Path Optimization

Namespaces
namespace	hpp::manipulation::pathOptimization

Classes
class	hpp::manipulation::GraphNodeOptimizer
class	hpp::manipulation::GraphOptimizer
class	hpp::manipulation::pathOptimization::EnforceTransitionSemantic
class	hpp::manipulation::pathOptimization::RandomShortcut

Typedefs
typedef std::vector< CollisionConstraintsResult >	hpp::core::pathOptimization::CollisionConstraintsResults_t
typedef Eigen::JacobiSVD< matrix_t >	hpp::core::pathOptimization::QuadraticProgram::Decomposition_t
typedef Eigen::LLT< matrix_t, Eigen::Lower >	hpp::core::pathOptimization::QuadraticProgram::LLT_t
typedef path::Spline< PolynomeBasis, SplineOrder >	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::Spline
typedef Spline::Ptr_t	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::SplinePtr_t
typedef std::vector< SplinePtr_t >	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::Splines_t
typedef SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::Base
typedef shared_ptr< SplineGradientBased >	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::Ptr_t
typedef steeringMethod::Spline< PolynomeBasis, SplineOrder >	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::SSM_t
typedef std::vector< std::pair< PathValidationReportPtr_t, std::size_t > >	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::Reports_t
typedef Eigen::RowBlockIndices	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::RowBlockIndices
typedef std::vector< bool >	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::Bools_t
typedef std::vector< size_type >	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::Indices_t
typedef std::vector< SplineOptimizationData >	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::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)
static Ptr_t	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::create (const ProblemConstPtr_t &problem)
virtual PathVectorPtr_t	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::optimize (const PathVectorPtr_t &path)
virtual PathVectorPtr_t	hpp::core::PathOptimizer::optimize (const PathVectorPtr_t &path)=0

Variables
	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::PolynomeBasis
	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::SplineOrder
	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::PolynomeBasis
	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::SplineOrder
value_type	hpp::core::pathOptimization::QuadraticProgram::accuracy_
ConstraintSetPtr_t	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::SplineOptimizationData::set
shared_ptr< constraints::ExplicitConstraintSet >	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::SplineOptimizationData::es
RowBlockIndices	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::SplineOptimizationData::activeParameters
DevicePtr_t	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::robot_
value_type	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::alphaInit
bool	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::alwaysStopAtFirst
size_type	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::costOrder
bool	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::usePathLengthAsWeights
bool	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::reorderIntervals
bool	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::linearizeAtEachStep
bool	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::checkJointBound
bool	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::returnOptimum
value_type	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::costThreshold
value_type	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::guessThreshold
value_type	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::QPAccuracy
bool	hpp::core::pathOptimization::SplineGradientBased< int _PolynomeBasis, int _SplineOrder >::checkOptimum_
bool	hpp::core::PathOptimizer::interrupt_
bool	hpp::core::PathOptimizer::enabled
size_type	hpp::core::PathOptimizer::iteration
boost::posix_time::ptime	hpp::core::PathOptimizer::timeStart
SSM_t::Ptr_t	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::steeringMethod_
std::vector< PathValidationPtr_t >	hpp::core::pathOptimization::SplineGradientBasedAbstract< int _PolynomeBasis, int _SplineOrder >::validations_
matrix_t	hpp::core::pathOptimization::QuadraticProgram::H
vector_t	hpp::core::pathOptimization::QuadraticProgram::b
bool	hpp::core::pathOptimization::QuadraticProgram::bIsZero
LLT_t	hpp::core::pathOptimization::QuadraticProgram::llt
value_type	hpp::core::pathOptimization::QuadraticProgram::trace
Eigen::VectorXi	hpp::core::pathOptimization::QuadraticProgram::activeConstraint
int	hpp::core::pathOptimization::QuadraticProgram::activeSetSize
Decomposition_t	hpp::core::pathOptimization::QuadraticProgram::dec
vector_t	hpp::core::pathOptimization::QuadraticProgram::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

)