30 #ifndef HPP_CORE_CONFIG_PROJECTOR_HH 31 #define HPP_CORE_CONFIG_PROJECTOR_HH 37 #include <hpp/statistics/success-bin.hh> 68 enum LineSearchType { Backtracking, ErrorNormBased, FixedSequence, Constant };
77 const std::string& name,
95 bool contains(
const constraints::ImplicitPtr_t& numericalConstraint)
const;
106 bool add(
const constraints::ImplicitPtr_t& numericalConstraint,
107 const std::size_t priority = 0);
109 void lastIsOptional(
bool optional);
111 bool lastIsOptional()
const;
192 bool rows =
true)
const;
200 bool rows =
true)
const;
205 void maxIterations(
size_type iterations);
210 void errorThreshold(
const value_type& threshold);
240 void rightHandSideFromConfig(
const constraints::ImplicitPtr_t& nm,
245 void rightHandSide(
const vector_t& param);
249 void rightHandSide(
const constraints::ImplicitPtr_t& nm,
vectorIn_t rhs);
279 ::hpp::statistics::SuccessStatistics&
statistics() {
return statistics_; }
285 const BySubstitution&
solver()
const {
return *solver_; }
287 BySubstitution&
solver() {
return *solver_; }
318 virtual std::ostream& print(std::ostream& os)
const;
323 BySubstitution* solver_;
328 ConfigProjectorWkPtr_t weak_;
329 ::hpp::statistics::SuccessStatistics statistics_;
337 #endif // HPP_CORE_CONFIG_PROJECTOR_HH void lineSearchType(LineSearchType ls)
Set the line search type.
Definition: config-projector.hh:290
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:133
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:106
Definition: bi-rrt-planner.hh:35
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:107
pinocchio::size_type size_type
Definition: fwd.hh:172
BySubstitution & solver()
Definition: config-projector.hh:287
Definition: config-projector.hh:66
constraints::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:231
LineSearchType lineSearchType() const
Get the line search type.
Definition: config-projector.hh:293
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:113
Definition: constraint.hh:49
void init(const ConstraintPtr_t &self)
Store shared pointer to itself.
Definition: constraint.hh:82
::hpp::statistics::SuccessStatistics & statistics()
Get the statistics.
Definition: config-projector.hh:279
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:220
constraints::matrixIn_t matrixIn_t
Definition: fwd.hh:165
pinocchio::vector_t vector_t
Definition: fwd.hh:219
pinocchio::value_type value_type
Definition: fwd.hh:173
LineSearchType
Definition: config-projector.hh:68
void init(const ConfigProjectorPtr_t &self)
Store weak pointer to itself.
Definition: config-projector.hh:310
constraints::matrixOut_t matrixOut_t
Definition: fwd.hh:166
const BySubstitution & solver() const
Definition: config-projector.hh:285
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:221
constraints::solver::BySubstitution BySubstitution
Definition: config-projector.hh:41
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:128
const DevicePtr_t & robot() const
Get robot.
Definition: config-projector.hh:120