mc_tvm::GazeFunction Struct Reference

#include <mc_tvm/GazeFunction.h>

Inheritance diagram for mc_tvm::GazeFunction:

Collaboration diagram for mc_tvm::GazeFunction:

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

Protected Member Functions
void	updateValue ()
void	updateVelocity ()
void	updateJacobian ()
void	updateNormalAcceleration ()
void	setDepthEstimate (double depth)

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_

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

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

• include/mc_tvm/GazeFunction.h