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hpp-core 6.0.0
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/path-optimization/spline-gradient-based.hh>


Public Types | |
| enum | { PolynomeBasis = _PolynomeBasis , SplineOrder = _SplineOrder } |
| typedef SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder > | Base |
| typedef shared_ptr< SplineGradientBased > | Ptr_t |
| typedef path::Spline< PolynomeBasis, SplineOrder > | Spline |
| typedef Spline::Ptr_t | SplinePtr_t |
| typedef std::vector< SplinePtr_t > | Splines_t |
Public Types inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder > | |
| enum | { PolynomeBasis = _PolynomeBasis , SplineOrder = _SplineOrder } |
| typedef path::Spline< PolynomeBasis, SplineOrder > | Spline |
| typedef Spline::Ptr_t | SplinePtr_t |
| typedef std::vector< SplinePtr_t > | Splines_t |
Public Member Functions | |
| virtual PathVectorPtr_t | optimize (const PathVectorPtr_t &path) |
Public Member Functions inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder > | |
| void | updateSplines (Splines_t &spline, const vector_t ¶m) const |
| void | updateParameters (vector_t ¶m, const Splines_t &spline) const |
Public Member Functions inherited from hpp::core::PathOptimizer | |
| virtual | ~PathOptimizer () |
| ProblemConstPtr_t | problem () const |
| Get problem. | |
| void | interrupt () |
| Interrupt path optimization. | |
| void | maxIterations (const unsigned long int &n) |
| Set maximal number of iterations. | |
| void | timeOut (const double &timeOut) |
| set time out (in seconds) | |
Static Public Member Functions | |
| static Ptr_t | create (const ProblemConstPtr_t &problem) |
Static Public Member Functions inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder > | |
| static void | copy (const Splines_t &in, Splines_t &out) |
| Copy a vector of Spline. | |
| static void | interpolate (const Splines_t &a, const Splines_t &b, const value_type &alpha, Splines_t &res) |
| Returns res = (1 - alpha) * a + alpha * b. | |
Protected Types | |
| typedef Eigen::RowBlockIndices | RowBlockIndices |
| typedef std::vector< SplineOptimizationData > | SplineOptimizationDatas_t |
Protected Types inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder > | |
| typedef steeringMethod::Spline< PolynomeBasis, SplineOrder > | SSM_t |
| Spline steering method. | |
| 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 | |
| SplineGradientBased (const ProblemConstPtr_t &problem) | |
Constraint creation | |
| virtual void | addProblemConstraints (const PathVectorPtr_t &init, const Splines_t &splines, LinearConstraint &lc, SplineOptimizationDatas_t &sods) const |
| void | addProblemConstraintOnPath (const PathPtr_t &path, const size_type &idxSpline, const SplinePtr_t &spline, LinearConstraint &lc, SplineOptimizationData &sod) const |
| Eigen::RowBlockIndices | computeActiveParameters (const PathPtr_t &path, const constraints::solver::BySubstitution &hs, const value_type &guessThr=-1, const bool &useExplicitInput=false) const |
Protected Member Functions inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder > | |
| 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 |
| Unused. | |
| Indices_t | validateBounds (const Splines_t &splines, const LinearConstraint &lc) const |
| Mostly for debugging purpose. | |
| void | addContinuityConstraints (const Splines_t &splines, const size_type maxOrder, const SplineOptimizationDatas_t &ess, LinearConstraint &continuity) |
| Add the linear constraint to connect consecutive splines together. | |
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 () |
Protected Attributes | |
| bool | checkOptimum_ |
| DevicePtr_t | robot_ |
Protected Attributes inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder > | |
| DevicePtr_t | robot_ |
| SSM_t::Ptr_t | steeringMethod_ |
| std::vector< PathValidationPtr_t > | validations_ |
Protected Attributes inherited from hpp::core::PathOptimizer | |
| bool | interrupt_ |
Additional Inherited Members | |
Static Protected Member Functions inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder > | |
| static PathVectorPtr_t | cleanInput (const PathVectorPtr_t &input) |
| Flatten path and remove path of zero length. | |
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protected |
| typedef path::Spline<PolynomeBasis, SplineOrder> hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >::Spline |
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protected |
| typedef Spline::Ptr_t hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >::SplinePtr_t |
| typedef std::vector<SplinePtr_t> hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >::Splines_t |
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protected |