#include <tvm/robot/CollisionFunction.h>

Inheritance diagram for tvm::robot::CollisionFunction:

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Collaboration diagram for tvm::robot::CollisionFunction:

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Classes
struct	CollisionData

Public Member Functions
	CollisionFunction (Clock &clock)

void	addCollision (ConvexHullPtr ch1, ConvexHullPtr ch2)

void	reset ()

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
template<typename EnumT >
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

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

template<typename T , typename EnumI , typename... Args, typename std::enable_if< std::is_base_of< abstract::Outputs, T >::value, int >::type = 0>
void	addInput (T &source, EnumI i, Args... args)

template<typename T >
void	removeInput (T *source)

template<typename T , typename... Args>
void	removeInput (T *source, Args... args)

template<typename T >
Iterator	getInput (T *source)

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

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

template<typename EnumT >
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	updateTimeDependency ()

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 tvm::graph::abstract::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
Clock &	clock_

uint64_t	last_tick_ = 0

std::vector< CollisionData >	colls_

Eigen::Vector3d	closestPoints_ [2]

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_ = false

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

using	UpdateParent = AbstractNode

using	UpdateBase = AbstractNode

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

using	store_t = std::unordered_set< std::shared_ptr< abstract::Outputs > >

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

using	OutputParent = Outputs

using	OutputBase = Outputs

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

template<typename EnumT >
static constexpr bool	UpdateStaticallyEnabled (EnumT)

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

template<typename EnumT >
static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize = 0

static constexpr auto	UpdateBaseName = "AbstractNode"

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize = 0

static constexpr auto	OutputBaseName = "Outputs"

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

Detailed Description

This class implements a collision function for two given objects

Constructor & Destructor Documentation

◆ CollisionFunction()

tvm::robot::CollisionFunction::CollisionFunction ( Clock & clock )

Constructor

Parameters

dt Timestep

Member Function Documentation

◆ addCollision()

void tvm::robot::CollisionFunction::addCollision	(	ConvexHullPtr	ch1,
		ConvexHullPtr	ch2
	)

Add a collision

Parameters

ch1	convex hull object for the first object
ch2	convex hull object for the second object

◆ reset()

void tvm::robot::CollisionFunction::reset ( )

Remove all collisions

◆ updateJacobian()

void tvm::robot::CollisionFunction::updateJacobian ( )

protected

◆ updateNormalAcceleration()

void tvm::robot::CollisionFunction::updateNormalAcceleration ( )

protected

◆ updateTimeDependency()

void tvm::robot::CollisionFunction::updateTimeDependency ( )

protected

◆ updateValue()

void tvm::robot::CollisionFunction::updateValue ( )

protected

◆ updateVelocity()

void tvm::robot::CollisionFunction::updateVelocity ( )

protected

Member Data Documentation

◆ clock_

Clock& tvm::robot::CollisionFunction::clock_

protected

◆ closestPoints_

Eigen::Vector3d tvm::robot::CollisionFunction::closestPoints_[2]

protected

Intermediate computation

◆ colls_

std::vector<CollisionData> tvm::robot::CollisionFunction::colls_

protected

◆ distJac_

Eigen::MatrixXd tvm::robot::CollisionFunction::distJac_

protected

◆ fullJac_

Eigen::MatrixXd tvm::robot::CollisionFunction::fullJac_

protected

◆ last_tick_

uint64_t tvm::robot::CollisionFunction::last_tick_ = 0

protected

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

include/tvm/robot/CollisionFunction.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CollisionFunction()

Member Function Documentation

◆ addCollision()

◆ reset()

◆ updateJacobian()

◆ updateNormalAcceleration()

◆ updateTimeDependency()

◆ updateValue()

◆ updateVelocity()

Member Data Documentation

◆ clock_

◆ closestPoints_

◆ colls_

◆ distJac_

◆ fullJac_

◆ last_tick_