#include <mc_tvm/CollisionFunction.h>

Inheritance diagram for mc_tvm::CollisionFunction:

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Collaboration diagram for mc_tvm::CollisionFunction:

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Classes
struct	ObjectData

Public Member Functions
	CollisionFunction (Convex &c1, Convex &c2, const Eigen::VectorXd &r1Selector, const Eigen::VectorXd &r2Selector, double dt)

void	tick ()

double	distance () const noexcept

const Convex &	c1 () const noexcept

const Eigen::Vector3d &	p1 () const noexcept

const Convex &	c2 () const noexcept

const Eigen::Vector3d &	p2 () const noexcept

Public Member Functions inherited from tvm::function::abstract::Function
virtual const Eigen::VectorXd &	velocity () const

virtual const Eigen::VectorXd &	normalAcceleration () const

virtual MatrixConstRef	JDot (const Variable &x) const

Public Member Functions inherited from tvm::internal::FirstOrderProvider
virtual const Eigen::VectorXd &	value () const

virtual MatrixConstRefWithProperties	jacobian (const Variable &x) const

bool	linearIn (const Variable &x) const

const Space &	imageSpace () const

int	size () const

int	rSize () const

int	tSize () const

const VariableVector &	variables () const

Public Member Functions inherited from tvm::graph::internal::AbstractNode
bool	isUpdateEnabled (EnumT e) const

virtual bool	isUpdateStaticallyEnabled (int) const

virtual bool	isUpdateCustomEnabled (int) const

virtual	~AbstractNode ()=default

void	update (int i)

Public Member Functions inherited from tvm::graph::internal::Inputs
virtual	~Inputs ()=default

void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)

void	addInput (T &source, EnumI i, Args... args)

void	removeInput (T *source)

void	removeInput (T *source, Args... args)

Iterator	getInput (T *source)

Iterator	getInput (const std::shared_ptr< T > &source)

Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default

bool	isOutputEnabled (EnumT e) const

bool	isOutputEnabled (int i) const

virtual bool	isOutputStaticallyEnabled (int) const

virtual bool	isOutputCustomEnabled (int) const

Protected Member Functions
void	updateValue ()

void	updateVelocity ()

void	updateJacobian ()

void	updateNormalAcceleration ()

Protected Member Functions inherited from tvm::function::abstract::Function
	Function (int m=0)

	Function (Space image)

void	resizeCache () override

void	resizeVelocityCache ()

void	resizeNormalAccelerationCache ()

void	resizeJDotCache ()

void	addVariable_ (VariablePtr v) override

void	removeVariable_ (VariablePtr v) override

Protected Member Functions inherited from tvm::internal::FirstOrderProvider
	FirstOrderProvider (int m)

	FirstOrderProvider (Space image)

void	resizeValueCache ()

void	resizeJacobianCache ()

void	addVariable (VariablePtr v, bool linear)

void	removeVariable (VariablePtr v)

void	addVariable (const VariableVector &v, bool linear)

void	splitJacobian (const MatrixConstRef &J, const std::vector< VariablePtr > &vars, bool keepProperties=false)

void	splitJacobian (const MatrixConstRef &J, const VariableVector &vars, bool keepProperties=false)

void	resize (int m)

Protected Member Functions inherited from Node< FirstOrderProvider >
void	registerUpdates (EnumT u, void(U::*fn)(), Args... args)

void	registerUpdates (EnumT u, void(U::*fn)())

void	addOutputDependency (EnumO o, EnumU u)

void	addOutputDependency (std::initializer_list< EnumO > os, EnumU u)

void	addInternalDependency (EnumU1 uDependent, EnumU2 u)

void	addInputDependency (EnumU u, std::shared_ptr< S > source, EnumO i, Args... args)

void	addInputDependency (EnumU u, S &source, EnumO i, Args... args)

void	addDirectDependency (EnumO o, std::shared_ptr< S > source, EnumI i)

void	addDirectDependency (EnumO o, S &source, EnumI i)

Protected Attributes
uint64_t	iter_ = 0

uint64_t	prevIter_ = 0

Convex *	c1_

Convex *	c2_

double	dt_

Eigen::Vector3d	p1_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	p2_ = Eigen::Vector3d::Zero()

sch::CD_Pair	pair_

std::vector< ObjectData >	data_

Eigen::Vector3d	normVecDist_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	prevNormVecDist_ = Eigen::Vector3d::Zero()

Eigen::Vector3d	speedVec_ = Eigen::Vector3d::Zero()

Eigen::MatrixXd	fullJac_

Eigen::MatrixXd	distJac_

Protected Attributes inherited from tvm::function::abstract::Function
Eigen::VectorXd	velocity_

Eigen::VectorXd	normalAcceleration_

utils::internal::MapWithVariableAsKey< Eigen::MatrixXd, slice_jdot >	JDot_

Protected Attributes inherited from tvm::internal::FirstOrderProvider
Eigen::VectorXd	value_

utils::internal::MapWithVariableAsKey< MatrixWithProperties, slice_matrix, true >	jacobian_

Space	imageSpace_

VariableVector	variables_

utils::internal::MapWithVariableAsKey< bool, slice_linear >	linear_

Protected Attributes inherited from tvm::graph::internal::AbstractNode
std::map< int, std::function< void(AbstractNode &)> >	updates_

std::map< int, std::vector< int > >	outputDependencies_

std::map< int, std::vector< int > >	internalDependencies_

std::map< int, input_dependency_t >	inputDependencies_

std::map< int, std::pair< Outputs *, int > >	directDependencies_

Protected Attributes inherited from tvm::graph::abstract::Outputs
bool	is_node_

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum	Update_

typedef AbstractNode	UpdateParent

typedef AbstractNode	UpdateBase

Public Types inherited from tvm::graph::internal::Inputs
typedef std::unordered_map< abstract::Outputs *, std::set< int > >	inputs_t

typedef std::unordered_set< std::shared_ptr< abstract::Outputs > >	store_t

Public Types inherited from tvm::graph::abstract::Outputs
enum	Output_

typedef Outputs	OutputParent

typedef Outputs	OutputBase

Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)

static constexpr bool	UpdateStaticallyEnabled (EnumT)

Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)

static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize

static constexpr auto	UpdateBaseName

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize

static constexpr auto	OutputBaseName

Protected Types inherited from tvm::graph::internal::AbstractNode
typedef std::map< Outputs *, std::set< int > >	input_dependency_t

Detailed Description

This class implements a collision function for two given objects

Constructor & Destructor Documentation

◆ CollisionFunction()

mc_tvm::CollisionFunction::CollisionFunction	(	Convex &	c1,
		Convex &	c2,
		const Eigen::VectorXd &	r1Selector,
		const Eigen::VectorXd &	r2Selector,
		double	dt
	)

Constructor

Parameters

c1	First collision object
c2	Second collision object
r1Selector	Joint selector for the first robot
r2Selector	Joint selector for the second robot
dt	Timestep

Member Function Documentation

◆ c1()

const Convex& mc_tvm::CollisionFunction::c1 ( ) const

inlinenoexcept

First convex involved in the collision

◆ c2()

const Convex& mc_tvm::CollisionFunction::c2 ( ) const

inlinenoexcept

Second convex involved in the collision

◆ distance()

double mc_tvm::CollisionFunction::distance ( ) const

inlinenoexcept

Distance between the two objects

◆ p1()

const Eigen::Vector3d& mc_tvm::CollisionFunction::p1 ( ) const

inlinenoexcept

Closest point on c1 in inertial frame coordinates

◆ p2()

const Eigen::Vector3d& mc_tvm::CollisionFunction::p2 ( ) const

inlinenoexcept

Closest point on c2 in inertial frame coordinates

◆ tick()

void mc_tvm::CollisionFunction::tick ( )

Called once every iteration to advance the iteration counter

◆ updateJacobian()

void mc_tvm::CollisionFunction::updateJacobian ( )

protected

◆ updateNormalAcceleration()

void mc_tvm::CollisionFunction::updateNormalAcceleration ( )

protected

◆ updateValue()

void mc_tvm::CollisionFunction::updateValue ( )

protected

◆ updateVelocity()

void mc_tvm::CollisionFunction::updateVelocity ( )

protected

Member Data Documentation

◆ c1_

Convex* mc_tvm::CollisionFunction::c1_

protected

◆ c2_

Convex* mc_tvm::CollisionFunction::c2_

protected

◆ data_

std::vector<ObjectData> mc_tvm::CollisionFunction::data_

protected

◆ distJac_

Eigen::MatrixXd mc_tvm::CollisionFunction::distJac_

protected

◆ dt_

double mc_tvm::CollisionFunction::dt_

protected

◆ fullJac_

Eigen::MatrixXd mc_tvm::CollisionFunction::fullJac_

protected

Intermediate computation

◆ iter_

uint64_t mc_tvm::CollisionFunction::iter_ = 0

protected

◆ normVecDist_

Eigen::Vector3d mc_tvm::CollisionFunction::normVecDist_ = Eigen::Vector3d::Zero()

protected

◆ p1_

Eigen::Vector3d mc_tvm::CollisionFunction::p1_ = Eigen::Vector3d::Zero()

protected

◆ p2_

Eigen::Vector3d mc_tvm::CollisionFunction::p2_ = Eigen::Vector3d::Zero()

protected

◆ pair_

sch::CD_Pair mc_tvm::CollisionFunction::pair_

protected

◆ prevIter_

uint64_t mc_tvm::CollisionFunction::prevIter_ = 0

protected

◆ prevNormVecDist_

Eigen::Vector3d mc_tvm::CollisionFunction::prevNormVecDist_ = Eigen::Vector3d::Zero()

protected

◆ speedVec_

Eigen::Vector3d mc_tvm::CollisionFunction::speedVec_ = Eigen::Vector3d::Zero()

protected

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

include/mc_tvm/CollisionFunction.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CollisionFunction()

Member Function Documentation

◆ c1()

◆ c2()

◆ distance()

◆ p1()

◆ p2()

◆ tick()

◆ updateJacobian()

◆ updateNormalAcceleration()

◆ updateValue()

◆ updateVelocity()

Member Data Documentation

◆ c1_

◆ c2_

◆ data_

◆ distJac_

◆ dt_

◆ fullJac_

◆ iter_

◆ normVecDist_

◆ p1_

◆ p2_

◆ pair_

◆ prevIter_

◆ prevNormVecDist_

◆ speedVec_