18 #ifndef HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_ABSTRACT_HH 19 # define HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_ABSTRACT_HH 21 #include <hpp/constraints/explicit-constraint-set.hh> 23 #include <hpp/constraints/solver/by-substitution.hh> 36 namespace pathOptimization {
38 template <
int _PolynomeBasis,
int _SplineOrder>
43 PolynomeBasis = _PolynomeBasis,
44 SplineOrder = _SplineOrder
127 virtual void initializePathValidation(
const Splines_t& splines);
140 std::vector<std::size_t>& reordering,
155 { activeParameters.addRow (0, rDof); }
160 shared_ptr<constraints::ExplicitConstraintSet>
es;
199 #endif // HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_ABSTRACT_HH std::vector< std::pair< PathValidationReportPtr_t, std::size_t > > Reports_t
Definition: spline-gradient-based-abstract.hh:130
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
DevicePtr_t robot_
Definition: spline-gradient-based-abstract.hh:185
shared_ptr< InterpolatedPath > InterpolatedPathPtr_t
Definition: fwd.hh:193
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:176
Definition: bi-rrt-planner.hh:24
RowBlockIndices activeParameters
Definition: spline-gradient-based-abstract.hh:164
Eigen::RowBlockIndices RowBlockIndices
Definition: spline-gradient-based-abstract.hh:149
pinocchio::size_type size_type
Definition: fwd.hh:156
steeringMethod::Spline< PolynomeBasis, SplineOrder > SSM_t
Spline steering method.
Definition: spline-gradient-based-abstract.hh:83
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
std::vector< bool > Bools_t
Definition: spline-gradient-based-abstract.hh:150
SplineOptimizationData()
Definition: spline-gradient-based-abstract.hh:153
shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:183
std::vector< SplinePtr_t > Splines_t
Definition: spline-gradient-based-abstract.hh:48
Common base for optimization-based path optimizer with splines.
Definition: spline-gradient-based-abstract.hh:39
shared_ptr< constraints::ExplicitConstraintSet > es
A copy of the explicit solver included in set.
Definition: spline-gradient-based-abstract.hh:160
Spline::Ptr_t SplinePtr_t
Definition: spline-gradient-based-abstract.hh:47
std::vector< PathValidationPtr_t > validations_
Definition: spline-gradient-based-abstract.hh:122
path::Spline< PolynomeBasis, SplineOrder > Spline
Definition: spline-gradient-based-abstract.hh:46
std::vector< size_type > Indices_t
Definition: spline-gradient-based-abstract.hh:151
Definition: path-optimizer.hh:34
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
pinocchio::vector_t vector_t
Definition: fwd.hh:202
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition: fwd.hh:299
pinocchio::value_type value_type
Definition: fwd.hh:157
SSM_t::Ptr_t steeringMethod_
Definition: spline-gradient-based-abstract.hh:84
SplineOptimizationData(size_type rDof)
Definition: spline-gradient-based-abstract.hh:154
std::vector< SplineOptimizationData > SplineOptimizationDatas_t
Definition: spline-gradient-based-abstract.hh:166
shared_ptr< Spline > Ptr_t
Definition: spline.hh:100
#define HPP_CORE_DLLAPI
Definition: config.hh:64
A linear constraint .
Definition: linear-constraint.hh:28
Definition: spline-gradient-based-abstract.hh:152
shared_ptr< Spline > Ptr_t
Definition: spline.hh:48