae6c
std::string
path
structexotica_1_1visualization_1_1SetTransform.html
abd8f124592f362a4dce6a3919a2867db
std::string
type
structexotica_1_1visualization_1_1SetTransform.html
ae904bcbb2d0f9a3ee322ae89337975d6
exotica::Setup
classexotica_1_1Setup.html
exotica::Object
exotica::Uncopyable
~Setup
classexotica_1_1Setup.html
a5e287257cee1c8a45ec0445ff74b892f
() noexcept
static std::shared_ptr< exotica::CollisionScene >
CreateCollisionScene
classexotica_1_1Setup.html
a70bfba4fba3ddd4aa28a43b946e8baab
(const Initializer &init)
static std::shared_ptr< exotica::CollisionScene >
CreateCollisionScene
classexotica_1_1Setup.html
a026c6b4d2a1f79c09078fc87871eb29e
(const std::string &type, bool prepend=true)
static std::shared_ptr< exotica::DynamicsSolver >
CreateDynamicsSolver
classexotica_1_1Setup.html
ae4777f6756085cdab741dd3345adfa8d
(const Initializer &init)
static std::shared_ptr< exotica::DynamicsSolver >
CreateDynamicsSolver
classexotica_1_1Setup.html
a3d9ebc9bb1bf69cbab7fce41024d6cd3
(const std::string &type, bool prepend=true)
static std::shared_ptr< exotica::TaskMap >
CreateMap
classexotica_1_1Setup.html
addc6865c57aa4a07834e57dd0fb73dfe
(const std::string &type, bool prepend=true)
static std::shared_ptr< exotica::PlanningProblem >
CreateProblem
classexotica_1_1Setup.html
a32e3d226e62be012f7268a91fc39b847
(const Initializer &init)
static std::shared_ptr< exotica::PlanningProblem >
CreateProblem
classexotica_1_1Setup.html
ab68b4624f5044a30a63bea53d59516bf
(const std::string &type, bool prepend=true)
static exotica::ScenePtr
CreateScene
classexotica_1_1Setup.html
a462364f911c1092c8473f518bcf82fbf
(const Initializer &init)
static std::shared_ptr< exotica::MotionSolver >
CreateSolver
classexotica_1_1Setup.html
afd2352e71d7c6734efee944778434736
(const Initializer &init)
static std::shared_ptr< exotica::MotionSolver >
CreateSolver
classexotica_1_1Setup.html
ac67417af39c946541259aafcc3c2ef87
(const std::string &type, bool prepend=true)
static void
Destroy
classexotica_1_1Setup.html
a644557056fe90cb18de5717b601e001a
()
static std::vector< std::string >
GetCollisionScenes
classexotica_1_1Setup.html
a2e3024b04c2aeca7db72cdb1af139ce5
()
static std::vector< std::string >
GetDynamicsSolvers
classexotica_1_1Setup.html
a3fc35a55d67062470854233fda3fcb59
()
static std::vector< Initializer >
GetInitializers
classexotica_1_1Setup.html
aea33832a7d3ab69abad02c74e53838ff
()
static std::vector< std::string >
GetMaps
classexotica_1_1Setup.html
a29f973e2151c97a4ebec6e8b5aec0e72
()
static std::vector< std::string >
GetProblems
classexotica_1_1Setup.html
aca135525bfb37bd9052ba559c6a03c2b
()
static std::vector< std::string >
GetSolvers
classexotica_1_1Setup.html
a787bf69b8dfdada4cd43b9f411cae9fb
()
static std::shared_ptr< Setup >
Instance
classexotica_1_1Setup.html
ae901ef039b06fa07fcbbb53f1dab4697
()
static void
PrintSupportedClasses
classexotica_1_1Setup.html
a713f86d74264217c22c208b9d990f6fc
()
void
operator=
classexotica_1_1Setup.html
a5d533e4b80c13b5380871646c9452ca5
(Setup const &)=delete
Setup
classexotica_1_1Setup.html
ac11f0a2ea911533045f1904deb827df2
()
Setup
classexotica_1_1Setup.html
aeff5b294bb55be5d141ca304636183f7
(Setup const &)=delete
static std::shared_ptr< exotica::TaskMap >
CreateMap
classexotica_1_1Setup.html
a6f4704a43f4596dd3a889f33c0762b48
(const Initializer &init)
pluginlib::ClassLoader< exotica::CollisionScene >
collision_scenes_
classexotica_1_1Setup.html
ade6834caa52d4bb2f19d0f4515a5105f
pluginlib::ClassLoader< exotica::DynamicsSolver >
dynamics_solvers_
classexotica_1_1Setup.html
a19f0346b9f37ce82c168a05629c30a6a
pluginlib::ClassLoader< exotica::TaskMap >
maps_
classexotica_1_1Setup.html
a7296557cc536393e32e55a62b76abc2e
friend
PlanningProblem
classexotica_1_1Setup.html
ac5a8121bfbf3f3e0ebf677e291de729b
PlanningProblemFac
problems_
classexotica_1_1Setup.html
ab0b2c3978c39c13db1a9dda51e8976d5
pluginlib::ClassLoader< exotica::MotionSolver >
solvers_
classexotica_1_1Setup.html
a3746a95bf0f764815e7bd2b522791b14
static std::shared_ptr< Setup >
singleton_initialiser_
classexotica_1_1Setup.html
a98c0f4ba28508e3e2805e113a3d3f0f4
exotica::SolveException
classexotica_1_1SolveException.html
exotica::Exception
Exception
classexotica_1_1SolveException.html
aa7737e2b89ff2d86aaf8755bf82eef5e
(const std::string &msg, const char *file, const char *func, int line, const std::string &object=std::string())
exotica::Task
structexotica_1_1Task.html
virtual void
Initialize
structexotica_1_1Task.html
a9347cf4af8135b52baa92fede7f9b19d
(const std::vector< exotica::Initializer > &inits, std::shared_ptr< PlanningProblem > prob, TaskSpaceVector &Phi)
Task
structexotica_1_1Task.html
a4b86001ca1efa3bb9b43d3b707a70d65
()=default
virtual
~Task
structexotica_1_1Task.html
aec59512972182667e030e806ee005772
()=default
std::vector< TaskIndexing >
indexing
structexotica_1_1Task.html
ad8f5bfc556396f742f581aaca19661bc
int
length_jacobian
structexotica_1_1Task.html
a315a433b4b2f92b8e0aeaa3ed008cb0d
int
length_Phi
structexotica_1_1Task.html
a3ddb07514a7c7150ec8cd5166eb5855b
int
num_tasks
structexotica_1_1Task.html
a00b96ad26445ba2f3023642f1ba2244c
TaskMapMap
task_maps
structexotica_1_1Task.html
a894db6593fca51a42e3817a4a1e0aeff
TaskMapVec
tasks
structexotica_1_1Task.html
a2a5198739bd76d7e98f2c517e81c55de
double
tolerance
structexotica_1_1Task.html
a7621e6626cbbc164dc92cc3875606775
std::vector< TaskInitializer >
task_initializers_
structexotica_1_1Task.html
a0fbd941f1ce1be3430a199de9781e062
exotica::TaskIndexing
structexotica_1_1TaskIndexing.html
int
id
structexotica_1_1TaskIndexing.html
a3a7c0d68e263b79c8f64d50cc10ee76e
int
length
structexotica_1_1TaskIndexing.html
a5ac40335443f9cf87cc7a4124ba64287
int
length_jacobian
structexotica_1_1TaskIndexing.html
a07aa8f743a72bab7461d8eb80b766b9c
int
start
structexotica_1_1TaskIndexing.html
a939036b78dcf4e97759bb847c9959f52
int
start_jacobian
structexotica_1_1TaskIndexing.html
a7efd5dae320db65e525f0aa4e18b1cbd
exotica::TaskMap
classexotica_1_1TaskMap.html
exotica::Object
exotica::Uncopyable
exotica::InstantiableBase
virtual void
AssignScene
classexotica_1_1TaskMap.html
a0ce5aa6c22d5d60a16dd004dd44f7a0d
(ScenePtr scene)
std::vector< KinematicFrameRequest >
GetFrames
classexotica_1_1TaskMap.html
aa2af0e8dfcbb04cf856973a21cd76f90
() const
virtual std::vector< TaskVectorEntry >
GetLieGroupIndices
classexotica_1_1TaskMap.html
a2dec5666f967c0bb0d6df9f0497e1af6
()
virtual void
InstantiateBase
classexotica_1_1TaskMap.html
ac3c998e161cebee8833b3d97b3084188
(const Initializer &init)
virtual void
PreUpdate
classexotica_1_1TaskMap.html
af75a673f181cd6ccd9818fb6620993ba
()
virtual int
TaskSpaceDim
classexotica_1_1TaskMap.html
a5d2a168840bca9548bb308ceb48c07e1
()=0
virtual int
TaskSpaceJacobianDim
classexotica_1_1TaskMap.html
afb9815f5381066efc6a9a30251121282
()
virtual void
Update
classexotica_1_1TaskMap.html
ac0448773629945461e774f4f6f0d52ef
(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi)=0
virtual void
Update
classexotica_1_1TaskMap.html
ad9da4518d1bffc7d3d72ee7b9cbc338e
(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian)
virtual void
Update
classexotica_1_1TaskMap.html
a7c52aabccc56725f1ebaa85e9e8b7265
(Eigen::VectorXdRefConst q, Eigen::VectorXdRef phi, Eigen::MatrixXdRef jacobian, HessianRef hessian)
virtual void
Update
classexotica_1_1TaskMap.html
a5f6e76812f2487f8ea7522fc55e7b63e
(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi)
virtual void
Update
classexotica_1_1TaskMap.html
ae6083c74025e2f405f8ac8ca0f26b672
(Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, Eigen::VectorXdRef phi, Eigen::MatrixXdRef dphi_dx, Eigen::MatrixXdRef dphi_du)
virtual void
Update
classexotica_1_1TaskMap.html
a10e9ea0b88d52705c8b4e0a43b385428
(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)
int
id
classexotica_1_1TaskMap.html
a2642a64abab645226f457958c391157f
bool
is_used
classexotica_1_1TaskMap.html
a0296145e2feed1cc745e320793260e1e
std::vector< KinematicSolution >
kinematics
classexotica_1_1TaskMap.html
ab13fa25f4792f5f03ea035ea63d199a0
int
length
classexotica_1_1TaskMap.html
a6546f1b091c85a65152dfefd3bb49ac7
int
length_jacobian
classexotica_1_1TaskMap.html
a948767f41e356741761ab8b6f8a5c999
int
start
classexotica_1_1TaskMap.html
ac2986fed65f04f4a2d1127d56e995068
int
start_jacobian
classexotica_1_1TaskMap.html
a96fb0a0a22a00972846660b11f6aaf14
std::vector< KinematicFrameRequest >
frames_
classexotica_1_1TaskMap.html
a0320ea809278dc880a17cb20af9e3a3f
ScenePtr
scene_
classexotica_1_1TaskMap.html
a51a3ae407e2d21553481c2be54e2da4a
exotica::TaskSpaceVector
structexotica_1_1TaskSpaceVector.html
Eigen::VectorXd
operator-
structexotica_1_1TaskSpaceVector.html
a4e25eea416d44a1ea0be77007178bd4e
(const TaskSpaceVector &other)
TaskSpaceVector &
operator=
structexotica_1_1TaskSpaceVector.html
ad19a1d380c8e3f92c67ad113f0a3ab57
(std::initializer_list< double > other)
void
SetZero
structexotica_1_1TaskSpaceVector.html
aa2450bf02ce16fbc42bab3229c1fd380
(const int n)
TaskSpaceVector
structexotica_1_1TaskSpaceVector.html
a99d8ee39035d5298a2d0a1f2cdcadbbd
()
~TaskSpaceVector
structexotica_1_1TaskSpaceVector.html
a272e030aa2e1b18ce9aaff7cb40bc3f0
()
Eigen::VectorXd
data
structexotica_1_1TaskSpaceVector.html
a9a28637c71eed20a6ff5943c29c14303
std::vector< TaskVectorEntry >
map
structexotica_1_1TaskSpaceVector.html
a2ac9708f48c5372b02ed164eaf7bccac
exotica::TaskVectorEntry
structexotica_1_1TaskVectorEntry.html
TaskVectorEntry
structexotica_1_1TaskVectorEntry.html
ac42303d735697ef6ac18f8f2f82c1926
()
TaskVectorEntry
structexotica_1_1TaskVectorEntry.html
ae8d4859975601feb0bf3cb7f48ae9cb2
(int _id, RotationType _type)
static std::vector< TaskVectorEntry >
reindex
structexotica_1_1TaskVectorEntry.html
ac028a42900390ea2b01709b718cbaf77
(const std::vector< TaskVectorEntry > &_map, int _old_start, int _new_start)
int
id
structexotica_1_1TaskVectorEntry.html
a5c220f4755b696025156ae097831a3e8
RotationType
type
structexotica_1_1TaskVectorEntry.html
ac17a0284c6523ef0d80c7ed7b55e412a
TestClass
classTestClass.html
TestClass
classTestClass.html
a09903432ed60c7c38f1beccc4cf18987
()
void
UpdateKinematics
classTestClass.html
a99f1b01868779d4925cd8eecf4a25ad1
(std::shared_ptr< KinematicResponse > response)
int
N
classTestClass.html
af1438413438efdede1ef8665fe24736c
ScenePtr
scene
classTestClass.html
ab2f21afaf19921bd5daab619560f7868
KinematicSolution
solution
classTestClass.html
a9362ccd4e1745fbd0393cd548ddee9fc
exotica::TestCout
classexotica_1_1TestCout.html
~TestCout
classexotica_1_1TestCout.html
accab0e5c00dfaafdac7fc50138ca724d
()
exotica::TimeIndexedProblem
classexotica_1_1TimeIndexedProblem.html
exotica::AbstractTimeIndexedProblem
Instantiable< TimeIndexedProblemInitializer >
void
Instantiate
classexotica_1_1TimeIndexedProblem.html
af3cbf8545370a0cfbd2626e56c17e1dd
(const TimeIndexedProblemInitializer &init) override
bool
IsValid
classexotica_1_1TimeIndexedProblem.html
a365792bce370ad5892eb240fb7ba0f49
() override
TimeIndexedProblem
classexotica_1_1TimeIndexedProblem.html
ad8536a85556378805fd063690ad03c3e
()=default
virtual
~TimeIndexedProblem
classexotica_1_1TimeIndexedProblem.html
ad6c5ede21abe078d1db60429d523e140
()=default
exotica::TimeIndexedSamplingProblem
classexotica_1_1TimeIndexedSamplingProblem.html
exotica::PlanningProblem
Instantiable< TimeIndexedSamplingProblemInitializer >
std::vector< double >
GetBounds
classexotica_1_1TimeIndexedSamplingProblem.html
a094268cd17250193d20e8a70c4a147e1
()
Eigen::VectorXd
GetGoalEQ
classexotica_1_1TimeIndexedSamplingProblem.html
ae47c038f7ef72f0172d769c73955eda8
(const std::string &task_name)
Eigen::VectorXd
GetGoalNEQ
classexotica_1_1TimeIndexedSamplingProblem.html
a48b7e5fe10a5c327e426e8fcdb1de59e
(const std::string &task_name)
Eigen::VectorXd
GetGoalState
classexotica_1_1TimeIndexedSamplingProblem.html
a6de4bb7e88f67835ccd354899520ccb8
() const
double
GetGoalTime
classexotica_1_1TimeIndexedSamplingProblem.html
a29c2567311ee2a3700287b67bdcd93f6
() const
double
GetRhoEQ
classexotica_1_1TimeIndexedSamplingProblem.html
a3f77c000f5a9afa2a4fbdb178673bb6c
(const std::string &task_name)
double
GetRhoNEQ
classexotica_1_1TimeIndexedSamplingProblem.html
a023c0adac491ee6af507c1f9526b558d
(const std::string &task_name)
int
GetSpaceDim
classexotica_1_1TimeIndexedSamplingProblem.html
ab7201a77aa331c49952902f6083b39ea
()
void
Instantiate
classexotica_1_1TimeIndexedSamplingProblem.html
adc3822030bd818b7a17a1e55b06bfb53
(const TimeIndexedSamplingProblemInitializer &init) override
virtual bool
IsValid
classexotica_1_1TimeIndexedSamplingProblem.html
a90c31c93cc5459565c147de7293e2938
()
bool
IsValid
classexotica_1_1TimeIndexedSamplingProblem.html
acdf6d28565d07e474c6b3ae74910bc63
(Eigen::VectorXdRefConst x, const double &t)
void
PreUpdate
classexotica_1_1TimeIndexedSamplingProblem.html
a5a6539c0884fd814580891c1a99d01ca
() override
void
SetGoalEQ
classexotica_1_1TimeIndexedSamplingProblem.html
a9481cc982f94f82ed862ce852446db34
(const std::string &task_name, Eigen::VectorXdRefConst goal)
void
SetGoalNEQ
classexotica_1_1TimeIndexedSamplingProblem.html
a9ec17425d62308604d8d3cc36dea3faa
(const std::string &task_name, Eigen::VectorXdRefConst goal)
void
SetGoalState
classexotica_1_1TimeIndexedSamplingProblem.html
adf0e22d30e18d756b8e6f1dab16c6cf9
(Eigen::VectorXdRefConst qT)
void
SetGoalTime
classexotica_1_1TimeIndexedSamplingProblem.html
a779d7281646d290c1337e645e8210aa8
(const double &t)
void
SetRhoEQ
classexotica_1_1TimeIndexedSamplingProblem.html
a7465d138cb96e496e30110c7ea79a6c8
(const std::string &task_name, const double &rho)
void
SetRhoNEQ
classexotica_1_1TimeIndexedSamplingProblem.html
a0958e2229476d0822f862e0ea86261d5
(const std::string &task_name, const double &rho)
TimeIndexedSamplingProblem
classexotica_1_1TimeIndexedSamplingProblem.html
a113b440bd1e4dc8e7799901dec182414
()
void
Update
classexotica_1_1TimeIndexedSamplingProblem.html
a2bfd59154b454520223b4b9cedea8efd
(Eigen::VectorXdRefConst x, const double &t)
virtual
~TimeIndexedSamplingProblem
classexotica_1_1TimeIndexedSamplingProblem.html
ade0756a0c27e3bd979999ac03e934a66
()
TaskSpaceVector
constraint_phi
classexotica_1_1TimeIndexedSamplingProblem.html
ad7c77853689a02e4eb384b6a93fe47f2
SamplingTask
equality
classexotica_1_1TimeIndexedSamplingProblem.html
a2d72413a903545dc6941ebf3ae43b0e6
SamplingTask
inequality
classexotica_1_1TimeIndexedSamplingProblem.html
a67fe84360465ac66860ae3d58bb5e258
int
length_jacobian
classexotica_1_1TimeIndexedSamplingProblem.html
a86722c2337c10625acba80f5c39b9d64
int
length_Phi
classexotica_1_1TimeIndexedSamplingProblem.html
ae1212f2467d9d6cf47861871991f734e
int
num_tasks
classexotica_1_1TimeIndexedSamplingProblem.html
a4cf6d79be94a518c4fe4a890f2fcfe90
TimeIndexedSamplingProblemInitializer
parameters
classexotica_1_1TimeIndexedSamplingProblem.html
ae26d4fd66bc837b333ddcbb8f1b822c4
TaskSpaceVector
Phi
classexotica_1_1TimeIndexedSamplingProblem.html
ad0c2c5c9bcaa04fcce0737dc75ca4542
Eigen::VectorXd
vel_limits
classexotica_1_1TimeIndexedSamplingProblem.html
a7c184c8c57783428468847e63506484d
Eigen::VectorXd
goal_
classexotica_1_1TimeIndexedSamplingProblem.html
a65d3bd95b158a7f05cc6868e81aeebe2
double
t_goal_
classexotica_1_1TimeIndexedSamplingProblem.html
a902df6028fd8835eadccda458b9d132f
exotica::TimeIndexedTask
structexotica_1_1TimeIndexedTask.html
exotica::Task
Eigen::VectorXd
GetGoal
structexotica_1_1TimeIndexedTask.html
a5264901f33b60501b40b6bda98aeb7e3
(const std::string &task_name, int t) const
double
GetRho
structexotica_1_1TimeIndexedTask.html
af1074b8912d70f9b6feda1f3d40398bc
(const std::string &task_name, int t) const
Eigen::MatrixXd
GetS
structexotica_1_1TimeIndexedTask.html
a6772160ba2f10f85c24e007359253f63
(const std::string &task_name, int t) const
Eigen::VectorXd
GetTaskError
structexotica_1_1TimeIndexedTask.html
acffcbd02b177f63c0447091e367eeb7d
(const std::string &task_name, int t) const
virtual void
Initialize
structexotica_1_1TimeIndexedTask.html
a1394633c8604f1aa840b1a5df1972cb4
(const std::vector< exotica::Initializer > &inits, std::shared_ptr< PlanningProblem > prob, TaskSpaceVector &Phi)
void
ReinitializeVariables
structexotica_1_1TimeIndexedTask.html
a1c4d329dacbe12dec5017a8dc481fb3a
(int _T, std::shared_ptr< PlanningProblem > _prob, const TaskSpaceVector &_Phi)
void
SetGoal
structexotica_1_1TimeIndexedTask.html
ad18f57ac721ab0799a4c777a4e0f7ebe
(const std::string &task_name, Eigen::VectorXdRefConst goal, int t)
void
SetRho
structexotica_1_1TimeIndexedTask.html
a4cdc410791622a6a624cf8d3b14efad4
(const std::string &task_name, const double rho_in, int t)
TimeIndexedTask
structexotica_1_1TimeIndexedTask.html
a5b551d428b1a1c24ac0b4a49abb49501
()=default
void
Update
structexotica_1_1TimeIndexedTask.html
adaf5dbbcbc72fa613fec4a42414f61c0
(const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_dPhi_dx, Eigen::MatrixXdRefConst big_dPhi_du, HessianRefConst big_ddPhi_ddx, HessianRefConst big_ddPhi_ddu, HessianRefConst big_ddPhi_dxdu, int t)
void
Update
structexotica_1_1TimeIndexedTask.html
af5f8a7b27864767de7940fe6de3ddf9d
(const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_dPhi_dx, Eigen::MatrixXdRefConst big_dPhi_du, int t)
void
Update
structexotica_1_1TimeIndexedTask.html
a05df2d327873e1cd20c8b679ee24bbf6
(const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_jacobian, HessianRefConst big_hessian, int t)
void
Update
structexotica_1_1TimeIndexedTask.html
adf02c15d10da2855a8e7197a99d48d84
(const TaskSpaceVector &big_Phi, Eigen::MatrixXdRefConst big_jacobian, int t)
void
Update
structexotica_1_1TimeIndexedTask.html
a752b1ac58d8d49df534c3737126511f5
(const TaskSpaceVector &big_Phi, int t)
void
UpdateS
structexotica_1_1TimeIndexedTask.html
a34bba5c7afb4db67ae402577c5d9d3f4
()
void
ValidateTimeIndex
structexotica_1_1TimeIndexedTask.html
a7400406405f07b9f70a078abd6ced1e5
(int &t_in) const
virtual
~TimeIndexedTask
structexotica_1_1TimeIndexedTask.html
a22daadaecf0180418eda9a5feff3dea7
()=default
std::vector< Hessian >
ddPhi_ddu
structexotica_1_1TimeIndexedTask.html
acaeb57bbe5c5b82c56222f631992c3a4
std::vector< Hessian >
ddPhi_ddx
structexotica_1_1TimeIndexedTask.html
a776a8e3d585a09f0d0f2576636959b5f
std::vector< Hessian >
ddPhi_dxdu
structexotica_1_1TimeIndexedTask.html
ac7f9c789d8fa8b973f8b772c3e1a9643
std::vector< Eigen::MatrixXd >
dPhi_du
structexotica_1_1TimeIndexedTask.html
a6040e5b3a9ad4affd54ecda55bb74415
std::vector< Eigen::MatrixXd >
dPhi_dx
structexotica_1_1TimeIndexedTask.html
af502c6a43fc5e0c7868666ada848cb25
std::vector< Hessian >
hessian
structexotica_1_1TimeIndexedTask.html
ab354f08f2da52c7ccecafc76541d2dc1
std::vector< Eigen::MatrixXd >
jacobian
structexotica_1_1TimeIndexedTask.html
a666ebc95a14158df4e315a892b84987f
std::vector< TaskSpaceVector >
Phi
structexotica_1_1TimeIndexedTask.html
a99336a4e5d893634aeb322e0de880846
std::vector< Eigen::VectorXd >
rho
structexotica_1_1TimeIndexedTask.html
a95b0cc7c58766605308d99c021ab6311
std::vector< Eigen::MatrixXd >
S
structexotica_1_1TimeIndexedTask.html
a953ab021dfd32d80b1e144665e61dad6
int
T
structexotica_1_1TimeIndexedTask.html
aa97daed6714647288ecaeb29022a428e
std::vector< TaskSpaceVector >
y
structexotica_1_1TimeIndexedTask.html
aa99eb71cc4ee1a9813fd90e22240f721
std::vector< Eigen::VectorXd >
ydiff
structexotica_1_1TimeIndexedTask.html
ae758095be1c0783f13fd76d8244a42a2
exotica::Timer
classexotica_1_1Timer.html
double
GetDuration
classexotica_1_1Timer.html
ac76dc347bbd569ec7840cb47f133c126
() const
void
Reset
classexotica_1_1Timer.html
acde71906fc90575212c30b3fb8f9aa5c
()
Timer
classexotica_1_1Timer.html
a9827d76e29818c52e147adadfe944239
()
std::chrono::time_point< std::chrono::high_resolution_clock >
start_time_
classexotica_1_1Timer.html
a6101f25cab139075d22f8e7566cf7816
exotica::visualization::Track
structexotica_1_1visualization_1_1Track.html
MSGPACK_DEFINE
structexotica_1_1visualization_1_1Track.html
a875a52ef1fc31c7a366597f5474fd267
(name, type, keys)
Track
structexotica_1_1visualization_1_1Track.html
aa9c466e5c44e82366261fda3a0abc51e
()=default
Track
structexotica_1_1visualization_1_1Track.html
a5f53971263a1735f029203d95c7ee585
(const std::string &name_in, const std::string &type_in)
std::vector< Key >
keys
structexotica_1_1visualization_1_1Track.html
a48192774d7791f82b22116edbddb117e
std::string
name
structexotica_1_1visualization_1_1Track.html
ae0153eeb689612a89c79628b38a919d3
std::string
type
structexotica_1_1visualization_1_1Track.html
a8a13a74d69af42e6ccd3dcd0469fa432
exotica::Trajectory
classexotica_1_1Trajectory.html
KDL::Twist
GetAcceleration
classexotica_1_1Trajectory.html
a6d7a43b2fab88e858fd894bf95006e70
(double t)
Eigen::MatrixXd
GetData
classexotica_1_1Trajectory.html
aa15d26dcf72c15a5075b5cdb18441cbf
()
double
GetDuration
classexotica_1_1Trajectory.html
af1af14beb60fe66a45f8c35fe56c6c33
()
KDL::Frame
GetPosition
classexotica_1_1Trajectory.html
af6ce58a1216cdb19cf717a9d574186ea
(double t)
double
GetRadius
classexotica_1_1Trajectory.html
a288d12e29b2f504165e3ee9584e77761
()
KDL::Twist
GetVelocity
classexotica_1_1Trajectory.html
ad7203e17501e5520309d78d96dae0924
(double t)
std::string
ToString
classexotica_1_1Trajectory.html
a0153b9a334247efc4eadb0eeaebf801b
()
Trajectory
classexotica_1_1Trajectory.html
a0a5dfb32ff952967079d8e5e57ce713e
()
Trajectory
classexotica_1_1Trajectory.html
a63199b559ff5389ccef533a29c35392a
(const std::string &data)
Trajectory
classexotica_1_1Trajectory.html
afdead2e8d347ef61c0907648b4c45032
(Eigen::MatrixXdRefConst data, double radius=1.0)
~Trajectory
classexotica_1_1Trajectory.html
ad6565972a01507464595cc4ed6168588
()
void
ConstructFromData
classexotica_1_1Trajectory.html
a53f0a69145d95269edf43c4912f4e7ef
(Eigen::MatrixXdRefConst data, double radius)
Eigen::MatrixXd
data_
classexotica_1_1Trajectory.html
ae12182a64960e4fde6693f52250ef193
double
radius_
classexotica_1_1Trajectory.html
a747ac9b8bbbb5413e0765ce33a7fc111
std::shared_ptr< KDL::Trajectory_Composite >
trajectory_
classexotica_1_1Trajectory.html
a51cb887cc80882ea77666a144f621a4c
exotica::UnconstrainedEndPoseProblem
classexotica_1_1UnconstrainedEndPoseProblem.html
exotica::PlanningProblem
Instantiable< UnconstrainedEndPoseProblemInitializer >
Eigen::VectorXd
GetGoal
classexotica_1_1UnconstrainedEndPoseProblem.html
a3aec59c1b9a9a31b04565aeae9f8a540
(const std::string &task_name) const
Eigen::MatrixXd
GetHessian
classexotica_1_1UnconstrainedEndPoseProblem.html
acad6bf7fff054a297a87c7f0ffe9b74d
() const
Eigen::VectorXd
GetNominalPose
classexotica_1_1UnconstrainedEndPoseProblem.html
ae92e23ffaea6bd13c26626cacd2e0313
() const
double
GetRho
classexotica_1_1UnconstrainedEndPoseProblem.html
a6b0e7f7c7f0a60c3be66a866c250f609
(const std::string &task_name) const
double
GetScalarCost
classexotica_1_1UnconstrainedEndPoseProblem.html
a5e5b536871dfbffebe684372724aa8de
() const
Eigen::RowVectorXd
GetScalarJacobian
classexotica_1_1UnconstrainedEndPoseProblem.html
af5df418dcbbba2a738382a9781018ba5
() const
double
GetScalarTaskCost
classexotica_1_1UnconstrainedEndPoseProblem.html
a4b75472c1861c92c9f4e0f07c6e19cb9
(const std::string &task_name) const
int
GetTaskId
classexotica_1_1UnconstrainedEndPoseProblem.html
a14a47a011654964eb02d0c10507b7c96
(const std::string &task_name) const
void
Instantiate
classexotica_1_1UnconstrainedEndPoseProblem.html
a1daaf0eca882c4bc03368defeaa966fc
(const UnconstrainedEndPoseProblemInitializer &init) override
bool
IsValid
classexotica_1_1UnconstrainedEndPoseProblem.html
a511720e24f2900ac210c3416d93f7cf4
() override
void
PreUpdate
classexotica_1_1UnconstrainedEndPoseProblem.html
ad024f97aef4c2f738c677d694eca7ad2
() override
void
SetGoal
classexotica_1_1UnconstrainedEndPoseProblem.html
acdb8c3d729e9b81af6b6c0fc7a8d5c2a
(const std::string &task_name, Eigen::VectorXdRefConst goal)
void
SetNominalPose
classexotica_1_1UnconstrainedEndPoseProblem.html
a82546a8e83bc7cf01229e481cf62df06
(Eigen::VectorXdRefConst qNominal_in)
void
SetRho
classexotica_1_1UnconstrainedEndPoseProblem.html
a5987ed998966a4d506ea46ddc1b9194c
(const std::string &task_name, const double &rho)
UnconstrainedEndPoseProblem
classexotica_1_1UnconstrainedEndPoseProblem.html
acecfe235b19c027cf8dbe1c572ecf0a9
()
void
Update
classexotica_1_1UnconstrainedEndPoseProblem.html
a065c8541b0adc8d2069fb08f0d17845e
(Eigen::VectorXdRefConst x)
virtual
~UnconstrainedEndPoseProblem
classexotica_1_1UnconstrainedEndPoseProblem.html
a96004061148b4047a40e48e8551b87bd
()
EndPoseTask
cost
classexotica_1_1UnconstrainedEndPoseProblem.html
a45252a5c38166827957e94677a27a08f
Hessian
hessian
classexotica_1_1UnconstrainedEndPoseProblem.html
af8f0418bca7aeeefd7c499debe478b4b
Eigen::MatrixXd
jacobian
classexotica_1_1UnconstrainedEndPoseProblem.html
a04ceecb1a231836b62b39eedd87ad020
int
length_jacobian
classexotica_1_1UnconstrainedEndPoseProblem.html
a7e3f7fff735678955778fb639b57290e
int
length_Phi
classexotica_1_1UnconstrainedEndPoseProblem.html
af6b21b390f2e0049e2a6a5c28ed8ce92
int
num_tasks
classexotica_1_1UnconstrainedEndPoseProblem.html
acfbdc2c707c4a86e0937837800a28fa4
TaskSpaceVector
Phi
classexotica_1_1UnconstrainedEndPoseProblem.html
a74034376a919738041b9626837cc7cb8
Eigen::VectorXd
q_nominal
classexotica_1_1UnconstrainedEndPoseProblem.html
a0966d9786cdac985d068f037f8412106
Eigen::MatrixXd
W
classexotica_1_1UnconstrainedEndPoseProblem.html
aab76cba871ca79af3b99063c2ef33f39
exotica::UnconstrainedTimeIndexedProblem
classexotica_1_1UnconstrainedTimeIndexedProblem.html
exotica::AbstractTimeIndexedProblem
Instantiable< UnconstrainedTimeIndexedProblemInitializer >
int
get_active_nonlinear_equality_constraints_dimension
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a8796704c06af385a2680dc51957d0a45
() const =delete
int
get_active_nonlinear_inequality_constraints_dimension
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a41f9e65c97b5b355bbe95d7a0a2ac7ee
() const =delete
int
get_joint_velocity_constraint_dimension
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a20d1c0bd88e3f3fb6bb5c6d731557a38
() const =delete
Eigen::MatrixXd
GetBounds
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a191c7687be2f42ee33fea79484022adf
() const =delete
Eigen::VectorXd
GetEquality
classexotica_1_1UnconstrainedTimeIndexedProblem.html
ae40cec724861f9e2da44e71147ae51d8
() const =delete
Eigen::VectorXd
GetEquality
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a751d89af5b9c8df71b0f27db1bc76ef5
(int t) const =delete
Eigen::SparseMatrix< double >
GetEqualityJacobian
classexotica_1_1UnconstrainedTimeIndexedProblem.html
ae2509e3a0190df170ab481e41eb7883e
() const =delete
Eigen::MatrixXd
GetEqualityJacobian
classexotica_1_1UnconstrainedTimeIndexedProblem.html
ac10dd1217f157ac16c49fd800a26b696
(int t) const =delete
std::vector< Eigen::Triplet< double > >
GetEqualityJacobianTriplets
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a774598346384426455167a4101c61b54
() const =delete
Eigen::VectorXd
GetGoalEQ
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a37726d982a39e2a1fd55bd0eeedec558
(const std::string &task_name, int t=0)=delete
Eigen::VectorXd
GetGoalNEQ
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a32e08583e45f0c46d6532259dd93e5ed
(const std::string &task_name, int t=0)=delete
Eigen::VectorXd
GetInequality
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a19d02691405202d1a847a24171ce29c7
() const =delete
Eigen::VectorXd
GetInequality
classexotica_1_1UnconstrainedTimeIndexedProblem.html
abd760924a0b2f44cd774babd321e57d8
(int t) const =delete
Eigen::SparseMatrix< double >
GetInequalityJacobian
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a25b71ee6f5a50f12711e6b81463c0406
() const =delete
Eigen::MatrixXd
GetInequalityJacobian
classexotica_1_1UnconstrainedTimeIndexedProblem.html
af2fd5a242474f2949cfc864396301ee4
(int t) const =delete
std::vector< Eigen::Triplet< double > >
GetInequalityJacobianTriplets
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a9dc670f94325dc3f36159acb3ce5e224
() const =delete
Eigen::VectorXd
GetJointVelocityConstraint
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a0ab83c10237c13909a4c0a0a05d1aec4
() const =delete
Eigen::MatrixXd
GetJointVelocityConstraintBounds
classexotica_1_1UnconstrainedTimeIndexedProblem.html
abb5bfa3cad48c04966e8995a5b8aa56d
() const =delete
std::vector< Eigen::Triplet< double > >
GetJointVelocityConstraintJacobianTriplets
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a3fa3daefeda290f63c8b75031a66a47c
() const =delete
Eigen::VectorXd
GetJointVelocityLimits
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a64aea74216968eb2c1889e8db8dcfb96
() const =delete
double
GetRhoEQ
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a0c3b3390915531407daf3191262bb0f0
(const std::string &task_name, int t=0)=delete
double
GetRhoNEQ
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a652ad357dff1f02163f798f56a111d53
(const std::string &task_name, int t=0)=delete
void
Instantiate
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a185ee82676ec448522210c8e20d2e3b6
(const UnconstrainedTimeIndexedProblemInitializer &init) override
bool
IsValid
classexotica_1_1UnconstrainedTimeIndexedProblem.html
af1d08240fea60b1e344ca3a5ef96df3a
() override
void
PreUpdate
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a86a671dd08deac34ee6a52aa7f0be38b
() override
void
SetGoalEQ
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a3f10f82f634ff4af6fcee8bbb9a14374
(const std::string &task_name, Eigen::VectorXdRefConst goal, int t=0)=delete
void
SetGoalNEQ
classexotica_1_1UnconstrainedTimeIndexedProblem.html
ab3e3e7dbfa0b64e6c3e68d1122aa58cc
(const std::string &task_name, Eigen::VectorXdRefConst goal, int t=0)=delete
void
SetJointVelocityLimits
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a63aa7ff8742fbb7ee2751a707f19005f
(const Eigen::VectorXd &qdot_max_in)=delete
void
SetRhoEQ
classexotica_1_1UnconstrainedTimeIndexedProblem.html
ab44b7aae4f4a4a14b872dee2a51c7a2c
(const std::string &task_name, const double rho, int t=0)=delete
void
SetRhoNEQ
classexotica_1_1UnconstrainedTimeIndexedProblem.html
aa74802776d4b5025026fa7736243bf46
(const std::string &task_name, const double rho, int t=0)=delete
UnconstrainedTimeIndexedProblem
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a4b1387b7ea463a878de2b02c86cf8de0
()=default
virtual void
Update
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a566244bdaf80d1e2bde4f5bba8765ea7
(Eigen::VectorXdRefConst x_in, int t)
void
Update
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a36b6c8fe564285895b81a9b5dad8ccd4
(Eigen::VectorXdRefConst x_in, int t) override
void
Update
classexotica_1_1UnconstrainedTimeIndexedProblem.html
ac18ae69a2eded019e4866302c07dbc95
(Eigen::VectorXdRefConst x_trajectory_in)
virtual
~UnconstrainedTimeIndexedProblem
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a87e21110afa14f27aaeff6f33b214bf8
()=default
void
ReinitializeVariables
classexotica_1_1UnconstrainedTimeIndexedProblem.html
a17c6ed9bc4ac671ecfa3772c8dc36e50
() override
exotica::Uncopyable
classexotica_1_1Uncopyable.html
Uncopyable
classexotica_1_1Uncopyable.html
a188aad3094a7a1e5246aa3011f845e5d
()=default
~Uncopyable
classexotica_1_1Uncopyable.html
a68fa8c2df86f824529e2d510b28b9015
()=default
Uncopyable &
operator=
classexotica_1_1Uncopyable.html
a40d261f771b6e998b191ac8245cbb453
(const Uncopyable &)
Uncopyable
classexotica_1_1Uncopyable.html
a9941b070387241234d3017b46ce6e144
(const Uncopyable &)
exotica::VisualElement
classexotica_1_1VisualElement.html
Eigen::Vector4d
color
classexotica_1_1VisualElement.html
ae4ec463fd852bb87d672cc940bb0f71c
KDL::Frame
frame
classexotica_1_1VisualElement.html
aff4e63597c974a563a028361137fb9bd
EIGEN_MAKE_ALIGNED_OPERATOR_NEW std::string
name
classexotica_1_1VisualElement.html
ad59548964f170889fd7a9605efbe53a1
Eigen::Vector3d
scale
classexotica_1_1VisualElement.html
ad083398f0fc0463504d675a7f40a3c03
shapes::ShapePtr
shape
classexotica_1_1VisualElement.html
a6f150b3f0ef0d9392b918c13decbf829
std::string
shape_resource_path
classexotica_1_1VisualElement.html
a27a68e60019018083f9f673d12de1be8
exotica::VisualizationMeshcat
classexotica_1_1VisualizationMeshcat.html
exotica::Uncopyable
void
Delete
classexotica_1_1VisualizationMeshcat.html
a10fe1fc62241b96276a73ccb6c4dede9
(const std::string &path="")
void
DisplayScene
classexotica_1_1VisualizationMeshcat.html
a1d1dbf1f5b1e128c8e0aed9741f67dc1
(bool use_mesh_materials=true)
void
DisplayState
classexotica_1_1VisualizationMeshcat.html
a05c8699d08b27c3f0ed4b5b2f38e6a9d
(Eigen::VectorXdRefConst state, double t=0.0)
void
DisplayTrajectory
classexotica_1_1VisualizationMeshcat.html
aad0994b70520acbbf6e62febc12865bb
(Eigen::MatrixXdRefConst trajectory, double dt=1.0)
std::string
GetFileURL
classexotica_1_1VisualizationMeshcat.html
a7d7d751975c298a3d618f1d6ffe92c9f
()
std::string
GetWebURL
classexotica_1_1VisualizationMeshcat.html
a89ddf656e3a56b7e195b7687bf83b467
()
void
Initialize
classexotica_1_1VisualizationMeshcat.html
a723c7aac7914f2ac30d5994ebe20615a
(bool use_mesh_materials)
void
SetProperty
classexotica_1_1VisualizationMeshcat.html
ac1187d60650645331bc2c75e59ff509c
(const std::string &path, const std::string &property, const bool &value)
void
SetProperty
classexotica_1_1VisualizationMeshcat.html
a9de127f12c121b4ddadf48689e1300aa
(const std::string &path, const std::string &property, const double &value)
void
SetProperty
classexotica_1_1VisualizationMeshcat.html
ad1d8f1fa80c8bde608d374831a1293ed
(const std::string &path, const std::string &property, const Eigen::Vector3d &value)
void
SetProperty
classexotica_1_1VisualizationMeshcat.html
a5b2a227733e14aec0f223fc7fc43ea10
(const std::string &path, const std::string &property, const Eigen::Vector4d &value)
void
SetProperty
classexotica_1_1VisualizationMeshcat.html
aae673c67614fb5ace557fe077ecf09ae
(const std::string &path, const std::string &property, const std::string &value)
VisualizationMeshcat
classexotica_1_1VisualizationMeshcat.html
a5cf12385f0c3927723b52ca16e104c45
(ScenePtr scene, const std::string &url, bool use_mesh_materials=true, const std::string &file_url="")
virtual
~VisualizationMeshcat
classexotica_1_1VisualizationMeshcat.html
a2b44c9d34f1c1c6e5da7857e64ed5a46
()
void
ConnectZMQ
classexotica_1_1VisualizationMeshcat.html
accbc53c3fb6123ef6488f29d97ef610b
()
std::string
ReceiveZMQ
classexotica_1_1VisualizationMeshcat.html
a45f62a523ec3c1d1a916acd508a88da4
()
std::string
RequestWebURL
classexotica_1_1VisualizationMeshcat.html
a1fdf4b832cc8cce16c70b6c449e966ef
()
void
SendMsg
classexotica_1_1VisualizationMeshcat.html
ac4a2bedbf23728d3cded1750445a0bb2
(T msg)
void
SendZMQ
classexotica_1_1VisualizationMeshcat.html
a795e1d201143ce03c3c1b100a6487cc3
(const std::string &data)
zmq::context_t
context_
classexotica_1_1VisualizationMeshcat.html
a7a22e66c72848b06634e2f3208e2a368
std::string
file_url_
classexotica_1_1VisualizationMeshcat.html
a427ecc2a25412472d4b7ad747191b4d0
std::string
path_prefix_
classexotica_1_1VisualizationMeshcat.html
a997644f03029baabcf826d078d1339a3
ScenePtr
scene_
classexotica_1_1VisualizationMeshcat.html
a785be27bfa1c4891071e89465689dae0
std::unique_ptr< zmq::socket_t >
socket_
classexotica_1_1VisualizationMeshcat.html
a6135516360975aa2399a83f8c7d8bc9b
std::string
web_url_
classexotica_1_1VisualizationMeshcat.html
a33e26cf163b3a35474bf0e3aac320bbe
std::string
zmq_url_
classexotica_1_1VisualizationMeshcat.html
ad76b3b3261a89153b9549409dd80e4f0
exotica::VisualizationMoveIt
classexotica_1_1VisualizationMoveIt.html
exotica::Uncopyable
void
DisplayTrajectory
classexotica_1_1VisualizationMoveIt.html
aa1dfb40263d3e8376b81f5fb0fcaefc9
(Eigen::MatrixXdRefConst trajectory)
void
Initialize
classexotica_1_1VisualizationMoveIt.html
a7ce4da5fc1c6e22d69ecee8e4a604433
()
VisualizationMoveIt
classexotica_1_1VisualizationMoveIt.html
a14d3681336f67162d239d663f91d2721
(ScenePtr scene)
virtual
~VisualizationMoveIt
classexotica_1_1VisualizationMoveIt.html
aa980bd9e7c24e835eddef2c9252aa502
()
ScenePtr
scene_
classexotica_1_1VisualizationMoveIt.html
a23a159df5813e871076af2401f3ba1d6
ros::Publisher
trajectory_pub_
classexotica_1_1VisualizationMoveIt.html
aaf505279bd2dca3dbf72868f426615ed
exotica::XMLLoader
classexotica_1_1XMLLoader.html
Initializer
LoadXML
classexotica_1_1XMLLoader.html
a6e9d8d25e312be6ee7569166acab106a
(std::string file_name, bool parsePathAsXML=false)
void
LoadXML
classexotica_1_1XMLLoader.html
a49d0b0aaac92f7e7abd3f7f1546f452f
(std::string file_name, Initializer &solver, Initializer &problem, const std::string &solver_name="", const std::string &problem_name="", bool parsePathAsXML=false)
~XMLLoader
classexotica_1_1XMLLoader.html
acd79c2239b9d17f91614e3d1c21287fd
() noexcept
static std::shared_ptr< XMLLoader >
Instance
classexotica_1_1XMLLoader.html
a871ffde97f09fcb4fefc688c627dc7bd
()
static Initializer
Load
classexotica_1_1XMLLoader.html
a86870fb971c6728b34da1b4268f69dd4
(std::string file_name, bool parsePathAsXML=false)
static void
Load
classexotica_1_1XMLLoader.html
a96266dd86fc937a6c4a8603c68c73568
(std::string file_name, Initializer &solver, Initializer &problem, const std::string &solver_name="", const std::string &problem_name="", bool parsePathAsXML=false)
static std::shared_ptr< exotica::PlanningProblem >
LoadProblem
classexotica_1_1XMLLoader.html
a22c746e0cf59b6128e804d5a5878ea8c
(const std::string &file_name)
static std::shared_ptr< exotica::MotionSolver >
LoadSolver
classexotica_1_1XMLLoader.html
aa73e7f6438898e697271811484d9dd2c
(const std::string &file_name)
static std::shared_ptr< exotica::MotionSolver >
LoadSolverStandalone
classexotica_1_1XMLLoader.html
a3d8800ad530151669bcc652730532ec1
(const std::string &file_name)
XMLLoader
classexotica_1_1XMLLoader.html
ae753ef96f124e097b31afcb27fa54813
()
static std::shared_ptr< XMLLoader >
instance_
classexotica_1_1XMLLoader.html
a5f9f4c5f7ec6cd35d1be6b63a5f7d4e6
Eigen
namespaceEigen.html
Eigen::internal
Eigen::AutoDiffChainHessian
Eigen::AutoDiffChainHessianSparse
Eigen::AutoDiffChainJacobian
Eigen::AutoDiffChainJacobianSparse
Eigen::AutoDiffScalar
Eigen::FiniteDiffChainHessian
Eigen::FiniteDiffChainJacobian
Eigen::NumTraits< AutoDiffScalar< DerType > >
Eigen::NumTraits< AutoDiffScalar< SparseVector< DerType_ > > >
Eigen::ScalarBinaryOpTraits< AutoDiffScalar< DerType >, typename DerType::Scalar, BinOp >
Eigen::ScalarBinaryOpTraits< typename DerType::Scalar, AutoDiffScalar< DerType >, BinOp >
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic >
MatrixType
namespaceEigen.html
ad31ce249d22f8eeb5b46eaa7e309675f
Eigen::Ref< Eigen::MatrixXd >
MatrixXdRef
namespaceEigen.html
ac3f9b0a5fd123a3c0653935e32588a1d
Eigen::Ref< Eigen::VectorXd >
VectorXdRef
namespaceEigen.html
a83c243f5aa1ace263c19e205a740e8cf
NumericalDiffMode
namespaceEigen.html
a53f19342e6b4ecd38ae002d470299add
Forward
namespaceEigen.html
a53f19342e6b4ecd38ae002d470299adda3be5cc043ad680e57c5a6f7bcf61600a
Central
namespaceEigen.html
a53f19342e6b4ecd38ae002d470299adda05ac9086790c74291fd585c1b1c747ba
const AutoDiffScalar< Matrix< typename internal::traits< typename internal::remove_all< DerTypeA >::type >::Scalar, Dynamic, 1 > >
atan2
namespaceEigen.html
ad95f6de1b7095ac83068616b93f653b1
(const AutoDiffScalar< DerTypeA > &a, const AutoDiffScalar< DerTypeB > &b)
const AutoDiffScalar< SparseVector< typename internal::traits< typename internal::remove_all< DerTypeA >::type >::Scalar > >
atan2
namespaceEigen.html
ae19dd87be0c3a85e8c389f84c0f2d3b0
(const AutoDiffScalar< DerTypeA > &a, const AutoDiffScalar< DerTypeB > &b)
const AutoDiffScalar< DerType > &
conj
namespaceEigen.html
abf77613d5f9e90497c6d3e01f915b588
(const AutoDiffScalar< DerType > &x)
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
namespaceEigen.html
ade972f79dcb91f919a4a9939178e1024
(abs, using std::abs;return Eigen::MakeAutoDiffScalar(abs(x.value()), x.derivatives() *(x.value()< 0 ? -1 :1));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs2
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
namespaceEigen.html
ab5159ec603ca3fb46961f8e1a5344a4b
(acos, using std::sqrt;using std::acos;return Eigen::MakeAutoDiffScalar(acos(x.value()), x.derivatives() *(Scalar(-1)/sqrt(1 - numext::abs2(x.value()))));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(tanh
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
namespaceEigen.html
aa9772823dd0a8d24c98fbae45ca16802
(log, using std::log;return Eigen::MakeAutoDiffScalar(log(x.value()), x.derivatives() *(Scalar(1)/x.value()));) template< typename DerType > inline const Eigen
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
namespaceEigen.html
a76fe7d2b9e95853eb56a075380661309
(sin, using std::sin;using std::cos;return Eigen::MakeAutoDiffScalar(sin(x.value()), x.derivatives() *cos(x.value()));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(exp
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
namespaceEigen.html
a77e5dd85fa549b012df73af4865f9b93
(sinh, using std::sinh;using std::cosh;return Eigen::MakeAutoDiffScalar(sinh(x.value()), x.derivatives() *cosh(x.value()));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cosh
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
namespaceEigen.html
ac14347a3d067977f2be8b1c258706ecb
(sqrt, using std::sqrt;Scalar sqrtx=sqrt(x.value());return Eigen::MakeAutoDiffScalar(sqrtx, x.derivatives() *(Scalar(0.5)/sqrtx));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cos
EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
namespaceEigen.html
a212ff33d56ffe0384059b78e7e8a8142
(tan, using std::tan;using std::cos;return Eigen::MakeAutoDiffScalar(tan(x.value()), x.derivatives() *(Scalar(1)/numext::abs2(cos(x.value()))));) EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(asin
Eigen::VectorXd
IdentityTransform
namespaceEigen.html
a613d5eb8e7c0b2dbeed5e96aee57f013
()
DerType::Scalar
imag
namespaceEigen.html
a524f2d0ae40cbbb4f55ea073c98a1c43
(const AutoDiffScalar< DerType > &)
AutoDiffScalar< NewDerType >
MakeAutoDiffScalar
namespaceEigen.html
af2ab563fb98de79fa59e7f78e37591ab
(const typename NewDerType::Scalar &value, const NewDerType &der)
Eigen::Tensor< Scalar, sizeof...(Dims)>
MatrixToTensor
namespaceEigen.html
a7dd6b5787a4079b531c8b68c12542780
(const MatrixType< Scalar > &matrix, Dims... dims)
const AutoDiffScalar< DerType > &
real
namespaceEigen.html
a32bc447a8f5140365c7ef5ac58ec774c
(const AutoDiffScalar< DerType > &x)
return
namespaceEigen.html
aeb44f108bee52193ce236a6d6fe703b6
(x > y ? ADS(x) :ADS(y))
return
namespaceEigen.html
a439cf5f628b806b51886a5fecea7b432
(x >=y ? ADS(x) :ADS(y))
return
namespaceEigen.html
afee0ace8ef902477ddc0fc2f03b60fb6
(x< y ? ADS(x) :ADS(y))
return
namespaceEigen.html
aa0c1fcb4db649060eab9129e41264054
(x<=y ? ADS(x) :ADS(y))
MatrixType< Scalar >
TensorToMatrix
namespaceEigen.html
a626ba9f1bfb2de041e728047bbe1174d
(const Eigen::Tensor< Scalar, rank > &tensor, const sizeType rows, const sizeType cols)
Eigen::VectorXd
VectorTransform
namespaceEigen.html
adebd72bc97a1ba19b3ad3511aab643fd
(double px=0.0, double py=0.0, double pz=0.0, double qx=0.0, double qy=0.0, double qz=0.0, double qw=1.0)
Scalar
expx
namespaceEigen.html
ab63002a89341ef7158fe60fa7570e88c
const typedef Eigen::Ref< const Eigen::MatrixXd > &
MatrixXdRefConst
namespaceEigen.html
a66103159e4393ad31f04e15e1790fae1
const typedef Eigen::Ref< const Eigen::VectorXd > &
VectorXdRefConst
namespaceEigen.html
a2005118cd959136d40bb0a1ffcab449d
const T &
y
namespaceEigen.html
ae998329a5bd49a32b6048a27e1a232a0
Eigen::internal
namespaceEigen_1_1internal.html
Eigen::internal::auto_diff_special_op
Eigen::internal::auto_diff_special_op< _DerType, false >
Eigen::internal::auto_diff_special_op< _DerType, true >
Eigen::internal::make_coherent_impl
Eigen::internal::make_coherent_impl< A, Matrix< B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols > >
Eigen::internal::make_coherent_impl< A, SparseVector< B_Scalar, B_Options, B_Index > >
Eigen::internal::make_coherent_impl< Matrix< A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols >, B >
Eigen::internal::make_coherent_impl< Matrix< A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols >, Matrix< B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols > >
Eigen::internal::make_coherent_impl< SparseVector< A_Scalar, A_Options, A_Index >, B >
Eigen::internal::make_coherent_impl< SparseVector< A_Scalar, A_Options, A_Index >, SparseVector< B_Scalar, B_Options, B_Index > >
void
make_coherent
namespaceEigen_1_1internal.html
ab388be0e6798d521da02cb9dd5ab9f5f
(const A &a, const B &b)
exotica
namespaceexotica.html
exotica::visualization
exotica::AbstractDynamicsSolver
exotica::AbstractTimeIndexedProblem
exotica::AllowedCollisionMatrix
exotica::AttachedObject
exotica::BoundedEndPoseProblem
exotica::BoundedTimeIndexedProblem
exotica::BoxQPSolution
exotica::CollisionProxy
exotica::CollisionScene
exotica::ContinuousCollisionProxy
exotica::DynamicTimeIndexedShootingProblem
exotica::EndPoseProblem
exotica::EndPoseTask
exotica::Exception
exotica::Factory
exotica::FeedbackMotionSolver
exotica::FunctorBase
exotica::Initializer
exotica::InitializerBase
exotica::Instantiable
exotica::InstantiableBase
exotica::KinematicElement
exotica::KinematicFrame
exotica::KinematicFrameRequest
exotica::KinematicResponse
exotica::KinematicSolution
exotica::KinematicsRequest
exotica::KinematicTree
exotica::MotionSolver
exotica::Object
exotica::PlanningProblem
exotica::Printable
exotica::Property
exotica::Registrar
exotica::RosNode
exotica::SamplingProblem
exotica::SamplingTask
exotica::Scene
exotica::Server
exotica::Setup
exotica::SolveException
exotica::Task
exotica::TaskIndexing
exotica::TaskMap
exotica::TaskSpaceVector
exotica::TaskVectorEntry
exotica::TestCout
exotica::TimeIndexedProblem
exotica::TimeIndexedSamplingProblem
exotica::TimeIndexedTask
exotica::Timer
exotica::Trajectory
exotica::UnconstrainedEndPoseProblem
exotica::UnconstrainedTimeIndexedProblem
exotica::Uncopyable
exotica::VisualElement
exotica::VisualizationMeshcat
exotica::VisualizationMoveIt
exotica::XMLLoader
Eigen::Array< KDL::Frame, Eigen::Dynamic, 1 >
ArrayFrame
namespaceexotica.html
a9f3b8540da108e498bbe6107bd821cbb
Eigen::Ref< ArrayFrame >
ArrayFrameRef
namespaceexotica.html
a2a7d4230ee711e0a0e3e2f2fa505e5a4
Eigen::internal::ref_selector< ArrayFrame >::type
ArrayFrameRefConst
namespaceexotica.html
addad606b58ac07f29f4663e4625a958f
Eigen::Array< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 >
ArrayHessian
namespaceexotica.html
ac8761af8423506d01ca0cb0f7a884fa0
Eigen::Ref< ArrayHessian >
ArrayHessianRef
namespaceexotica.html
a97c931213a5c865a6b11e09d951071e8
Eigen::internal::ref_selector< ArrayHessian >::type
ArrayHessianRefConst
namespaceexotica.html
acd0e04ee15c1c6289ceff8c0417742d1
Eigen::Array< KDL::Jacobian, Eigen::Dynamic, 1 >
ArrayJacobian
namespaceexotica.html
a059512efd52b2bd813531000f776a872
Eigen::Ref< ArrayJacobian >
ArrayJacobianRef
namespaceexotica.html
a20e7300f667b351486294e6f22dd7107
Eigen::internal::ref_selector< ArrayJacobian >::type
ArrayJacobianRefConst
namespaceexotica.html
a12e7d2ac7153e291995669d37d431b0e
Eigen::Array< KDL::Twist, Eigen::Dynamic, 1 >
ArrayTwist
namespaceexotica.html
ab9a6c3664d18c148af992ef5ceb575bb
Eigen::Ref< ArrayTwist >
ArrayTwistRef
namespaceexotica.html
a4fdee9fdacaab38e089e50532cc5b5ec
Eigen::internal::ref_selector< ArrayTwist >::type
ArrayTwistRefConst
namespaceexotica.html
a6690d93a8a15050d3d8205cfeaee6e9a
std::shared_ptr< exotica::BoundedEndPoseProblem >
BoundedEndPoseProblemPtr
namespaceexotica.html
a5f4ba1308e35ddb070aca36f12432a2f
std::shared_ptr< exotica::BoundedTimeIndexedProblem >
BoundedTimeIndexedProblemPtr
namespaceexotica.html
ac2c8ffc5ae9777bdedbf8105b29e7cef
struct exotica::BoxQPSolution
BoxQPSolution
namespaceexotica.html
a83ca7154eadd14fbefa0f6f0eeaad32d
std::shared_ptr< CollisionScene >
CollisionScenePtr
namespaceexotica.html
a0c6240ffc0f5c240e5d1e1c86178138b
AbstractDynamicsSolver< double, Eigen::Dynamic, Eigen::Dynamic >
DynamicsSolver
namespaceexotica.html
a64f0d74b24c66002f8e378dfd2c6c340
std::shared_ptr< exotica::DynamicsSolver >
DynamicsSolverPtr
namespaceexotica.html
a311ceabe57104d567f8f110043ba125e
std::shared_ptr< exotica::DynamicTimeIndexedShootingProblem >
DynamicTimeIndexedShootingProblemPtr
namespaceexotica.html
a8c9390cec0d606e2e9b6fd8277ac49b9
std::shared_ptr< exotica::EndPoseProblem >
EndPoseProblemPtr
namespaceexotica.html
a6562dc6fc53f6be14dc1b4157bf86bee
FunctorBase< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >
Functor
namespaceexotica.html
a41ce9821230067721a4ca7fcd5e86190
Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >
Hessian
namespaceexotica.html
a09d6aebee2e82adbe8c7d92f811d3950
Eigen::Ref< Hessian >
HessianRef
namespaceexotica.html
ad26483f51b70b5b38c09d5aa428d56a8
Eigen::internal::ref_selector< Hessian >::type
HessianRefConst
namespaceexotica.html
a478dad901753b5463b517578dc9accf8
std::shared_ptr< exotica::MotionSolver >
MotionSolverPtr
namespaceexotica.html
a95535966e624754067a0737dc4ed0a2a
std::shared_ptr< const PlanningProblem >
PlanningProblemConstPtr
namespaceexotica.html
aa300b2e8b69fb5ec4ed53c658b49a580
Factory< PlanningProblem >
PlanningProblemFac
namespaceexotica.html
a39ba0190ea0d4edfe84102bdf14a537c
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
namespaceexotica.html
a776c5e7721339c5eb37daf9bedf6e82e
std::map< std::string, TaskMapPtr >
TaskMapMap
namespaceexotica.html
a3d683636a7693b7ad32c8db09552855a
std::shared_ptr< TaskMap >
TaskMapPtr
namespaceexotica.html
ae1c26d85044c983becec5f8b426b490f
std::vector< TaskMapPtr >
TaskMapVec
namespaceexotica.html
aaba8d5a1e72797326ef6e2a9ecb967a5
std::shared_ptr< exotica::TimeIndexedProblem >
TimeIndexedProblemPtr
namespaceexotica.html
a39097e135cbe255a1fefe9b3426027ff
std::shared_ptr< exotica::TimeIndexedSamplingProblem >
TimeIndexedSamplingProblemPtr
namespaceexotica.html
ab1a8f5ad7816206e96551d636b1050be
std::shared_ptr< exotica::UnconstrainedEndPoseProblem >
UnconstrainedEndPoseProblemPtr
namespaceexotica.html
a30dbcb47575b3b3f1e748b830dfc3928
std::shared_ptr< exotica::UnconstrainedTimeIndexedProblem >
UnconstrainedTimeIndexedProblemPtr
namespaceexotica.html
ae9748447962bcd9f3b700d69a28893fc
ArgumentPosition
namespaceexotica.html
a2f2dd5de8edc626599b393aae8529350
ARG0
namespaceexotica.html
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ARG1
namespaceexotica.html
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ARG2
namespaceexotica.html
a2f2dd5de8edc626599b393aae8529350a8ebe407ec38e3e4637ba504cb1bbbf15
ARG3
namespaceexotica.html
a2f2dd5de8edc626599b393aae8529350a7bd66a54e38800525bb8be5d6b084b42
ARG4
namespaceexotica.html
a2f2dd5de8edc626599b393aae8529350a24dbb1a0b84d00ee713d88a6a6c14459
BaseType
namespaceexotica.html
a5ca690cccfbbfdb24827333304ee338f
FIXED
namespaceexotica.html
a5ca690cccfbbfdb24827333304ee338fa97ef0deed3b6cea30b5ef0d461b13cbc
FLOATING
namespaceexotica.html
a5ca690cccfbbfdb24827333304ee338fa047a2d4a4431720713c876e2b9c5f752
PLANAR
namespaceexotica.html
a5ca690cccfbbfdb24827333304ee338fa997d5dd36b61cdafeabf856ab83593e8
ControlCostLossTermType
namespaceexotica.html
aeaa7ab36dae8418de85dbd74ac49280a
Undefined
namespaceexotica.html
aeaa7ab36dae8418de85dbd74ac49280aa7bbf9200af606d246139c77db8d4017d
L2
namespaceexotica.html
aeaa7ab36dae8418de85dbd74ac49280aa2604e8d51bdc9fb55d8bf7bd62269e3f
SmoothL1
namespaceexotica.html
aeaa7ab36dae8418de85dbd74ac49280aa623c7ab9b53ba8454ac67e6b724a582f
Huber
namespaceexotica.html
aeaa7ab36dae8418de85dbd74ac49280aa272e08b4b19900a71e52b4d9f9d34058
PseudoHuber
namespaceexotica.html
aeaa7ab36dae8418de85dbd74ac49280aa4587ec26dd32f21b4eadbdceade880a2
Integrator
namespaceexotica.html
af655323905f37d8a279063f9d75d433e
RK1
namespaceexotica.html
af655323905f37d8a279063f9d75d433eaec6c5a8ffec279574205f1d2c9714a66
SymplecticEuler
namespaceexotica.html
af655323905f37d8a279063f9d75d433ea52e9a4fe95c9b8abfc6fa3d5c7700b92
RK2
namespaceexotica.html
af655323905f37d8a279063f9d75d433eac9220b7e32da0bed762781cb1b97bed2
RK4
namespaceexotica.html
af655323905f37d8a279063f9d75d433ea862d90cf453dc1c6a4dd365e7a7e1534
JointLimitType
namespaceexotica.html
afe31e64784659e96082a606d09a75ecd
LIMIT_POSITION_LOWER
namespaceexotica.html
afe31e64784659e96082a606d09a75ecdad0f753511e3314fa5ae995cd8f0fee42
LIMIT_POSITION_UPPER
namespaceexotica.html
afe31e64784659e96082a606d09a75ecdaf9c406e73fa6b6031f2b256e79953b72
KinematicRequestFlags
namespaceexotica.html
a8879608908229eff06df2b94c63f1a99
KIN_FK
namespaceexotica.html
a8879608908229eff06df2b94c63f1a99a31d69c9fe03932e017a081e81ede78a9
KIN_J
namespaceexotica.html
a8879608908229eff06df2b94c63f1a99a172f46177773a38764743e95cfc0c858
KIN_FK_VEL
namespaceexotica.html
a8879608908229eff06df2b94c63f1a99af4c5c27896d87716a02228ba0f881641
KIN_H
namespaceexotica.html
a8879608908229eff06df2b94c63f1a99a9e93896fe98c5afb31cfdcc6504d16e2
RotationType
namespaceexotica.html
af9af5a7f278bef923dcaed27ce2ebca0
QUATERNION
RPY
ZYX
ZYZ
ANGLE_AXIS
MATRIX
TerminationCriterion
namespaceexotica.html
a1d6f0f26eae0a485ee377655fc2aafd2
NotStarted
IterationLimit
BacktrackIterationLimit
StepTolerance
FunctionTolerance
GradientTolerance
Divergence
UserDefined
Convergence
void
appendChildXML
namespaceexotica.html
aa787e99cd6f61d4b8d529a53ca98fc28
(Initializer &parent, std::string &name, bool isAttribute, tinyxml2::XMLHandle &tag, const std::string &prefix)
void
AppendInitializer
namespaceexotica.html
a1a3fdf7377aaf8950f0cb4dd3e8581cc
(std::shared_ptr< InstantiableBase > it, std::vector< Initializer > &ret)
void
AppendMap
namespaceexotica.html
a16b309993af1720b021c68d9578d2f17
(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
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
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
ExoticaBoxQP
namespaceexotica.html
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
namespaceexotica.html
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
namespaceexotica.html
a8005394d041837edaca93094f1560c72
(const Eigen::Vector4d &rgba)
std_msgs::ColorRGBA
GetColor
namespaceexotica.html
a14f31acad69dc9546c26d4418f1eeff6
(double r, double g, double b, double a=1.0)
Eigen::MatrixXd
GetFrame
namespaceexotica.html
a3ff424d0cc2f817844b679d8c7d048b1
(const KDL::Frame &val)
KDL::Frame
GetFrame
namespaceexotica.html
a44e74158f6bc96d9be9e3b5ba3d3f34b
(Eigen::VectorXdRefConst val)
Eigen::VectorXd
GetFrameAsVector
namespaceexotica.html
a2d49c925955346266f79f8b47cfb5e52
(const KDL::Frame &val, RotationType type=RotationType::RPY)
KDL::Frame
GetFrameFromMatrix
namespaceexotica.html
a42eedc99ebecdd9745bf0f3c0dc4ca05
(Eigen::MatrixXdRefConst val)
std::vector< std::string >
GetKeys
namespaceexotica.html
af009f172cfb74af491e24dec8b07e581
(std::map< std::string, T > map)
std::vector< Key >
GetKeysFromMap
namespaceexotica.html
acab9263060ad0ff23923a1fdaa21dd25
(const std::map< Key, Val > &map)
KDL::Rotation
GetRotation
namespaceexotica.html
aac1322873c277864399bc0b09d29cde6
(Eigen::VectorXdRefConst data, RotationType type)
Eigen::VectorXd
GetRotationAsVector
namespaceexotica.html
aae93646f46418711fd0f9a3bf61cca17
(const KDL::Frame &val, RotationType type)
RotationType
GetRotationTypeFromString
namespaceexotica.html
ae885eb8bb1a3cfab63ccd4d05dd5ebd1
(const std::string &rotation_type)
int
GetRotationTypeLength
namespaceexotica.html
aec5ee6f8e967542e95bdaa4dac38e2c2
(const RotationType &type)
std::string
GetTypeName
namespaceexotica.html
a731e658fefc907368edcd4f5f7191852
(const std::type_info &type)
std::vector< Val >
GetValuesFromMap
namespaceexotica.html
a242165fb24efa2b970aff27fcb41b066
(const std::map< Key, Val > &map)
double
huber_cost
namespaceexotica.html
acba3cafde4c983db1d6727fb60834c24
(double x, double beta)
double
huber_hessian
namespaceexotica.html
ad0f4a48eb7997a2c73270f58b6c1e44e
(double x, double beta)
double
huber_jacobian
namespaceexotica.html
a35f85225dbcd2475eb5d8b5cc0ed8e4b
(double x, double beta)
bool
IsContainerType
namespaceexotica.html
ad16db64ffabcd59ea68b4fd45620bebf
(std::string type)
bool
IsRobotLink
namespaceexotica.html
a989eff32eec1ebd94d4f6e44ac8af2d4
(std::shared_ptr< KinematicElement > e)
bool
IsVectorContainerType
namespaceexotica.html
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
a513ea537355aed206e2740246c1ce147
(std::ostream &os, const Printable &s)
std::ostream &
operator<<
namespaceexotica.html
a6f26b0de2b3c6dd07f83a15791f7f235
(std::ostream &os, const std::map< I, T > &s)
std::ostream &
operator<<
namespaceexotica.html
af9c40002d436185ad6bca99f1f6b247b
(std::ostream &os, const std::vector< 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
namespaceexotica.html
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(const std::string value)
std::vector< bool >
ParseBoolList
namespaceexotica.html
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(const std::string value)
double
ParseDouble
namespaceexotica.html
aa99d4b58df88cf49b72793cdc00f79f4
(const std::string value)
int
ParseInt
namespaceexotica.html
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(const std::string value)
std::vector< int >
ParseIntList
namespaceexotica.html
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(const std::string value)
std::vector< std::string >
ParseList
namespaceexotica.html
ac02a7200ef3753dc5f41b1f7e70fae7b
(const std::string &value, char token=',')
std::string
ParsePath
namespaceexotica.html
ada723b4c529289e383e25e349127f8ac
(const std::string &path)
Eigen::Matrix< T, S, 1 >
ParseVector
namespaceexotica.html
a3d3163a0a83f3d7a713175a0d389ca58
(const std::string value)
bool
parseXML
namespaceexotica.html
a92c4383892fc395e3eed1a226dcda804
(tinyxml2::XMLHandle &tag, Initializer &parent, const std::string &prefix)
bool
PathExists
namespaceexotica.html
aabb6b38506649e80a2e5d502db4502fe
(const std::string &path)
void
PrintDimensions
namespaceexotica.html
a6cff448b2832cfa0764bc232d6936f28
(const std::string &name, const Eigen::Ref< const Eigen::MatrixXd > m)
double
pseudo_huber_cost
namespaceexotica.html
aaa72558734c4a3c7c1f2bb8f7f5c84a9
(double x, double beta)
double
pseudo_huber_hessian
namespaceexotica.html
aa845a3e1ca87fc8e6d9f300a2eab1802
(double x, double beta)
double
pseudo_huber_jacobian
namespaceexotica.html
a88ff940373e6d20767935f8f6dda85c7
(double x, double beta)
std_msgs::ColorRGBA
RandomColor
namespaceexotica.html
a37c337e469244036c53fab2e303e1c4a
()
void
SaveMatrix
namespaceexotica.html
a2987284d8a6c0933937961153745a62f
(std::string file_name, const Eigen::Ref< const Eigen::MatrixXd > mat)
void
SetDefaultQuaternionInConfigurationVector
namespaceexotica.html
a3665fb8c84da433c1b018a9751afa344
(Eigen::Ref< Eigen::VectorXd > q)
Eigen::VectorXd
SetRotation
namespaceexotica.html
a0a72232adbe28a609a92685d1f6937f1
(const KDL::Rotation &data, RotationType type)
void
Sleep
namespaceexotica.html
ad8839f8df09cd1cd187f374775efc1ad
(double t)
double
smooth_l1_cost
namespaceexotica.html
ad47c6c52a5634e69e7662991f7e324f6
(double x, double beta)
double
smooth_l1_hessian
namespaceexotica.html
adc2332d3be6a65ec80009f21fcf4fbf9
(double x, double beta)
double
smooth_l1_jacobian
namespaceexotica.html
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(double x, double beta)
T
ToNumber
namespaceexotica.html
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(const std::string &val)
double
ToNumber< double >
namespaceexotica.html
a56fb9db5340484864990714ac4cf0211
(const std::string &val)
float
ToNumber< float >
namespaceexotica.html
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(const std::string &val)
int
ToNumber< int >
namespaceexotica.html
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(const std::string &val)
std::string
ToString
namespaceexotica.html
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(const Eigen::Isometry3d &s)
std::string
ToString
namespaceexotica.html
ad5d2595174d8467aa75803bac91fa13c
(const KDL::Frame &s)
std::string
Trim
namespaceexotica.html
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(const std::string &s)
const char
branch
namespaceexotica.html
a144444a0e4339e54a77961288c2dcffa
[]
constexpr double
inf
namespaceexotica.html
a13eb89cf8da8a2803b7de093afe46efb
constexpr double
pi
namespaceexotica.html
a3cc3ce9225c7ac000971d6454997886a
const char
version
namespaceexotica.html
a45c6b251556e3f03cd8675ce95aea706
[]
exotica::visualization
namespaceexotica_1_1visualization.html
exotica::visualization::Animation
exotica::visualization::AnimationOption
exotica::visualization::ArrayFloat
exotica::visualization::ArrayInt
exotica::visualization::Base
exotica::visualization::Clip
exotica::visualization::Delete
exotica::visualization::Geometry
exotica::visualization::GeometryBox
exotica::visualization::GeometryCylinder
exotica::visualization::GeometryMesh
exotica::visualization::GeometryMeshBuffer
exotica::visualization::GeometryMeshBufferData
exotica::visualization::GeometrySphere
exotica::visualization::Key
exotica::visualization::Material
exotica::visualization::MeshObject
exotica::visualization::MetaData
exotica::visualization::Object
exotica::visualization::ObjectData
exotica::visualization::Property
exotica::visualization::SetAnimation
exotica::visualization::SetObjectType
exotica::visualization::SetTransform
exotica::visualization::Track
Object< T >
CreateGeometryObject
namespaceexotica_1_1visualization.html
a50162e744bd25f22f832bc754a8e3036
(const T &geometry_in, const Material &material_in=Material(), const std::string &uuid_in="")
MeshObject< T >
CreateMeshObject
namespaceexotica_1_1visualization.html
a61b0aa5bf64050608eac08a7c14cc565
(const T &geometry_in, const Material &material_in=Material(), const std::string &uuid_in="")
std::string
generate_hex
namespaceexotica_1_1visualization.html
ad734f8584e5efbe5035bab4a180e2bcc
(const unsigned int len)
std::string
generate_uuid
namespaceexotica_1_1visualization.html
aff2da5eaadd6a329661bcee1b2ae43e8
()
unsigned char
random_char
namespaceexotica_1_1visualization.html
a5217c9a70040d55231c597650a178063
()
long
RGB
namespaceexotica_1_1visualization.html
a4150fd99714886254cfa5d1283e46641
(double R, double G, double B)
SetObjectType< T >
SetObject
namespaceexotica_1_1visualization.html
a8eed49cadedd6b597dd8c9a760258f30
(const std::string &path_in, const T &object_in)
generate_initializers
namespacegenerate__initializers.html
def
add
namespacegenerate__initializers.html
a3f5b5ab8140588378994f5329ad187ad
(data)
def
check
namespacegenerate__initializers.html
a5c4120d119c0191dd586f4672c570416
(data, name)
def
collect_extensions
namespacegenerate__initializers.html
a2c1023d82ce6535dc2842c85f2f327f8
(input_files, search_dirs, content)
def
construct
namespacegenerate__initializers.html
adbcf40a12abf3b4caede24f70c95b49c
(namespace, class_name_orig, data, include)
def
constructor_argument_list
namespacegenerate__initializers.html
ab50826ee309f2372c3bd7e69e24e960e
(data)
def
constructor_list
namespacegenerate__initializers.html
ae54cac104c96de19ce311822cec4d6bc
(data)
def
contains_data
namespacegenerate__initializers.html
aaa8bd84fb5bb19f0e62fbaff578db1a4
(type_name, name, list_in)
def
contains_extends
namespacegenerate__initializers.html
a70b39c64f80a62155bc610c1575137d7
(name, list_in)
def
contains_include
namespacegenerate__initializers.html
a85a26926a4895de41fb75c146c54e04e
(name, list_in)
def
copy
namespacegenerate__initializers.html
a56d15832a84e765b3a6e445bf2d2157e
(data)
def
create_class_init_header
namespacegenerate__initializers.html
ae79ac47740336af0eac79ba76d40f1e2
(class_inits, file_name)
def
declaration
namespacegenerate__initializers.html
a49f9d5e0cef34e77f4cb1a9c53c73f00
(data)
def
default_argument_value
namespacegenerate__initializers.html
a8457d921c31856206f82e837c2434298
(data)
def
default_constructor_list
namespacegenerate__initializers.html
a9984ed1c05a255a2aed50ca603edffd8
(data)
def
default_value
namespacegenerate__initializers.html
a9f233dc586e39debb01f2f7e7bd97dc6
(data)
def
eprint
namespacegenerate__initializers.html
ac48fd7807fc768c2c864bf26500504d6
(*args, **kwargs)
def
eprint
namespacegenerate__initializers.html
a22598b3dc163d759cbb901ac512e3071
(msg)
def
generate
namespacegenerate__initializers.html
aed5fb36238e1507188eeaf196ac62640
(input_files, output_files, namespace, search_dirs, devel_dir)
def
is_required
namespacegenerate__initializers.html
a364d851bdcf664b3cb5f3a86e358bc37
(data)
def
needs_default_constructor
namespacegenerate__initializers.html
a5b819ea709d365fc91f2d08e75ba9649
(data)
def
parse_file
namespacegenerate__initializers.html
aaf2785617988a2f885d529cbcb1e4123
(file_name)
def
parse_line
namespacegenerate__initializers.html
a1ccb626b0c2f8657acf1dece098e3c2b
(line, line_number, function_name)
def
parser
namespacegenerate__initializers.html
a3422a9d60d9034b0271e36d258457fef
(type_in)
def
sort_data
namespacegenerate__initializers.html
a09b8617dd0619f81dad563f51084eff1
(data)
def
to_camel_cased
namespacegenerate__initializers.html
ad83758c981fb94a3c3113f526942cad5
(name)
def
to_underscores
namespacegenerate__initializers.html
a748b2053ece10e02827043738009efd8
(name, num_pass=0)
class_file_name
namespacegenerate__initializers.html
a3a3d48f48c00673a770de355cae58fa4
list
class_inits
namespacegenerate__initializers.html
ad9ade11eaa0c11d4f15751046f963817
class_inits_header_file
namespacegenerate__initializers.html
a30b69f173e1908ef0eab1cbffd9fbe58
class_name
namespacegenerate__initializers.html
afbca15f0fa0c608fd562dbf11ec9885e
devel_dir
namespacegenerate__initializers.html
a934d5fd584af42dca817dddea4473d9d
input_files
namespacegenerate__initializers.html
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n
namespacegenerate__initializers.html
a87a35efc54d0aa35212b2f3e52c4d01e
namespace
namespacegenerate__initializers.html
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int
offset
namespacegenerate__initializers.html
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output_files
namespacegenerate__initializers.html
a773f4695d4880df1e670127e0ca776b5
search_dirs
namespacegenerate__initializers.html
a6c4a66db2374621785ccb3b0d8891f86
octomap
namespaceoctomap.html
shapes
namespaceshapes.html
std
namespacestd.html
std::numeric_limits< Eigen::AutoDiffScalar< T & > >
std::numeric_limits< Eigen::AutoDiffScalar< T > >