Classes
class	hpp::manipulation::GraphNodeOptimizer

class	hpp::manipulation::GraphOptimizer

class	hpp::manipulation::pathOptimization::EnforceTransitionSemantic

class	hpp::manipulation::pathOptimization::RandomShortcut

Typedefs
typedef std::vector< CollisionConstraintsResult >	CollisionConstraintsResults_t

typedef Eigen::JacobiSVD< matrix_t >	Decomposition_t

typedef Eigen::LLT< matrix_t, Eigen::Lower >	LLT_t

typedef path::Spline< PolynomeBasis, SplineOrder >	Spline

typedef Spline::Ptr_t	SplinePtr_t

typedef std::vector< SplinePtr_t >	Splines_t

typedef SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >	Base

typedef shared_ptr< SplineGradientBased >	Ptr_t

typedef steeringMethod::Spline< PolynomeBasis, SplineOrder >	SSM_t

typedef std::vector< std::pair< PathValidationReportPtr_t, std::size_t > >	Reports_t

typedef Eigen::RowBlockIndices	RowBlockIndices

typedef std::vector< bool >	Bools_t

typedef std::vector< size_type >	Indices_t

typedef std::vector< SplineOptimizationData >	SplineOptimizationDatas_t

typedef shared_ptr< RandomShortcut >	hpp::manipulation::pathOptimization::RandomShortcutPtr_t

Functions
virtual PathVectorPtr_t	optimize (const PathVectorPtr_t &path)

	GradientBased (const ProblemConstPtr_t &problem)

	QuadraticProgram (size_type inputSize)

	QuadraticProgram (const QuadraticProgram &QP, const LinearConstraint &lc)

	QuadraticProgram (const QuadraticProgram &QP)

	~QuadraticProgram ()

void	accuracy (value_type acc)

value_type	accuracy () const

void	addRows (const std::size_t &nbRows)

	SplineGradientBasedAbstract (const ProblemConstPtr_t &problem)

	SplineOptimizationData ()

	SplineOptimizationData (size_type rDof)

PathVectorPtr_t	buildPathVector (const Splines_t &splines) const

	SplineGradientBased (const ProblemConstPtr_t &problem)

virtual	~PathOptimizer ()

ProblemConstPtr_t	problem () const

void	interrupt ()

void	maxIterations (const unsigned long int &n)

void	timeOut (const double &timeOut)

	PathOptimizer (const ProblemConstPtr_t &problem)

PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const

void	monitorExecution ()

void	endIteration ()

bool	shouldStop () const

void	initFromParameters ()

void	appendEquivalentSpline (const StraightPathPtr_t &path, Splines_t &splines) const

void	appendEquivalentSpline (const InterpolatedPathPtr_t &path, Splines_t &splines) const

void	appendEquivalentSpline (const PathVectorPtr_t &path, Splines_t &splines) const

virtual void	initializePathValidation (const Splines_t &splines)

Reports_t	validatePath (const Splines_t &splines, std::vector< std::size_t > &reordering, bool stopAtFirst, bool reorder) const

void	jointBoundConstraint (const Splines_t &splines, LinearConstraint &lc) const

std::size_t	addBoundConstraints (const Indices_t &bci, const LinearConstraint &bc, Bools_t &activeConstraint, LinearConstraint &constraint) const

Indices_t	validateBounds (const Splines_t &splines, const LinearConstraint &lc) const

void	addContinuityConstraints (const Splines_t &splines, const size_type maxOrder, const SplineOptimizationDatas_t &ess, LinearConstraint &continuity)

void	reduced (const LinearConstraint &lc, QuadraticProgram &QPr) const

void	decompose ()

void	solve ()

void	computeLLT ()

double	solve (const LinearConstraint &ce, const LinearConstraint &ci)

void	updateSplines (Splines_t &spline, const vector_t &param) const

void	updateParameters (vector_t &param, const Splines_t &spline) const

virtual void	addProblemConstraints (const PathVectorPtr_t &init, const Splines_t &splines, LinearConstraint &lc, SplineOptimizationDatas_t &sods) const

void	addProblemConstraintOnPath (const PathPtr_t &path, const size_type &idxSpline, const SplinePtr_t &spline, LinearConstraint &lc, SplineOptimizationData &sod) const

Eigen::RowBlockIndices	computeActiveParameters (const PathPtr_t &path, const constraints::solver::BySubstitution &hs, const value_type &guessThr=-1, const bool &useExplicitInput=false) const

	hpp::manipulation::pathOptimization::HPP_PREDEF_CLASS (RandomShortcut)

Variables
	PolynomeBasis

	SplineOrder

	PolynomeBasis

	SplineOrder

	PolynomeBasis

	SplineOrder

	PolynomeBasis

	SplineOrder

value_type	accuracy_

ConstraintSetPtr_t	set

shared_ptr< constraints::ExplicitConstraintSet >	es

RowBlockIndices	activeParameters

DevicePtr_t	robot_

bool	checkOptimum_

bool	interrupt_

bool	enabled

bool	enabled

size_type	iteration

size_type	iteration

boost::posix_time::ptime	timeStart

boost::posix_time::ptime	timeStart

SSM_t::Ptr_t	steeringMethod_

std::vector< PathValidationPtr_t >	validations_

matrix_t	H

vector_t	b

bool	bIsZero

LLT_t	llt

value_type	trace

Eigen::VectorXi	activeConstraint

int	activeSetSize

Decomposition_t	dec

vector_t	xStar

Detailed Description

Typedef Documentation

◆ RandomShortcutPtr_t

typedef shared_ptr<RandomShortcut> hpp::manipulation::pathOptimization::RandomShortcutPtr_t

Function Documentation

◆ HPP_PREDEF_CLASS()

hpp::manipulation::pathOptimization::HPP_PREDEF_CLASS ( RandomShortcut )

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

◆ RandomShortcutPtr_t

Function Documentation

◆ HPP_PREDEF_CLASS()