30 #ifndef HPP_CORE_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH 31 #define HPP_CORE_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH 39 namespace pathOptimization {
74 template <
typename Traits>
94 std::function<Configuration_t(const PathVector&)>
getGoal;
108 virtual constraints::ImplicitPtr_t createNumConstraint(
114 const std::size_t numIter)
const;
119 virtual std::size_t buildOptimizers(
const PathVector& pv,
120 Optimizers_t& projectors);
127 template <
bool forward>
129 const Optimizers_t& optimizers,
const std::size_t& index,
134 template <
typename Traits>
139 Traits::addConfigConstraintToPath();
151 #endif // HPP_CORE_PATH_OPTIMIZATION_CONFIG_OPTIMIZATION_HH ConfigProjectorPtr_t proj
Definition: config-optimization.hh:112
std::function< bool(JointConstPtr_t, const size_type)> shouldFilter
Definition: config-optimization.hh:100
static ConfigProjectorPtr_t getConfigProjector(const PathPtr_t &before, const PathPtr_t &after, bool &isReverse)
struct hpp::core::pathOptimization::ConfigOptimization::Parameters parameters
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:182
Definition: bi-rrt-planner.hh:35
shared_ptr< ConfigOptimization > ConfigOptimizationPtr_t
Definition: fwd.hh:286
Definition: config-optimization.hh:84
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:107
pinocchio::size_type size_type
Definition: fwd.hh:162
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:186
static bool addConfigConstraintToPath()
Definition: config-optimization.hh:52
pinocchio::JointConstPtr_t JointConstPtr_t
Definition: fwd.hh:139
std::size_t numberOfIterations
Definition: config-optimization.hh:90
virtual Configuration_t initial() const
Get the initial configuration.
Definition: path-vector.hh:134
value_type alphaInit
Definition: config-optimization.hh:92
std::size_t numberOfPass
Definition: config-optimization.hh:88
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:113
static std::size_t numberOfPass()
Definition: config-optimization.hh:54
std::function< ConfigProjectorPtr_t(const PathPtr_t &, const PathPtr_t &, bool &)> getConfigProjector
Definition: config-optimization.hh:98
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:210
Definition: config-optimization.hh:51
Definition: config-optimization.hh:71
Definition: path-optimizer.hh:44
pinocchio::value_type value_type
Definition: fwd.hh:163
Concatenation of several paths.
Definition: path-vector.hh:43
bool addConfigConstraintToPath
Defaults to false.
Definition: config-optimization.hh:86
std::function< Configuration_t(const PathVector &)> getGoal
Definition: config-optimization.hh:94
static value_type alphaInit()
Definition: config-optimization.hh:58
static Configuration_t getGoal(const PathVector &path)
Definition: config-optimization.hh:60
static std::size_t numberOfIterations()
Definition: config-optimization.hh:56
Definition: config-optimization.hh:111
static ConfigOptimizationPtr_t createWithTraits(const ProblemConstPtr_t &problem)
Return shared pointer to new object.
Definition: config-optimization.hh:135
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:211
#define HPP_CORE_DLLAPI
Definition: config.hh:64
pinocchio::Configuration_t Configuration_t
Definition: fwd.hh:105
std::vector< Optimizer > Optimizers_t
Definition: config-optimization.hh:117
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:176
static bool shouldFilter(JointConstPtr_t joint, const size_type iDof)