19 #ifndef HPP_CORE_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH 20 # define HPP_CORE_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH 22 # include <functional> 29 namespace pathOptimization {
63 template <
typename Traits >
static 84 std::function <Configuration_t (const PathVector&)>
getGoal;
90 std::function <bool ( JointConstPtr_t, const size_type)>
99 virtual constraints::ImplicitPtr_t createNumConstraint
105 const std::size_t numIter)
const;
110 virtual std::size_t buildOptimizers (
const PathVector& pv,
116 void buildConfigVector (
const PathVector& path,
119 template <
bool forward>
bool pass (
121 const Optimizers_t& optimizers,
const std::size_t& index,
132 Traits::addConfigConstraintToPath ();
144 #endif // HPP_CORE_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH ConfigProjectorPtr_t proj
Definition: config-optimization.hh:103
static ConfigProjectorPtr_t getConfigProjector(const PathPtr_t &before, const PathPtr_t &after, bool &isReverse)
std::function< Configuration_t(const PathVector &)> getGoal
Definition: config-optimization.hh:84
struct hpp::core::pathOptimization::ConfigOptimization::Parameters parameters
ProblemConstPtr_t problem() const
Get problem.
Definition: path-optimizer.hh:40
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:176
Definition: bi-rrt-planner.hh:24
shared_ptr< ConfigOptimization > ConfigOptimizationPtr_t
Definition: fwd.hh:281
Definition: config-optimization.hh:74
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
ConfigOptimization(const ProblemConstPtr_t &problem)
pinocchio::size_type size_type
Definition: fwd.hh:156
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
static bool addConfigConstraintToPath()
Definition: config-optimization.hh:42
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:132
std::size_t numberOfIterations
Definition: config-optimization.hh:80
virtual Configuration_t initial() const
Get the initial configuration.
Definition: path-vector.hh:136
value_type alphaInit
Definition: config-optimization.hh:82
std::size_t numberOfPass
Definition: config-optimization.hh:78
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:104
static std::size_t numberOfPass()
Definition: config-optimization.hh:44
std::function< ConfigProjectorPtr_t(const PathPtr_t &, const PathPtr_t &, bool &) > getConfigProjector
Definition: config-optimization.hh:88
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:203
Definition: config-optimization.hh:41
std::function< bool(JointConstPtr_t, const size_type)> shouldFilter
Definition: config-optimization.hh:91
Definition: config-optimization.hh:59
Definition: path-optimizer.hh:34
pinocchio::value_type value_type
Definition: fwd.hh:157
Concatenation of several paths.
Definition: path-vector.hh:32
bool addConfigConstraintToPath
Defaults to false.
Definition: config-optimization.hh:76
static value_type alphaInit()
Definition: config-optimization.hh:48
static Configuration_t getGoal(const PathVector &path)
Definition: config-optimization.hh:50
static std::size_t numberOfIterations()
Definition: config-optimization.hh:46
Definition: config-optimization.hh:102
static ConfigOptimizationPtr_t createWithTraits(const ProblemConstPtr_t &problem)
Return shared pointer to new object.
Definition: config-optimization.hh:128
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:204
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:96
std::vector< Optimizer > Optimizers_t
Definition: config-optimization.hh:108
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:170
static bool shouldFilter(JointConstPtr_t joint, const size_type iDof)