hpp-core
5.1.0
Implement basic classes for canonical path planning for kinematic chains.
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29 #ifndef HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_ABSTRACT_HH
30 #define HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_ABSTRACT_HH
32 #include <hpp/constraints/explicit-constraint-set.hh>
33 #include <hpp/constraints/solver/by-substitution.hh>
44 namespace pathOptimization {
46 template <
int _PolynomeBasis,
int _SplineOrder>
49 enum { PolynomeBasis = _PolynomeBasis, SplineOrder = _SplineOrder };
133 virtual void initializePathValidation(
const Splines_t& splines);
135 typedef std::vector<std::pair<PathValidationReportPtr_t, std::size_t> >
146 std::vector<std::size_t>& reordering,
bool stopAtFirst,
164 shared_ptr<constraints::ExplicitConstraintSet>
es;
172 void jointBoundConstraint(
const Splines_t& splines,
176 std::size_t addBoundConstraints(
const Indices_t& bci,
186 void addContinuityConstraints(
const Splines_t& splines,
212 #endif // HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_ABSTRACT_HH
pinocchio::size_type size_type
Definition: fwd.hh:173
shared_ptr< InterpolatedPath > InterpolatedPathPtr_t
Definition: fwd.hh:211
std::vector< size_type > Indices_t
Definition: spline-gradient-based-abstract.hh:156
DevicePtr_t robot_
Definition: spline-gradient-based-abstract.hh:195
std::vector< std::pair< PathValidationReportPtr_t, std::size_t > > Reports_t
Definition: spline-gradient-based-abstract.hh:136
A linear constraint .
Definition: linear-constraint.hh:39
pinocchio::vector_t vector_t
Definition: fwd.hh:220
pinocchio::ConfigurationIn_t ConfigurationIn_t
Definition: fwd.hh:108
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
path::Spline< PolynomeBasis, SplineOrder > Spline
Definition: spline-gradient-based-abstract.hh:50
SplineOptimizationData()
Definition: spline-gradient-based-abstract.hh:158
Spline::Ptr_t SplinePtr_t
Definition: spline-gradient-based-abstract.hh:51
std::vector< SplinePtr_t > Splines_t
Definition: spline-gradient-based-abstract.hh:52
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:193
std::vector< PathValidationPtr_t > validations_
Definition: spline-gradient-based-abstract.hh:128
SSM_t::Ptr_t steeringMethod_
Definition: spline-gradient-based-abstract.hh:87
shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:200
ConstraintSetPtr_t set
The set of constraint of the corresponding path.
Definition: spline-gradient-based-abstract.hh:162
Definition: bi-rrt-planner.hh:35
Eigen::RowBlockIndices RowBlockIndices
Definition: spline-gradient-based-abstract.hh:154
steeringMethod::Spline< PolynomeBasis, SplineOrder > SSM_t
Spline steering method.
Definition: spline-gradient-based-abstract.hh:86
shared_ptr< Spline > Ptr_t
Definition: spline.hh:54
Common base for optimization-based path optimizer with splines.
Definition: spline-gradient-based-abstract.hh:47
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:130
std::vector< SplineOptimizationData > SplineOptimizationDatas_t
Definition: spline-gradient-based-abstract.hh:170
std::vector< bool > Bools_t
Definition: spline-gradient-based-abstract.hh:155
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:134
Definition: path-optimizer.hh:44
shared_ptr< constraints::ExplicitConstraintSet > es
A copy of the explicit solver included in set.
Definition: spline-gradient-based-abstract.hh:164
Definition: spline-gradient-based-abstract.hh:157
shared_ptr< Spline > Ptr_t
Definition: spline.hh:111
RowBlockIndices activeParameters
Definition: spline-gradient-based-abstract.hh:168
pinocchio::value_type value_type
Definition: fwd.hh:174
SplineOptimizationData(size_type rDof)
Definition: spline-gradient-based-abstract.hh:159
#define HPP_CORE_DLLAPI
Definition: config.hh:88