#include <hpp/core/path-optimization/spline-gradient-based.hh>

Inheritance diagram for hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >:

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Collaboration diagram for hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >:

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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)
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
	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 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.

Public Attributes
value_type	alphaInit
bool	alwaysStopAtFirst
	If true, consider only one (not all) collision constraint per iteration.
size_type	costOrder
bool	usePathLengthAsWeights
	If true, the initial path length is used to weight the splines.
bool	reorderIntervals
	If true, intervals in collision are checked first at the next iteration.
bool	linearizeAtEachStep
	If true, collision constraint will be re-linearized at each iteration.
bool	checkJointBound
	If true, joint bounds are enforced.
bool	returnOptimum
value_type	costThreshold
value_type	guessThreshold
value_type	QPAccuracy
	Accuracy of QP solver (only used by proxqp).

Protected Types
typedef Eigen::RowBlockIndices	RowBlockIndices
typedef std::vector< SplineOptimizationData >	SplineOptimizationDatas_t
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 PathVectorPtr_t	cleanInput (const PathVectorPtr_t &input)
	Flatten path and remove path of zero length.