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 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)

• Added various new taskmaps
• Contributors: Chris Mower, Christian Rauch, Vladimir Ivan, Wolfgang Merkt