hpp-core 4.14.0
Implement basic classes for canonical path planning for kinematic chains.
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#include <hpp/core/path-optimization/config-optimization.hh>
Classes | |
struct | Optimizer |
struct | Parameters |
Public Member Functions | |
virtual PathVectorPtr_t | optimize (const PathVectorPtr_t &path) |
Optimize path. More... | |
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virtual | ~PathOptimizer () |
ProblemConstPtr_t | problem () const |
Get problem. More... | |
virtual PathVectorPtr_t | optimize (const PathVectorPtr_t &path)=0 |
Optimize path. More... | |
void | interrupt () |
Interrupt path optimization. More... | |
void | maxIterations (const unsigned long int &n) |
Set maximal number of iterations. More... | |
void | timeOut (const double &timeOut) |
set time out (in seconds) More... | |
Static Public Member Functions | |
template<typename Traits > | |
static ConfigOptimizationPtr_t | createWithTraits (const ProblemConstPtr_t &problem) |
Return shared pointer to new object. More... | |
static ConfigOptimizationPtr_t | create (const ProblemConstPtr_t &problem) |
Return shared pointer to new object. More... | |
Public Attributes | |
struct hpp::core::pathOptimization::ConfigOptimization::Parameters | parameters |
Protected Types | |
typedef std::vector< Optimizer > | Optimizers_t |
Protected Member Functions | |
ConfigOptimization (const ProblemConstPtr_t &problem) | |
virtual constraints::ImplicitPtr_t | createNumConstraint (const PathVector &path) const |
virtual std::size_t | buildOptimizers (const PathVector &pv, Optimizers_t &projectors) |
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PathOptimizer (const ProblemConstPtr_t &problem) | |
PathPtr_t | steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const |
void | monitorExecution () |
void | endIteration () |
bool | shouldStop () const |
void | initFromParameters () |
Additional Inherited Members | |
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bool | interrupt_ |
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protected |
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protected |
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protectedvirtual |
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static |
Return shared pointer to new object.
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protectedvirtual |
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static |
Return shared pointer to new object.
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virtual |
Optimize path.
Implements hpp::core::PathOptimizer.
struct hpp::core::pathOptimization::ConfigOptimization::Parameters hpp::core::pathOptimization::ConfigOptimization::parameters |