hpp-core
4.10.1
Implement basic classes for canonical path planning for kinematic chains.
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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)
98 bool add (
const constraints::ImplicitPtr_t& numericalConstraint,
100 const std::size_t priority = 0);
111 bool add (
const constraints::ImplicitPtr_t& numericalConstraint,
112 const std::size_t priority)
114 return add (numericalConstraint,
segments_t(0), priority);
117 void lastIsOptional (
bool optional);
119 bool lastIsOptional ()
const;
126 std::size_t maxIter = 0);
215 bool rows = true) const;
223 bool rows = true) const;
228 void maxIterations (
size_type iterations);
233 void errorThreshold (const
value_type& threshold);
263 void rightHandSideFromConfig (const constraints::ImplicitPtr_t& nm,
268 void rightHandSide (const
vector_t& param);
272 void rightHandSide (const constraints::ImplicitPtr_t& nm,
vectorIn_t rhs);
294 ::
hpp::statistics::SuccessStatistics& statistics()
311 lineSearchType_ = ls;
317 return lineSearchType_;
320 static void defaultLineSearch (LineSearchType ls);
344 virtual std::ostream& print (std::ostream& os)
const;
347 static LineSearchType defaultLineSearch_;
348 LineSearchType lineSearchType_;
354 ConfigProjectorWkPtr_t weak_;
355 ::hpp::statistics::SuccessStatistics statistics_;
363 #endif // HPP_CORE_CONFIG_PROJECTOR_HH
pinocchio::size_type size_type
Definition: fwd.hh:156
LineSearchType
Definition: config-projector.hh:60
pinocchio::vector_t vector_t
Definition: fwd.hh:201
@ Backtracking
Definition: config-projector.hh:61
LineSearchType lineSearchType() const
Get the line search type.
Definition: config-projector.hh:315
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:203
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
constraints::Implicit NumericalConstraint HPP_CORE_DEPRECATED
Definition: fwd.hh:347
boost::shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:109
@ ErrorNormBased
Definition: config-projector.hh:62
Definition: config-projector.hh:57
void init(const ConfigProjectorPtr_t &self)
Store weak pointer to itself.
Definition: config-projector.hh:335
void lineSearchType(LineSearchType ls)
Set the line search type.
Definition: config-projector.hh:309
constraints::matrixOut_t matrixOut_t
Definition: fwd.hh:150
@ FixedSequence
Definition: config-projector.hh:63
Definition: basic-configuration-shooter.hh:26
const BySubstitution & solver() const
Definition: config-projector.hh:303
void init(const ConstraintPtr_t &self)
Store shared pointer to itself.
Definition: constraint.hh:80
constraints::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:213
boost::shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:104
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:202
constraints::matrixIn_t matrixIn_t
Definition: fwd.hh:149
const DevicePtr_t & robot() const
Get robot.
Definition: config-projector.hh:129
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
constraints::segments_t segments_t
Definition: fwd.hh:162
bool add(const constraints::ImplicitPtr_t &numericalConstraint, const std::size_t priority)
Definition: config-projector.hh:111
constraints::solver::BySubstitution BySubstitution
Definition: config-projector.hh:32
pinocchio::value_type value_type
Definition: fwd.hh:157
Definition: constraint.hh:38
#define HPP_CORE_DLLAPI
Definition: config.hh:64