9 #ifndef _CLASS_DEFINITIONS_H 10 #define _CLASS_DEFINITIONS_H 18 namespace optimization {
33 template <
typename Po
int,
typename Numeric>
35 Eigen::Matrix<Numeric, Eigen::Dynamic, Eigen::Dynamic>
ineqMatrix;
40 template <
typename Po
int,
typename Numeric>
45 typedef Eigen::Matrix<num_t, Eigen::Dynamic, 1>
vector_x_t;
46 typedef Eigen::Matrix<num_t, Eigen::Dynamic, Eigen::Dynamic>
matrix_x_t;
47 typedef std::vector<matrix_x_t, Eigen::aligned_allocator<matrix_x_t> >
T_matrix_x_t;
48 typedef std::vector<vector_x_t, Eigen::aligned_allocator<vector_x_t> >
T_vector_x_t;
53 : curve_constraints_t(dim),
55 init_pos(point_t::Zero(dim)),
56 end_pos(point_t::Zero(dim)),
59 splitTimes_(vector_x_t::Zero(0)),
63 : curve_constraints_t(parent),
65 init_pos(point_t::Zero(parent.dim_)),
66 end_pos(point_t::Zero(parent.dim_)),
69 splitTimes_(vector_x_t::Zero(0)),
85 #endif //_CLASS_DEFINITIONS_H Definition: definitions.h:28
Numeric num_t
Definition: definitions.h:43
Definition: definitions.h:23
problem_definition(const curve_constraints_t &parent)
Definition: definitions.h:62
Definition: definitions.h:25
double Numeric
Definition: effector_spline.h:26
Definition: definitions.h:34
Definition: definitions.h:26
T_vector_x_t::const_iterator CIT_vector_x_t
Definition: definitions.h:50
Definition: definitions.h:27
point_t end_pos
Definition: definitions.h:74
Definition: curve_constraint.h:21
num_t totalTime
Definition: definitions.h:76
Definition: bernstein.h:20
Eigen::Matrix< Numeric, Eigen::Dynamic, Eigen::Dynamic > ineqMatrix
Definition: definitions.h:35
Definition: definitions.h:30
std::vector< vector_x_t, Eigen::aligned_allocator< vector_x_t > > T_vector_x_t
Definition: definitions.h:48
Definition: definitions.h:21
Eigen::Matrix< num_t, Eigen::Dynamic, 1 > vector_x_t
Definition: definitions.h:45
T_matrix_x_t::const_iterator CIT_matrix_x_t
Definition: definitions.h:49
constraint_flag
Definition: definitions.h:20
Definition: definitions.h:29
problem_definition(const std::size_t dim)
Definition: definitions.h:52
Definition: definitions.h:24
class allowing to create a Bezier curve of dimension 1 <= n <= 3.
Point point_t
Definition: definitions.h:42
vector_x_t splitTimes_
Definition: definitions.h:77
constraint_flag flag
Definition: definitions.h:72
Eigen::Matrix< Numeric, Eigen::Dynamic, 1 > ineqVector
Definition: definitions.h:36
std::vector< matrix_x_t, Eigen::aligned_allocator< matrix_x_t > > T_matrix_x_t
Definition: definitions.h:47
T_matrix_x_t inequalityMatrices_
Definition: definitions.h:78
point_t init_pos
Definition: definitions.h:73
Eigen::Matrix< num_t, Eigen::Dynamic, Eigen::Dynamic > matrix_x_t
Definition: definitions.h:46
const std::size_t dim_
Definition: definitions.h:80
curve_constraints< point_t > curve_constraints_t
Definition: definitions.h:44
struct to define constraints on start / end velocities and acceleration on a curve ...
Definition: definitions.h:22
storage for variable points of the form p_i = x' A_i x + B_i x + c_i
T_vector_x_t inequalityVectors_
Definition: definitions.h:79
quadratic_variable< Numeric > cost
Definition: definitions.h:37
std::size_t degree
Definition: definitions.h:75
storage for variable points of the form p_i = B_i x + c_i
Eigen::Matrix< Numeric, Eigen::Dynamic, 1 > Point
Definition: effector_spline.h:28
Definition: definitions.h:41