#include <mc_tvm/GazeFunction.h>

Inheritance diagram for mc_tvm::GazeFunction:

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Collaboration diagram for mc_tvm::GazeFunction:

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Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	GazeFunction (const mc_rbdyn::RobotFrame &frame)

void	reset ()

void	estimate (const Eigen::Vector2d &point, std::optional< double > depth=std::nullopt)

void	estimate (const Eigen::Vector3d &point)

void	target (const Eigen::Vector2d &ref) noexcept

const Eigen::Vector2d &	target () const noexcept

const mc_rbdyn::RobotFrame &	frame () 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 ()

void	setDepthEstimate (double depth)

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
mc_rbdyn::ConstRobotFramePtr	frame_

mc_tvm::RobotFrame &	tvm_frame_

rbd::Jacobian	frameJac_

Eigen::Vector2d	point_ = Eigen::Vector2d::Zero()

Eigen::Vector2d	pointRef_ = Eigen::Vector2d::Zero()

double	depthEstimate_ = 1.0

Eigen::Matrix< double, 2, 6 >	L_img_

Eigen::Matrix< double, 6, 1 >	surfaceVelocity_

Eigen::Matrix< double, 1, 6 >	L_Z_dot_

Eigen::Matrix< double, 2, 6 >	L_img_dot_

Eigen::MatrixXd	shortJacMat_

Eigen::MatrixXd	jacMat_

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 gaze function for a given camera frame

This is the difference between a 2d point in the image and a reference as a function of the robot configuration.

This task value is to be updated by an external process (e.g. a vision algorithm)

The function does not make sense if the camera points are not provided in the control frame

Constructor & Destructor Documentation

◆ GazeFunction()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mc_tvm::GazeFunction::GazeFunction ( const mc_rbdyn::RobotFrame & frame )

Constructor

Parameters

frame Camera frame

Member Function Documentation

◆ estimate() [1/2]

void mc_tvm::GazeFunction::estimate	(	const Eigen::Vector2d &	point,
		std::optional< double >	depth = `std::nullopt`
	)

Set the current point value

Exceptions

If

◆ estimate() [2/2]

void mc_tvm::GazeFunction::estimate ( const Eigen::Vector3d & point )

Set the current point value

Exceptions

if

◆ frame()

const mc_rbdyn::RobotFrame& mc_tvm::GazeFunction::frame ( ) const

inlinenoexcept

Access the controlled frame

◆ reset()

void mc_tvm::GazeFunction::reset ( )

inline

Reset the objective to the current position

◆ setDepthEstimate()

void mc_tvm::GazeFunction::setDepthEstimate ( double depth )

protected

◆ target() [1/2]

const Eigen::Vector2d& mc_tvm::GazeFunction::target ( ) const

inlinenoexcept

Get the desired value

◆ target() [2/2]

void mc_tvm::GazeFunction::target ( const Eigen::Vector2d & ref )

inlinenoexcept

Set the desired value

◆ updateJacobian()

void mc_tvm::GazeFunction::updateJacobian ( )

protected

◆ updateNormalAcceleration()

void mc_tvm::GazeFunction::updateNormalAcceleration ( )

protected

◆ updateValue()

void mc_tvm::GazeFunction::updateValue ( )

protected

◆ updateVelocity()

void mc_tvm::GazeFunction::updateVelocity ( )

protected

Member Data Documentation

◆ depthEstimate_

double mc_tvm::GazeFunction::depthEstimate_ = 1.0

protected

◆ frame_

mc_rbdyn::ConstRobotFramePtr mc_tvm::GazeFunction::frame_

protected

◆ frameJac_

rbd::Jacobian mc_tvm::GazeFunction::frameJac_

protected

◆ jacMat_

Eigen::MatrixXd mc_tvm::GazeFunction::jacMat_

protected

◆ L_img_

Eigen::Matrix<double, 2, 6> mc_tvm::GazeFunction::L_img_

protected

◆ L_img_dot_

Eigen::Matrix<double, 2, 6> mc_tvm::GazeFunction::L_img_dot_

protected

◆ L_Z_dot_

Eigen::Matrix<double, 1, 6> mc_tvm::GazeFunction::L_Z_dot_

protected

◆ point_

Eigen::Vector2d mc_tvm::GazeFunction::point_ = Eigen::Vector2d::Zero()

protected

◆ pointRef_

Eigen::Vector2d mc_tvm::GazeFunction::pointRef_ = Eigen::Vector2d::Zero()

protected

◆ shortJacMat_

Eigen::MatrixXd mc_tvm::GazeFunction::shortJacMat_

protected

◆ surfaceVelocity_

Eigen::Matrix<double, 6, 1> mc_tvm::GazeFunction::surfaceVelocity_

protected

◆ tvm_frame_

mc_tvm::RobotFrame& mc_tvm::GazeFunction::tvm_frame_

protected

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

include/mc_tvm/GazeFunction.h

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GazeFunction()

Member Function Documentation

◆ estimate() [1/2]

◆ estimate() [2/2]

◆ frame()

◆ reset()

◆ setDepthEstimate()

◆ target() [1/2]

◆ target() [2/2]

◆ updateJacobian()

◆ updateNormalAcceleration()

◆ updateValue()

◆ updateVelocity()

Member Data Documentation

◆ depthEstimate_

◆ frame_

◆ frameJac_

◆ jacMat_

◆ L_img_

◆ L_img_dot_

◆ L_Z_dot_

◆ point_

◆ pointRef_

◆ shortJacMat_

◆ surfaceVelocity_

◆ tvm_frame_