ROS IndexNo version for distro humble showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro jazzy showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro kilted showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro rolling showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro ardent showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro bouncy showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro crystal showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro eloquent showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro dashing showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro galactic showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro foxy showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro iron showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro lunar showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro jade showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro indigo showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
No version for distro hydro showing kinetic. Known supported distros are highlighted in the buttons above.
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_core_task_maps at Robotics Stack Exchange
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Common taskmaps provided with EXOTica.
Additional Links
Maintainers
- Vladimir Ivan
- Wolfgang Merkt
Authors
- Yiming Yang
- Michael Camilleri
exotica_core_task_maps
This package contains a selection of commonly used TaskMaps. These are either functions of configuration phi(q) or functions of the full state and control phi(x,u). They also implement partial derivatives (Jacobian / Hessian).
TaskMaps that support analytical Hessians
- ContinuousJointPose
- ControlRegularization
- Distance
- EffFrame
- EffOrientation
- EffPosition
- EffPositionXY
- JointLimit
- JointPose
- PointToPlane => Can also be interpreted as “EffPositionZ”
TaskMap that do not yet have analytical Hessians (and thus default to Gauss-Newton approximation)
- AvoidLookAtSphere
- CenterOfMass => also the first link (“base”) mass is currently ignored :’(
- CollisionCheck
- CollisionDistance
- EffAxisAlignment
- EffBox
- EffVelocity
- GazeAtConstraint
- InteractionMesh
- JointAccelerationBackwardDifference
- JointJerkBackwardDifference
- JointTorqueMinimizationProxy
- JointVelocityBackwardDifference
- JointVelocityLimit
- JointVelocityLimitConstraint
- Manipulability
- PointToLine
- QuasiStatic
- SmoothCollisionDistance
- SphereCollision
- SumOfPenetrations
TaskMaps known to have discontinuous gradients for NLPs
Time-indexed task maps
- EffVelocity
- JointVelocityLimit
CHANGELOG
Changelog for package exotica_core_task_maps
6.2.0 (2021-07-23)
- PointToPlane: Add PositiveOnly mode for use as inequality term (#744)
- CoM: Change debug markers
- test_maps: Turn off JointVelocityLimit test
- SphereCollision: Remove unnecessary allocations (#741)
- Contributors: Wolfgang Merkt
6.1.1 (2021-04-05)
- Fix unit tests on Debian Buster (#734)
- Contributors: Wolfgang Merkt
6.1.0 (2021-03-15)
- Add DistanceToLine2D task map (#733)
- Clang support and bug fixes (#731)
- Upgrade formatting to clang-format-6.0 (#730)
- Contributors: Wolfgang Merkt
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- Remove usage of exotica_collision_scene_fcl; add backwards compatibility
- Fix segmentation fault for joint smoothing task maps
- test_maps: Upgrade collision scene to initializer
- EffFrame: Fix indexing bug for >1 end-effector
- test_maps: Add multi-end-effector unit test for EffFrame
- JointPose: Add set_joint_ref
- test_maps: testCollisionDistance - update initialiser, deactivate Jacobian test
- test_maps: Change to lp-Infinity-norm
- CollisionDistance: Fix Jacobian being off by -1
- test_maps: Change test_jacobian to central difference
- test_maps: Add collision links to the URDF
- Fix unittests for older versions of googletest
- Do not re-define GoogleTest color constants
- More informative exceptions
- package.xml: Add missing test dependencies
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Add note to test_maps that SphereCollision throws
- SmoothCollisionDistance: Fix in point Jacobian
- Add VariableSizeCollisionDistance
- SmoothCollisionDistance: Support nullptr for collision elements
- SmoothCollisionDistance: Make more readable, allocate less in loop
- JointPose: Implement get_joint_ref, get_joint_map
- EffAxisAlignment: Efficiency improvements
- Distance: Implement Hessian
- Add README tracking Hessian implementations
- test_maps: Test ContinuousJointPose Hessian
- PointToPlane: Implement Hessian, Simplify equation to EffPositionZ
- Test JointLimit, expose ControlRegularization to Python
- JointPose: Implement Hessian
- EffFrame: Implement Hessian
- test_maps: Test hessians for EffPosition, EffPositionXY, EffOrientation
- EffOrientation: Implement Hessian
- EffPositionXY: Implement Hessian
- test_maps: More informative exception handling
- test_maps: Set default DerivativeOrder to 2
- test_maps: Add test_hessian
- test_maps: Change test_jacobian to central difference
- Add ControlRegularization
- EffPosition: Fix Hessian indexing
- Make rotation_type private, add getter, fix instantiation
- EffPosition: Implement Hessian
- JointLimit: Fix Jacobian, add dynamic update methods
- Fix unit test for testJointLimit
- ContinuousJointPose: Add Hessian
- test_maps: Use const-ref
- SumOfPenetrations: Update to new, faster collision distance
- EffAxisAlignment: Clear debug topic on start
- EffAxisAlignment: Added debug visualisation
- Add unittest for EffPositionXY
- Contributors: Wolfgang Merkt
5.1.3 (2020-02-13)
- Refactor CollisionScene, add faster distance checks, speedup SmoothCollisionDistance (#688)
- Contributors: Wolfgang Merkt
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| eigen_conversions | |
| catkin | |
| rosunit | |
| exotica_collision_scene_fcl_latest | |
| exotica_core | |
| exotica_python | |
| geometry_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found