Inheritance diagram for pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >:

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Collaboration diagram for pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >:

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Public Types
typedef SplineGradientBasedAbstract< _PolynomeBasis, _Order >	Base

typedef Base::Splines_t	Splines_t

typedef Base::Reports_t	Reports_t

typedef Base::SplineOptimizationData	SplineOptimizationData

typedef Base::SplineOptimizationDatas_t	SplineOptimizationDatas_t

Public Types inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _Order >
typedef path::Spline< PolynomeBasis, SplineOrder >	Spline

typedef Spline::Ptr_t	SplinePtr_t

typedef std::vector< SplinePtr_t >	Splines_t

Public Member Functions
	SGBWrapper (const ProblemConstPtr_t &p)

virtual	~SGBWrapper ()

PathVectorPtr_t	optimize (const PathVectorPtr_t &path)

void	appendEquivalentSpline (const PathVectorPtr_t &pv, Splines_t &ss) const

void	initializePathValidation (const Splines_t &splines)

Reports_t	validatePath (const Splines_t &splines, std::vector< std::size_t > &reordering, bool stopAtFirst, bool reorder) const

void	jointBoundConstraint (const Splines_t &splines, LinearConstraint &lc) const

void	addContinuityConstraints (const Splines_t &splines, const size_type maxOrder, const SplineOptimizationDatas_t &ess, LinearConstraint &continuity)

PathVectorPtr_t	buildPathVector (const Splines_t &splines) const

void	updateParameters (vectorRef_t param, const Splines_t &spline) const

Public Member Functions inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _Order >
void	updateSplines (Splines_t &spline, const vector_t &param) const

void	updateParameters (vector_t &param, const Splines_t &spline) const

Public Member Functions inherited from hpp::core::PathOptimizer
virtual	~PathOptimizer ()

ProblemConstPtr_t	problem () const

virtual PathVectorPtr_t	optimize (const PathVectorPtr_t &path)=0

void	interrupt ()

void	maxIterations (const unsigned long int &n)

void	timeOut (const double &timeOut)

Additional Inherited Members
Static Public Member Functions inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _Order >
static void	copy (const Splines_t &in, Splines_t &out)

static void	interpolate (const Splines_t &a, const Splines_t &b, const value_type &alpha, Splines_t &res)

Public Attributes inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _Order >
	PolynomeBasis

	SplineOrder

Public Attributes inherited from hpp::core::PathOptimizer
bool	enabled

size_type	iteration

boost::posix_time::ptime	timeStart

Protected Types inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _Order >
typedef steeringMethod::Spline< PolynomeBasis, SplineOrder >	SSM_t

typedef std::vector< std::pair< PathValidationReportPtr_t, std::size_t > >	Reports_t

typedef Eigen::RowBlockIndices	RowBlockIndices

typedef std::vector< bool >	Bools_t

typedef std::vector< size_type >	Indices_t

typedef std::vector< SplineOptimizationData >	SplineOptimizationDatas_t

Protected Member Functions inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _Order >
	SplineGradientBasedAbstract (const ProblemConstPtr_t &problem)

PathVectorPtr_t	buildPathVector (const Splines_t &splines) const

void	appendEquivalentSpline (const StraightPathPtr_t &path, Splines_t &splines) const

void	appendEquivalentSpline (const InterpolatedPathPtr_t &path, Splines_t &splines) const

void	appendEquivalentSpline (const PathVectorPtr_t &path, Splines_t &splines) const

virtual void	initializePathValidation (const Splines_t &splines)

Reports_t	validatePath (const Splines_t &splines, std::vector< std::size_t > &reordering, bool stopAtFirst, bool reorder) const

void	jointBoundConstraint (const Splines_t &splines, LinearConstraint &lc) const

std::size_t	addBoundConstraints (const Indices_t &bci, const LinearConstraint &bc, Bools_t &activeConstraint, LinearConstraint &constraint) const

Indices_t	validateBounds (const Splines_t &splines, const LinearConstraint &lc) const

void	addContinuityConstraints (const Splines_t &splines, const size_type maxOrder, const SplineOptimizationDatas_t &ess, LinearConstraint &continuity)

Protected Member Functions inherited from hpp::core::PathOptimizer
	PathOptimizer (const ProblemConstPtr_t &problem)

PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const

void	monitorExecution ()

void	endIteration ()

bool	shouldStop () const

void	initFromParameters ()

Static Protected Member Functions inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _Order >
static PathVectorPtr_t	cleanInput (const PathVectorPtr_t &input)

Protected Attributes inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _Order >
DevicePtr_t	robot_

SSM_t::Ptr_t	steeringMethod_

std::vector< PathValidationPtr_t >	validations_

Protected Attributes inherited from hpp::core::PathOptimizer
bool	interrupt_