18 #ifndef HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_HH 19 # define HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_HH 21 #include <hpp/constraints/explicit-constraint-set.hh> 23 #include <hpp/constraints/solver/by-substitution.hh> 35 namespace pathOptimization {
36 template <
int _PolynomeBasis,
int _SplineOrder>
42 PolynomeBasis = _PolynomeBasis,
43 SplineOrder = _SplineOrder
45 typedef shared_ptr<SplineGradientBased>
Ptr_t;
98 Eigen::RowBlockIndices computeActiveParameters
102 const bool& useExplicitInput =
false)
const;
110 struct CollisionFunctions;
112 void addCollisionConstraint (
const std::size_t idxSpline,
120 CollisionFunctions& functions,
const std::size_t iF,
123 template <
typename Cost_t>
bool checkHessian (
const Cost_t& cost,
const matrix_t& H,
const Splines_t& splines)
const;
133 #endif // HPP_CORE_PATH_OPTIMIZATION_GRADIENT_BASED_HH std::vector< std::pair< PathValidationReportPtr_t, std::size_t > > Reports_t
Definition: spline-gradient-based-abstract.hh:130
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:176
Definition: bi-rrt-planner.hh:24
Eigen::RowBlockIndices RowBlockIndices
Definition: spline-gradient-based-abstract.hh:149
pinocchio::size_type size_type
Definition: fwd.hh:156
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
std::vector< SplinePtr_t > Splines_t
Definition: spline-gradient-based-abstract.hh:48
Common base for optimization-based path optimizer with splines.
Definition: spline-gradient-based-abstract.hh:39
Definition: spline-gradient-based.hh:37
Spline::Ptr_t SplinePtr_t
Definition: spline-gradient-based-abstract.hh:47
bool checkOptimum_
Definition: spline-gradient-based.hh:106
SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder > Base
Definition: spline-gradient-based.hh:40
pinocchio::matrix_t matrix_t
Definition: fwd.hh:145
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition: fwd.hh:299
pinocchio::value_type value_type
Definition: fwd.hh:157
std::vector< SplineOptimizationData > SplineOptimizationDatas_t
Definition: spline-gradient-based-abstract.hh:166
constraints::solver::BySubstitution BySubstitution
Definition: config-projector.hh:32
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< SplineGradientBased > Ptr_t
Definition: spline-gradient-based.hh:45
A linear constraint .
Definition: linear-constraint.hh:28
Definition: spline-gradient-based-abstract.hh:152
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170