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hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder > Class Template Reference

#include <hpp/manipulation/path-optimization/spline-gradient-based.hh>

Inheritance diagram for hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >:
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Collaboration diagram for hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >:
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Public Types

enum  {
  PolynomeBasis = _PolynomeBasis,
  SplineOrder = _SplineOrder
}
 
typedef
core::pathOptimization::SplineGradientBased
< PolynomeBasis, SplineOrder
Parent_t
 
typedef boost::shared_ptr
< SplineGradientBased
Ptr_t
 
typedef path::Spline
< PolynomeBasis, SplineOrder
Spline
 
typedef Spline::Ptr_t SplinePtr_t
 
typedef std::vector< SplinePtr_tSplines_t
 
- Public Types inherited from hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >
typedef
SplineGradientBasedAbstract
< _PolynomeBasis, _SplineOrder > 
Base
 
typedef boost::shared_ptr
< SplineGradientBased
Ptr_t
 
typedef path::Spline
< PolynomeBasis, SplineOrder
Spline
 
typedef Spline::Ptr_t SplinePtr_t
 
typedef std::vector< SplinePtr_tSplines_t
 
- Public Types inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >
typedef path::Spline
< PolynomeBasis, SplineOrder
Spline
 
typedef Spline::Ptr_t SplinePtr_t
 
typedef std::vector< SplinePtr_tSplines_t
 

Static Public Member Functions

static Ptr_t create (const Problem &problem)
 Return shared pointer to new object. More...
 
static Ptr_t createFromCore (const core::Problem &problem)
 This is only for compatibility purpose (with ProblemSolver). More...
 
- Static Public Member Functions inherited from hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >
static Ptr_t create (const Problem &problem)
 

Protected Types

typedef
hpp::core::pathOptimization::LinearConstraint 
LinearConstraint
 
typedef std::vector
< SplineOptimizationData
SplineOptimizationDatas_t
 
- Protected Types inherited from hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >
typedef
constraints::ExplicitConstraintSet 
ExplicitConstraintSet
 
typedef Eigen::RowBlockIndices RowBlockIndices
 
typedef std::vector
< SplineOptimizationData
SplineOptimizationDatas_t
 

Protected Member Functions

 SplineGradientBased (const Problem &problem)
 
virtual void initializePathValidation (const Splines_t &splines)
 Get path validation for each spline. More...
 
virtual void addProblemConstraints (const core::PathVectorPtr_t &init, const Splines_t &splines, LinearConstraint &lc, SplineOptimizationDatas_t &sods) const
 
virtual void constrainEndIntoState (const core::PathPtr_t &path, const size_type &idxSpline, const SplinePtr_t &spline, const graph::StatePtr_t state, LinearConstraint &lc) const
 
virtual void constraintDerivativesAtEndOfSpline (const size_type &idxSpline, const SplinePtr_t &spline, LinearConstraint &lc) const
 
- Protected Member Functions inherited from hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >
 SplineGradientBased (const Problem &problem)
 
- Protected Member Functions inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >
 SplineGradientBasedAbstract (const Problem &problem)
 
PathVectorPtr_t buildPathVector (const Splines_t &splines) const
 
- Protected Member Functions inherited from hpp::core::PathOptimizer
 PathOptimizer (const Problem &problem)
 
PathPtr_t steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const
 

Additional Inherited Members

- Public Member Functions inherited from hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >
virtual PathVectorPtr_t optimize (const PathVectorPtr_t &path)
 
- Public Member Functions inherited from hpp::core::PathOptimizer
virtual ~PathOptimizer ()
 
const Problemproblem () const
 
void interrupt ()
 
- Protected Attributes inherited from hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >
bool checkOptimum_
 
- Protected Attributes inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >
DevicePtr_t robot_
 
- Protected Attributes inherited from hpp::core::PathOptimizer
bool interrupt_
 

Member Typedef Documentation

template<int _PolynomeBasis, int _SplineOrder>
typedef path::Spline< PolynomeBasis, SplineOrder > hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::Spline
template<int _PolynomeBasis, int _SplineOrder>
typedef std::vector< SplineOptimizationData > hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::SplineOptimizationDatas_t
protected
template<int _PolynomeBasis, int _SplineOrder>
typedef Spline::Ptr_t hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::SplinePtr_t
template<int _PolynomeBasis, int _SplineOrder>
typedef std::vector< SplinePtr_t > hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::Splines_t