pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order > Class Template Reference

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

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

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 path::Spline< PolynomeBasis, SplineOrder >	Spline
typedef Spline::Ptr_t	SplinePtr_t
typedef Spline::Ptr_t	SplinePtr_t
typedef std::vector< SplinePtr_t >	Splines_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
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
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)
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
	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 steeringMethod::Spline< PolynomeBasis, SplineOrder >	SSM_t
typedef std::vector< std::pair< PathValidationReportPtr_t, std::size_t > >	Reports_t
typedef std::vector< std::pair< PathValidationReportPtr_t, std::size_t > >	Reports_t
typedef Eigen::RowBlockIndices	RowBlockIndices
typedef Eigen::RowBlockIndices	RowBlockIndices
typedef std::vector< bool >	Bools_t
typedef std::vector< bool >	Bools_t
typedef std::vector< size_type >	Indices_t
typedef std::vector< size_type >	Indices_t
typedef std::vector< SplineOptimizationData >	SplineOptimizationDatas_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
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)
	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
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)
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_
DevicePtr_t	robot_
SSM_t::Ptr_t	steeringMethod_
std::vector< PathValidationPtr_t >	validations_
Protected Attributes inherited from hpp::core::PathOptimizer
bool	interrupt_

Member Typedef Documentation

Base

template<int _PolynomeBasis, int _Order>

typedef SplineGradientBasedAbstract<_PolynomeBasis, _Order> pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::Base

Reports_t

template<int _PolynomeBasis, int _Order>

typedef Base::Reports_t pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::Reports_t

SplineOptimizationData

template<int _PolynomeBasis, int _Order>

typedef Base::SplineOptimizationData pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::SplineOptimizationData

SplineOptimizationDatas_t

template<int _PolynomeBasis, int _Order>

typedef Base::SplineOptimizationDatas_t pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::SplineOptimizationDatas_t

Splines_t

template<int _PolynomeBasis, int _Order>

typedef Base::Splines_t pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::Splines_t

Constructor & Destructor Documentation

SGBWrapper()

template<int _PolynomeBasis, int _Order>

pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::SGBWrapper ( const ProblemConstPtr_t & p )

inline

~SGBWrapper()

template<int _PolynomeBasis, int _Order>

virtual pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::~SGBWrapper ( )

inlinevirtual

Member Function Documentation

addContinuityConstraints()

template<int _PolynomeBasis, int _Order>

void pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::addContinuityConstraints ( const Splines_t & splines, const size_type maxOrder, const SplineOptimizationDatas_t & ess, LinearConstraint & continuity )

inline

appendEquivalentSpline()

template<int _PolynomeBasis, int _Order>

void pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::appendEquivalentSpline ( const PathVectorPtr_t & pv, Splines_t & ss ) const

inline

buildPathVector()

template<int _PolynomeBasis, int _Order>

PathVectorPtr_t pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::buildPathVector ( const Splines_t & splines ) const

inline

initializePathValidation()

template<int _PolynomeBasis, int _Order>

void pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::initializePathValidation ( const Splines_t & splines )

inlinevirtual

Reimplemented from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _Order >.

jointBoundConstraint()

template<int _PolynomeBasis, int _Order>

void pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::jointBoundConstraint ( const Splines_t & splines, LinearConstraint & lc ) const

inline

optimize()

template<int _PolynomeBasis, int _Order>

PathVectorPtr_t pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::optimize ( const PathVectorPtr_t & path )

inlinevirtual

Implements hpp::core::PathOptimizer.

updateParameters()

template<int _PolynomeBasis, int _Order>

void pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::updateParameters ( vectorRef_t param, const Splines_t & spline ) const

inline

validatePath()

template<int _PolynomeBasis, int _Order>

Reports_t pyhpp::core::pathOptimization::SGBWrapper< _PolynomeBasis, _Order >::validatePath ( const Splines_t & splines, std::vector< std::size_t > & reordering, bool stopAtFirst, bool reorder ) const

inline

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The documentation for this class was generated from the following file:

• src/pyhpp/core/path_optimization/spline-gradient-based-abstract.cc