#include <curves/optimization/definitions.h>
Public Types | |
typedef Point | point_t |
typedef Numeric | num_t |
typedef curve_constraints< point_t > | curve_constraints_t |
typedef Eigen::Matrix< num_t, Eigen::Dynamic, 1 > | vector_x_t |
typedef Eigen::Matrix< num_t, Eigen::Dynamic, Eigen::Dynamic > | matrix_x_t |
typedef std::vector< matrix_x_t, Eigen::aligned_allocator< matrix_x_t > > | T_matrix_x_t |
typedef std::vector< vector_x_t, Eigen::aligned_allocator< vector_x_t > > | T_vector_x_t |
typedef T_matrix_x_t::const_iterator | CIT_matrix_x_t |
typedef T_vector_x_t::const_iterator | CIT_vector_x_t |
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typedef Point | point_t |
Public Member Functions | |
problem_definition (const std::size_t dim) | |
problem_definition (const curve_constraints_t &parent) | |
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curve_constraints (const size_t dim=3) | |
curve_constraints (const curve_constraints &other) | |
~curve_constraints () | |
Public Attributes | |
constraint_flag | flag |
point_t | init_pos |
point_t | end_pos |
std::size_t | degree |
num_t | totalTime |
vector_x_t | splitTimes_ |
T_matrix_x_t | inequalityMatrices_ |
T_vector_x_t | inequalityVectors_ |
const std::size_t | dim_ |
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point_t | init_vel |
point_t | init_acc |
point_t | init_jerk |
point_t | end_vel |
point_t | end_acc |
point_t | end_jerk |
size_t | dim_ |
typedef T_matrix_x_t::const_iterator curves::optimization::problem_definition< Point, Numeric >::CIT_matrix_x_t |
typedef T_vector_x_t::const_iterator curves::optimization::problem_definition< Point, Numeric >::CIT_vector_x_t |
typedef curve_constraints<point_t> curves::optimization::problem_definition< Point, Numeric >::curve_constraints_t |
typedef Eigen::Matrix<num_t, Eigen::Dynamic, Eigen::Dynamic> curves::optimization::problem_definition< Point, Numeric >::matrix_x_t |
typedef Numeric curves::optimization::problem_definition< Point, Numeric >::num_t |
typedef Point curves::optimization::problem_definition< Point, Numeric >::point_t |
typedef std::vector<matrix_x_t, Eigen::aligned_allocator<matrix_x_t> > curves::optimization::problem_definition< Point, Numeric >::T_matrix_x_t |
typedef std::vector<vector_x_t, Eigen::aligned_allocator<vector_x_t> > curves::optimization::problem_definition< Point, Numeric >::T_vector_x_t |
typedef Eigen::Matrix<num_t, Eigen::Dynamic, 1> curves::optimization::problem_definition< Point, Numeric >::vector_x_t |
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inline |
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inline |
std::size_t curves::optimization::problem_definition< Point, Numeric >::degree |
const std::size_t curves::optimization::problem_definition< Point, Numeric >::dim_ |
point_t curves::optimization::problem_definition< Point, Numeric >::end_pos |
constraint_flag curves::optimization::problem_definition< Point, Numeric >::flag |
T_matrix_x_t curves::optimization::problem_definition< Point, Numeric >::inequalityMatrices_ |
T_vector_x_t curves::optimization::problem_definition< Point, Numeric >::inequalityVectors_ |
point_t curves::optimization::problem_definition< Point, Numeric >::init_pos |
vector_x_t curves::optimization::problem_definition< Point, Numeric >::splitTimes_ |
num_t curves::optimization::problem_definition< Point, Numeric >::totalTime |