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_HH
30 #define HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_HH
32 #include <hpp/constraints/explicit-constraint-set.hh>
33 #include <hpp/constraints/solver/by-substitution.hh>
43 namespace pathOptimization {
44 template <
int _PolynomeBasis,
int _SplineOrder>
49 enum { PolynomeBasis = _PolynomeBasis, SplineOrder = _SplineOrder };
50 typedef shared_ptr<SplineGradientBased>
Ptr_t;
101 void addProblemConstraintOnPath(
const PathPtr_t& path,
110 Eigen::RowBlockIndices computeActiveParameters(
113 const bool& useExplicitInput =
false)
const;
121 struct CollisionFunctions;
123 void addCollisionConstraint(
const std::size_t idxSpline,
129 CollisionFunctions& functions)
const;
134 CollisionFunctions& functions,
const std::size_t iF,
138 template <
typename Cost_t>
139 bool checkHessian(
const Cost_t& cost,
const matrix_t& H,
150 #endif // HPP_CORE_PATH_OPTIMIZATION_GRADIENT_BASED_HH
pinocchio::size_type size_type
Definition: fwd.hh:173
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
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:197
shared_ptr< Path > PathPtr_t
Definition: fwd.hh:187
Spline::Ptr_t SplinePtr_t
Definition: spline-gradient-based-abstract.hh:51
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition: fwd.hh:317
std::vector< SplinePtr_t > Splines_t
Definition: spline-gradient-based-abstract.hh:52
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:193
bool checkOptimum_
Definition: spline-gradient-based.hh:117
SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder > Base
Definition: spline-gradient-based.hh:48
Definition: bi-rrt-planner.hh:35
Eigen::RowBlockIndices RowBlockIndices
Definition: spline-gradient-based-abstract.hh:154
shared_ptr< SplineGradientBased > Ptr_t
Definition: spline-gradient-based.hh:50
Common base for optimization-based path optimizer with splines.
Definition: spline-gradient-based-abstract.hh:47
std::vector< SplineOptimizationData > SplineOptimizationDatas_t
Definition: spline-gradient-based-abstract.hh:170
pinocchio::matrix_t matrix_t
Definition: fwd.hh:162
Definition: spline-gradient-based-abstract.hh:157
Definition: spline-gradient-based.hh:45
constraints::solver::BySubstitution BySubstitution
Definition: config-projector.hh:41
pinocchio::value_type value_type
Definition: fwd.hh:174
#define HPP_CORE_DLLAPI
Definition: config.hh:88