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Package Summary

Tags No category tags.
Version 6.0.2
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 2021-01-18
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

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

6.0.2 (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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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 answers.ros.org

Package Summary

Tags No category tags.
Version 6.0.2
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 2021-01-18
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

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

6.0.2 (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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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 answers.ros.org

Package Summary

Tags No category tags.
Version 6.0.2
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 2021-01-18
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

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

6.0.2 (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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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 answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
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