19 #ifndef HPP_CORE_CONFIG_PROJECTOR_HH
20 # define HPP_CORE_CONFIG_PROJECTOR_HH
24 # include <hpp/statistics/success-bin.hh>
74 const std::string& name,
92 bool contains (
const constraints::ImplicitPtr_t& numericalConstraint)
104 bool add (
const constraints::ImplicitPtr_t& numericalConstraint,
105 const std::size_t priority = 0);
116 std::size_t maxIter = 0);
195 bool rows =
true)
const;
203 bool rows =
true)
const;
299 lineSearchType_ = ls;
305 return lineSearchType_;
332 virtual std::ostream& print (std::ostream& os)
const;
342 ConfigProjectorWkPtr_t weak_;
343 ::hpp::statistics::SuccessStatistics statistics_;
Definition: config-projector.hh:58
size_type numberFreeVariables() const
Return the number of free variables.
void uncompressMatrix(matrixIn_t small, matrixOut_t normal, bool rows=true) const
void init(const ConfigProjectorPtr_t &self)
Store weak pointer to itself.
Definition: config-projector.hh:323
void errorThreshold(const value_type &threshold)
Set error threshold.
static ConfigProjectorPtr_t create(const DevicePtr_t &robot, const std::string &name, value_type errorThreshold, size_type maxIterations)
void lastIsOptional(bool optional)
bool contains(const constraints::ImplicitPtr_t &numericalConstraint) const
LineSearchType
Definition: config-projector.hh:60
@ ErrorNormBased
Definition: config-projector.hh:62
@ FixedSequence
Definition: config-projector.hh:63
@ Backtracking
Definition: config-projector.hh:61
size_type dimension() const
Get constraint dimension.
void compressVector(vectorIn_t normal, vectorOut_t small) const
LineSearchType lineSearchType() const
Get the line search type.
Definition: config-projector.hh:303
virtual ConstraintPtr_t copy() const
return shared pointer to copy
virtual bool impl_compute(ConfigurationOut_t configuration)
Numerically solve constraint.
void rightHandSideAt(const value_type &s)
Update the right hand side using Implicit::rightHandSideAt.
bool add(const constraints::ImplicitPtr_t &numericalConstraint, const std::size_t priority=0)
ConfigProjector(const ConfigProjector &cp)
Copy constructor.
void rightHandSide(const vector_t ¶m)
value_type residualError() const
const BySubstitution & solver() const
Definition: config-projector.hh:291
static void defaultLineSearch(LineSearchType ls)
virtual void projectOnKernel(ConfigurationIn_t from, ConfigurationIn_t to, ConfigurationOut_t result)
vector_t rightHandSideFromConfig(ConfigurationIn_t config)
virtual bool isSatisfied(ConfigurationIn_t config, vector_t &error)
virtual ~ConfigProjector()
Destructor.
size_type maxIterations() const
Get maximal number of iterations in config projector.
static ConfigProjectorPtr_t createCopy(const ConfigProjectorPtr_t cp)
::hpp::statistics::SuccessStatistics & statistics()
Get the statistics.
Definition: config-projector.hh:282
const value_type & sigma() const
void computeValueAndJacobian(ConfigurationIn_t configuration, vectorOut_t value, matrixOut_t reducedJacobian)
void rightHandSide(const constraints::ImplicitPtr_t &nm, vectorIn_t rhs)
void compressMatrix(matrixIn_t normal, matrixOut_t small, bool rows=true) const
ConfigProjector(const DevicePtr_t &robot, const std::string &name, value_type errorThreshold, size_type maxIterations)
value_type errorThreshold() const
Get errorimal number of threshold in config projector.
virtual bool isSatisfied(ConfigurationIn_t config)
void lineSearchType(LineSearchType ls)
Set the line search type.
Definition: config-projector.hh:297
void uncompressVector(vectorIn_t small, vectorOut_t normal) const
vector_t rightHandSide() const
void projectVectorOnKernel(ConfigurationIn_t from, vectorIn_t velocity, vectorOut_t result)
const NumericalConstraints_t & numericalConstraints() const
virtual bool isSatisfied(ConfigurationIn_t config, value_type errorThreshold)
void maxIterations(size_type iterations)
Set maximal number of iterations.
const DevicePtr_t & robot() const
Get robot.
Definition: config-projector.hh:119
void rightHandSideFromConfig(const constraints::ImplicitPtr_t &nm, ConfigurationIn_t config)
bool optimize(ConfigurationOut_t config, std::size_t maxIter=0)
bool lastIsOptional() const
Definition: constraint.hh:39
void init(const ConstraintPtr_t &self)
Store shared pointer to itself.
Definition: constraint.hh:80
#define HPP_CORE_DLLAPI
Definition: config.hh:64
constraints::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:214
pinocchio::value_type value_type
Definition: fwd.hh:157
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:109
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:203
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:204
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
pinocchio::vector_t vector_t
Definition: fwd.hh:202
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
pinocchio::size_type size_type
Definition: fwd.hh:156
constraints::solver::BySubstitution BySubstitution
Definition: config-projector.hh:32
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:104
constraints::matrixOut_t matrixOut_t
Definition: fwd.hh:150
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
constraints::matrixIn_t matrixIn_t
Definition: fwd.hh:149
Definition: bi-rrt-planner.hh:24