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No version for distro rolling. Known supported distros are highlighted in the buttons above.
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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 |
| CI status |
|
| 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
6.2.0 (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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
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. 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 |
| CI status |
|
| 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
6.2.0 (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
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
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