hpp-core
4.12.0
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)
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_;
308 static void defaultLineSearch (LineSearchType ls);
332 virtual std::ostream& print (std::ostream& os)
const;
335 static LineSearchType defaultLineSearch_;
336 LineSearchType lineSearchType_;
342 ConfigProjectorWkPtr_t weak_;
343 ::hpp::statistics::SuccessStatistics statistics_;
351 #endif // HPP_CORE_CONFIG_PROJECTOR_HH
pinocchio::size_type size_type
Definition: fwd.hh:156
LineSearchType
Definition: config-projector.hh:60
shared_ptr< ConfigProjector > ConfigProjectorPtr_t
Definition: fwd.hh:104
pinocchio::vector_t vector_t
Definition: fwd.hh:202
@ Backtracking
Definition: config-projector.hh:61
LineSearchType lineSearchType() const
Get the line search type.
Definition: config-projector.hh:303
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:97
pinocchio::vectorOut_t vectorOut_t
Definition: fwd.hh:204
::hpp::statistics::SuccessStatistics & statistics()
Get the statistics.
Definition: config-projector.hh:282
pinocchio::ConfigurationOut_t ConfigurationOut_t
Definition: fwd.hh:98
@ 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:323
void lineSearchType(LineSearchType ls)
Set the line search type.
Definition: config-projector.hh:297
constraints::matrixOut_t matrixOut_t
Definition: fwd.hh:150
@ FixedSequence
Definition: config-projector.hh:63
Definition: bi-rrt-planner.hh:24
const BySubstitution & solver() const
Definition: config-projector.hh:291
void init(const ConstraintPtr_t &self)
Store shared pointer to itself.
Definition: constraint.hh:80
constraints::NumericalConstraints_t NumericalConstraints_t
Definition: fwd.hh:214
pinocchio::vectorIn_t vectorIn_t
Definition: fwd.hh:203
constraints::matrixIn_t matrixIn_t
Definition: fwd.hh:149
const DevicePtr_t & robot() const
Get robot.
Definition: config-projector.hh:119
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
shared_ptr< Constraint > ConstraintPtr_t
Definition: fwd.hh:109
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