18 #ifndef HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_ABSTRACT_HH
19 # define HPP_CORE_PATH_OPTIMIZATION_SPLINE_GRADIENT_BASED_ABSTRACT_HH
21 #include <hpp/constraints/explicit-constraint-set.hh>
23 #include <hpp/constraints/solver/by-substitution.hh>
36 namespace pathOptimization {
38 template <
int _PolynomeBasis,
int _SplineOrder>
43 PolynomeBasis = _PolynomeBasis,
44 SplineOrder = _SplineOrder
140 std::vector<std::size_t>& reordering,
155 { activeParameters.addRow (0, rDof); }
160 shared_ptr<constraints::ExplicitConstraintSet>
es;
Definition: path-optimizer.hh:35
Common base for optimization-based path optimizer with splines.
Definition: spline-gradient-based-abstract.hh:40
shared_ptr< Spline > Ptr_t
Definition: spline.hh:100
shared_ptr< Spline > Ptr_t
Definition: spline.hh:48
#define HPP_CORE_DLLAPI
Definition: config.hh:64
void jointBoundConstraint(const Splines_t &splines, LinearConstraint &lc) const
void appendEquivalentSpline(const InterpolatedPathPtr_t &path, Splines_t &splines) const
static PathVectorPtr_t cleanInput(const PathVectorPtr_t &input)
Flatten path and remove path of zero length.
std::vector< bool > Bools_t
Definition: spline-gradient-based-abstract.hh:150
static void interpolate(const Splines_t &a, const Splines_t &b, const value_type &alpha, Splines_t &res)
Returns res = (1 - alpha) * a + alpha * b.
void addContinuityConstraints(const Splines_t &splines, const size_type maxOrder, const SplineOptimizationDatas_t &ess, LinearConstraint &continuity)
Add the linear constraint to connect consecutive splines together.
std::vector< std::pair< PathValidationReportPtr_t, std::size_t > > Reports_t
Definition: spline-gradient-based-abstract.hh:130
void appendEquivalentSpline(const StraightPathPtr_t &path, Splines_t &splines) const
ConstraintSetPtr_t set
The set of constraint of the corresponding path.
Definition: spline-gradient-based-abstract.hh:158
std::vector< SplinePtr_t > Splines_t
Definition: spline-gradient-based-abstract.hh:48
path::Spline< PolynomeBasis, SplineOrder > Spline
Definition: spline-gradient-based-abstract.hh:46
void updateParameters(vector_t ¶m, const Splines_t &spline) const
std::vector< PathValidationPtr_t > validations_
Definition: spline-gradient-based-abstract.hh:122
void updateSplines(Splines_t &spline, const vector_t ¶m) const
std::size_t addBoundConstraints(const Indices_t &bci, const LinearConstraint &bc, Bools_t &activeConstraint, LinearConstraint &constraint) const
Unused.
SSM_t::Ptr_t steeringMethod_
Definition: spline-gradient-based-abstract.hh:84
void appendEquivalentSpline(const PathVectorPtr_t &path, Splines_t &splines) const
SplineGradientBasedAbstract(const ProblemConstPtr_t &problem)
Indices_t validateBounds(const Splines_t &splines, const LinearConstraint &lc) const
Mostly for debugging purpose.
Reports_t validatePath(const Splines_t &splines, std::vector< std::size_t > &reordering, bool stopAtFirst, bool reorder) const
SplineOptimizationData(size_type rDof)
Definition: spline-gradient-based-abstract.hh:154
std::vector< SplineOptimizationData > SplineOptimizationDatas_t
Definition: spline-gradient-based-abstract.hh:166
Eigen::RowBlockIndices RowBlockIndices
Definition: spline-gradient-based-abstract.hh:149
SplineOptimizationData()
Definition: spline-gradient-based-abstract.hh:153
static void copy(const Splines_t &in, Splines_t &out)
Copy a vector of Spline.
steeringMethod::Spline< PolynomeBasis, SplineOrder > SSM_t
Spline steering method.
Definition: spline-gradient-based-abstract.hh:83
shared_ptr< constraints::ExplicitConstraintSet > es
A copy of the explicit solver included in set.
Definition: spline-gradient-based-abstract.hh:160
virtual void initializePathValidation(const Splines_t &splines)
std::vector< size_type > Indices_t
Definition: spline-gradient-based-abstract.hh:151
Spline::Ptr_t SplinePtr_t
Definition: spline-gradient-based-abstract.hh:47
DevicePtr_t robot_
Definition: spline-gradient-based-abstract.hh:185
PathVectorPtr_t buildPathVector(const Splines_t &splines) const
RowBlockIndices activeParameters
Definition: spline-gradient-based-abstract.hh:164
pinocchio::value_type value_type
Definition: fwd.hh:157
shared_ptr< StraightPath > StraightPathPtr_t
Definition: fwd.hh:183
shared_ptr< PathVector > PathVectorPtr_t
Definition: fwd.hh:176
shared_ptr< InterpolatedPath > InterpolatedPathPtr_t
Definition: fwd.hh:193
pinocchio::vector_t vector_t
Definition: fwd.hh:202
pinocchio::size_type size_type
Definition: fwd.hh:156
shared_ptr< const Problem > ProblemConstPtr_t
Definition: fwd.hh:180
pinocchio::DevicePtr_t DevicePtr_t
Definition: fwd.hh:114
shared_ptr< ConstraintSet > ConstraintSetPtr_t
Definition: fwd.hh:110
shared_ptr< PathValidationReport > PathValidationReportPtr_t
Definition: fwd.hh:299
Definition: bi-rrt-planner.hh:24
A linear constraint .
Definition: linear-constraint.hh:29
Definition: spline-gradient-based-abstract.hh:152