30 #ifndef HPP_CORE_PATH_OPTIMIZATION_GRADIENT_BASED_HH 31 #define HPP_CORE_PATH_OPTIMIZATION_GRADIENT_BASED_HH 41 namespace pathOptimization {
42 class CollisionConstraintsResult;
58 typedef Eigen::JacobiSVD<matrix_t> Jacobi_t;
69 for (std::size_t i = 0; i < path->numberPaths() - 1; ++i) {
70 const PathPtr_t& localPath = path->pathAtRank(i);
72 (*localPath)(x.segment(index, configSize_), t1);
75 assert(index == x.size());
82 while (index < x.size()) {
83 q1 = x.segment(index, configSize_);
85 result->appendPath(p);
91 result->appendPath(p);
94 void initializeProblemConstraints();
115 bool constraintsSatisfied(
143 hppDout(info, prefix);
144 for (
int i = 0; i < x.size(); i++) hppDout(info, x[i]);
145 hppDout(info,
"finish path parsing");
155 void addCollisionConstraint(
const CollisionConstraintsResult& ccr,
165 void updateRightHandSide(
170 bool getProblemConstraints();
190 mutable bool fullRank_;
198 std::size_t iterMax_;
205 #endif // HPP_CORE_PATH_OPTIMIZATION_GRADIENT_BASED_HH pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:123
shared_ptr< WeighedDistance > WeighedDistancePtr_t
Definition: fwd.hh:215
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:182
Definition: bi-rrt-planner.hh:35
shared_ptr< Cost > CostPtr_t
Definition: fwd.hh:276
std::vector< CollisionConstraintsResult > CollisionConstraintsResults_t
Definition: gradient-based.hh:42
pinocchio::size_type size_type
Definition: fwd.hh:162
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:186
Definition: gradient-based.hh:45
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:210
constraints::matrixIn_t matrixIn_t
Definition: fwd.hh:155
shared_ptr< Straight > StraightPtr_t
Definition: fwd.hh:37
pinocchio::matrix_t matrix_t
Definition: fwd.hh:151
Definition: path-optimizer.hh:44
pinocchio::vector_t vector_t
Definition: fwd.hh:209
pinocchio::value_type value_type
Definition: fwd.hh:163
constraints::matrixOut_t matrixOut_t
Definition: fwd.hh:156
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:211
shared_ptr< GradientBased > GradientBasedPtr_t
Definition: fwd.hh:278
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
Eigen::Matrix< value_type, 1, Eigen::Dynamic > rowvector_t
Definition: fwd.hh:212
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:176