19 #ifndef HPP_CORE_CONFIG_PROJECTOR_HH 20 # define HPP_CORE_CONFIG_PROJECTOR_HH 24 # include <hpp/statistics/success-bin.hh> 74 const std::string& name,
92 bool contains (
const constraints::ImplicitPtr_t& numericalConstraint)
104 bool add (
const constraints::ImplicitPtr_t& numericalConstraint,
105 const std::size_t priority = 0);
107 void lastIsOptional (
bool optional);
109 bool lastIsOptional ()
const;
116 std::size_t maxIter = 0);
195 bool rows =
true)
const;
203 bool rows =
true)
const;
208 void maxIterations (
size_type iterations);
213 void errorThreshold (
const value_type& threshold);
243 void rightHandSideFromConfig (
const constraints::ImplicitPtr_t& nm,
248 void rightHandSide (
const vector_t& param);
252 void rightHandSide (
const constraints::ImplicitPtr_t& nm,
vectorIn_t rhs);
299 lineSearchType_ = ls;
305 return lineSearchType_;
332 virtual std::ostream& print (std::ostream& os)
const;
337 BySubstitution* solver_;
342 ConfigProjectorWkPtr_t weak_;
343 ::hpp::statistics::SuccessStatistics statistics_;
351 #endif // HPP_CORE_CONFIG_PROJECTOR_HH void lineSearchType(LineSearchType ls)
Set the line search type.
Definition: config-projector.hh:297
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
Definition: bi-rrt-planner.hh:24
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
pinocchio::size_type size_type
Definition: fwd.hh:156
Definition: config-projector.hh:57
constraints::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:214
LineSearchType lineSearchType() const
Get the line search type.
Definition: config-projector.hh:303
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:104
Definition: constraint.hh:38
void init(const ConstraintPtr_t &self)
Store shared pointer to itself.
Definition: constraint.hh:80
::hpp::statistics::SuccessStatistics & statistics()
Get the statistics.
Definition: config-projector.hh:282
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:203
Definition: config-projector.hh:61
constraints::matrixIn_t matrixIn_t
Definition: fwd.hh:149
pinocchio::vector_t vector_t
Definition: fwd.hh:202
pinocchio::value_type value_type
Definition: fwd.hh:157
LineSearchType
Definition: config-projector.hh:60
void init(const ConfigProjectorPtr_t &self)
Store weak pointer to itself.
Definition: config-projector.hh:323
constraints::matrixOut_t matrixOut_t
Definition: fwd.hh:150
const BySubstitution & solver() const
Definition: config-projector.hh:291
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:204
Definition: config-projector.hh:62
Definition: config-projector.hh:63
constraints::solver::BySubstitution BySubstitution
Definition: config-projector.hh:32
#define HPP_CORE_DLLAPI
Definition: config.hh:64
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:109
const DevicePtr_t & robot() const
Get robot.
Definition: config-projector.hh:119