hpp-core: hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder > Class Template Reference

hpp-core 9.0.2 Implement basic classes for canonical path planning for kinematic chains.

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Classes | Public Types | Protected Member Functions | Protected Attributes | List of all members
hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder > Class Template Reference
Path Optimization

Common base for optimization-based path optimizer with splines. More...

`#include <hpp/core/path-optimization/spline-gradient-based-abstract.hh>`

Inheritance diagram for hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >:
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Collaboration diagram for hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >:
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## Classes
struct | SplineOptimizationData

## Public Types
enum | { PolynomeBasis = _PolynomeBasis , SplineOrder = _SplineOrder }
typedef path::Spline< PolynomeBasis, SplineOrder > | Spline
typedef Spline::Ptr_t | SplinePtr_t
typedef std::vector< SplinePtr_t > | Splines_t

## Protected Member Functions
| SplineGradientBasedAbstract (const ProblemConstPtr_t &problem)
PathVectorPtr_t | buildPathVector (const Splines_t &splines) const
Protected Member Functions inherited from hpp::core::PathOptimizer
| PathOptimizer (const ProblemConstPtr_t &problem)
PathPtr_t | steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const
void | monitorExecution ()
void | endIteration ()
bool | shouldStop () const
void | initFromParameters ()

## Protected Attributes
DevicePtr_t | robot_
Protected Attributes inherited from hpp::core::PathOptimizer
bool | interrupt_

## Spline creation
typedef steeringMethod::Spline< PolynomeBasis, SplineOrder > | SSM_t
| Spline steering method.
SSM_t::Ptr_t | steeringMethod_
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
static PathVectorPtr_t | cleanInput (const PathVectorPtr_t &input)
| Flatten path and remove path of zero length.

## Path validation
typedef std::vector< std::pair< PathValidationReportPtr_t, std::size_t > > | Reports_t
std::vector< PathValidationPtr_t > | validations_
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

## Constraint creation
typedef Eigen::RowBlockIndices | RowBlockIndices
typedef std::vector< bool > | Bools_t
typedef std::vector< size_type > | Indices_t
typedef std::vector< SplineOptimizationData > | SplineOptimizationDatas_t
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
| Unused.
Indices_t | validateBounds (const Splines_t &splines, const LinearConstraint &lc) const
| Mostly for debugging purpose.
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.

## Spline convinience functions
static void | copy (const Splines_t &in, Splines_t &out)
| Copy a vector of Spline.
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 | updateSplines (Splines_t &spline, const vector_t &param) const
void | updateParameters (vector_t &param, const Splines_t &spline) const

## Additional Inherited Members
Public Member Functions inherited from hpp::core::PathOptimizer
virtual | ~PathOptimizer ()
ProblemConstPtr_t | problem () const
| Get problem.
virtual PathVectorPtr_t | optimize (const PathVectorPtr_t &path)=0
| Optimize path.
void | interrupt ()
| Interrupt path optimization.
void | maxIterations (const unsigned long int &n)
| Set maximal number of iterations.
void | timeOut (const double &timeOut)
| set time out (in seconds)

## Detailed Description

template<int _PolynomeBasis, int _SplineOrder>
class hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >

Common base for optimization-based path optimizer with splines.

The documentation for this class was generated from the following file:

- include/hpp/core/path-optimization/spline-gradient-based-abstract.hh