hierarchical-iterative.hh File Reference
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Classes

struct  hpp::constraints::solver::lineSearch::Constant
 No line search. Use \(\alpha_i = 1\). More...
 
struct  hpp::constraints::solver::lineSearch::Backtracking
 Implements the backtracking line search algorithm. More...
 
struct  hpp::constraints::solver::lineSearch::FixedSequence
 The step size is computed using the recursion \( \alpha_{i+1} = \alpha - K \times (\alpha_{max} - \alpha_i) \) where \(K\) and \(\alpha_{max}\) are some constant values. More...
 
struct  hpp::constraints::solver::lineSearch::ErrorNormBased
 The step size is computed using the formula \( \alpha_{i} = C - K \times \text{tanh}(a \frac{\|f(\mathbf{q}_i)\|}{\epsilon^2} + b) \), where. More...
 
class  hpp::constraints::solver::HierarchicalIterative
 Solve a system of non-linear equations on a robot configuration. More...
 
struct  hpp::constraints::solver::HierarchicalIterative::Data
 

Namespaces

 hpp
 
 hpp::constraints
 
 hpp::constraints::solver
 
 hpp::constraints::solver::lineSearch
 
 hpp::constraints::lineSearch
 

Typedefs

typedef ::hpp::constraints::solver::lineSearch::Constant Constant hpp::constraints::lineSearch::HPP_CONSTRAINTS_DEPRECATED