#include <constraint.h>

Inheritance diagram for se2ez::plan::FrameConstraint:

Public Member Functions
void	function (const ompl::base::State *state, Eigen::Ref< Eigen::VectorXd > out) const override

void	function (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::Ref< Eigen::VectorXd > out) const override

void	jacobian (const ompl::base::State *state, Eigen::Ref< Eigen::MatrixXd > out) const override

void	jacobian (const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::Ref< Eigen::MatrixXd > out) const override

bool	project (ompl::base::State *state) const override

bool	project (Eigen::Ref< Eigen::VectorXd > x) const override

double	distance (const ompl::base::State *state) const override

bool	isSatisfied (const ompl::base::State *state) const override

void	setDrawOffset (const Eigen::Ref< const Eigen::Vector2d > &v)

const Eigen::Vector2d &	getDrawOffset () const

Public Member Functions inherited from ompl::base::Foliation
	Foliation (const unsigned int ambientDim, const unsigned int coDim, const unsigned int leafDim, double tolerance=magic::CONSTRAINT_PROJECTION_TOLERANCE)

virtual FoliationPtr	copy () const =0

virtual Eigen::VectorXd	getTransversal (const Eigen::Ref< const Eigen::VectorXd > &state) const =0

virtual ConstraintPtr	getLeaf (const Eigen::Ref< const Eigen::VectorXd > &tv) const =0

virtual FoliationPtr	getFrond (const Eigen::Ref< const Eigen::VectorXd > &a, const Eigen::Ref< const Eigen::VectorXd > &b) const =0

unsigned int	getLeafDimension () const

unsigned int	getTransverseDimension () const

void	setLeafDimension (unsigned int p)

void	setTransverseDimension (unsigned int t)

Protected Member Functions
	FrameConstraint (const std::string &name, const RobotPtr &robot, const std::string &frame, const std::string &base, unsigned int dimension=1, unsigned int leaf=0)

const std::pair< Eigen::Isometry2d, Eigen::Isometry2d >	getPose (const ompl::base::State *state) const

const std::pair< Eigen::Isometry2d, Eigen::Isometry2d >	getPose (const Eigen::Ref< const Eigen::VectorXd > &x) const

virtual void	functionInternal (const Eigen::Isometry2d &pose, const Eigen::Isometry2d &base, Eigen::Ref< Eigen::VectorXd > out) const =0

virtual void	jacobianInternal (const Eigen::Isometry2d &pose, const Eigen::Isometry2d &base, const Eigen::MatrixXd &jac, Eigen::Ref< Eigen::MatrixXd > out) const =0

Protected Attributes
Eigen::Vector2d	draw_ {Eigen::Vector2d::Zero()}

const std::string	name_

const RobotPtr	robot_

const std::string	frame_

const std::string	base_

StatePtr	state_

std::recursive_mutex	mutex_

Protected Attributes inherited from ompl::base::Foliation
unsigned int	p_
	Leaf dimension. More...

unsigned int	t_
	Transverse dimension. More...

Detailed Description

Definition at line 29 of file constraint.h.

Constructor & Destructor Documentation

◆ FrameConstraint()

plan::FrameConstraint::FrameConstraint	(	const std::string &	name,
		const RobotPtr &	robot,
		const std::string &	frame,
		const std::string &	base,
		unsigned int	dimension = `1`,
		unsigned int	leaf = `0`
	)

protected

Definition at line 21 of file constraint.cpp.

Member Function Documentation

◆ distance()

double plan::FrameConstraint::distance ( const ompl::base::State * state ) const

override

Definition at line 208 of file constraint.cpp.

◆ function() [1/2]

void plan::FrameConstraint::function	(	const ompl::base::State *	state,
		Eigen::Ref< Eigen::VectorXd >	out
	)		const

override

Definition at line 71 of file constraint.cpp.

◆ function() [2/2]

void plan::FrameConstraint::function	(	const Eigen::Ref< const Eigen::VectorXd > &	x,
		Eigen::Ref< Eigen::VectorXd >	out
	)		const

override

Definition at line 92 of file constraint.cpp.

◆ functionInternal()

virtual void se2ez::plan::FrameConstraint::functionInternal	(	const Eigen::Isometry2d &	pose,
		const Eigen::Isometry2d &	base,
		Eigen::Ref< Eigen::VectorXd >	out
	)		const

protectedpure virtual

Implemented in se2ez::plan::CircleConstraint, se2ez::plan::PointConstraint, and se2ez::plan::LineConstraint.

◆ getDrawOffset()

const Eigen::Vector2d & plan::FrameConstraint::getDrawOffset ( ) const

Definition at line 227 of file constraint.cpp.

◆ getPose() [1/2]

const std::pair< Eigen::Isometry2d, Eigen::Isometry2d > plan::FrameConstraint::getPose ( const ompl::base::State * state ) const

protected

Definition at line 48 of file constraint.cpp.

◆ getPose() [2/2]

const std::pair< Eigen::Isometry2d, Eigen::Isometry2d > plan::FrameConstraint::getPose ( const Eigen::Ref< const Eigen::VectorXd > & x ) const

protected

Definition at line 60 of file constraint.cpp.

◆ isSatisfied()

bool plan::FrameConstraint::isSatisfied ( const ompl::base::State * state ) const

override

Definition at line 215 of file constraint.cpp.

◆ jacobian() [1/2]

void plan::FrameConstraint::jacobian	(	const ompl::base::State *	state,
		Eigen::Ref< Eigen::MatrixXd >	out
	)		const

override

Definition at line 102 of file constraint.cpp.

◆ jacobian() [2/2]

void plan::FrameConstraint::jacobian	(	const Eigen::Ref< const Eigen::VectorXd > &	x,
		Eigen::Ref< Eigen::MatrixXd >	out
	)		const

override

Definition at line 129 of file constraint.cpp.

◆ jacobianInternal()

virtual void se2ez::plan::FrameConstraint::jacobianInternal	(	const Eigen::Isometry2d &	pose,
		const Eigen::Isometry2d &	base,
		const Eigen::MatrixXd &	jac,
		Eigen::Ref< Eigen::MatrixXd >	out
	)		const

protectedpure virtual

Implemented in se2ez::plan::CircleConstraint, se2ez::plan::PointConstraint, and se2ez::plan::LineConstraint.

◆ project() [1/2]

bool plan::FrameConstraint::project ( ompl::base::State * state ) const

override

Definition at line 154 of file constraint.cpp.

◆ project() [2/2]

bool plan::FrameConstraint::project ( Eigen::Ref< Eigen::VectorXd > x ) const

override

Definition at line 183 of file constraint.cpp.

◆ setDrawOffset()

void plan::FrameConstraint::setDrawOffset ( const Eigen::Ref< const Eigen::Vector2d > & v )

Definition at line 222 of file constraint.cpp.

Member Data Documentation

◆ base_

const std::string se2ez::plan::FrameConstraint::base_

protected

Definition at line 71 of file constraint.h.

◆ draw_

Eigen::Vector2d se2ez::plan::FrameConstraint::draw_ {Eigen::Vector2d::Zero()}

protected

Definition at line 67 of file constraint.h.

◆ frame_

const std::string se2ez::plan::FrameConstraint::frame_

protected

Definition at line 70 of file constraint.h.

◆ mutex_

std::recursive_mutex se2ez::plan::FrameConstraint::mutex_

mutableprotected

Definition at line 73 of file constraint.h.

◆ name_

const std::string se2ez::plan::FrameConstraint::name_

protected

Definition at line 68 of file constraint.h.

◆ robot_

const RobotPtr se2ez::plan::FrameConstraint::robot_

protected

Definition at line 69 of file constraint.h.

◆ state_

StatePtr se2ez::plan::FrameConstraint::state_

protected

Definition at line 72 of file constraint.h.

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

/home/zak/code/se2ez_work/include/se2ez/plan/constraint.h
/home/zak/code/se2ez_work/src/plan/constraint.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ FrameConstraint()

Member Function Documentation

◆ distance()

◆ function() [1/2]

◆ function() [2/2]

◆ functionInternal()

◆ getDrawOffset()

◆ getPose() [1/2]

◆ getPose() [2/2]

◆ isSatisfied()

◆ jacobian() [1/2]

◆ jacobian() [2/2]

◆ jacobianInternal()

◆ project() [1/2]

◆ project() [2/2]

◆ setDrawOffset()

Member Data Documentation

◆ base_

◆ draw_

◆ frame_

◆ mutex_

◆ name_

◆ robot_

◆ state_