spline::SplineOptimizer< Time, Numeric, Dim, Safe, Point > Class Template Reference

Mosek connection to produce optimized splines. More...

#include <hpp/spline/optimization/OptimizeSpline.h>

Public Types
typedef Eigen::Matrix< Numeric, Eigen::Dynamic, Eigen::Dynamic >	MatrixX
typedef Point	point_t
typedef Time	time_t
typedef Numeric	num_t
typedef exact_cubic< time_t, Numeric, Dim, Safe, Point >	exact_cubic_t
typedef SplineOptimizer< time_t, Numeric, Dim, Safe, Point >	splineOptimizer_t

Public Member Functions
	SplineOptimizer ()
	Initializes optimizer environment. More...
	~SplineOptimizer ()
	Destructor. More...
template<typename In >
exact_cubic_t *	GenerateOptimizedCurve (In wayPointsBegin, In wayPointsEnd) const
	Starts an optimization loop to create curve. More...
template<typename In >
exact_cubic< Time, Numeric, Dim, Safe, Point > *	GenerateOptimizedCurve (In wayPointsBegin, In wayPointsEnd) const

Detailed Description

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
class spline::SplineOptimizer< Time, Numeric, Dim, Safe, Point >

Mosek connection to produce optimized splines.

Member Typedef Documentation

exact_cubic_t

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef exact_cubic<time_t, Numeric, Dim, Safe, Point> spline::SplineOptimizer< Time, Numeric, Dim, Safe, Point >::exact_cubic_t

MatrixX

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Eigen::Matrix<Numeric, Eigen::Dynamic, Eigen::Dynamic> spline::SplineOptimizer< Time, Numeric, Dim, Safe, Point >::MatrixX

num_t

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Numeric spline::SplineOptimizer< Time, Numeric, Dim, Safe, Point >::num_t

point_t

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Point spline::SplineOptimizer< Time, Numeric, Dim, Safe, Point >::point_t

splineOptimizer_t

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef SplineOptimizer<time_t, Numeric, Dim, Safe, Point> spline::SplineOptimizer< Time, Numeric, Dim, Safe, Point >::splineOptimizer_t

time_t

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Time spline::SplineOptimizer< Time, Numeric, Dim, Safe, Point >::time_t

Constructor & Destructor Documentation

SplineOptimizer()

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

spline::SplineOptimizer< Time, Numeric, Dim, Safe, Point >::SplineOptimizer ( )

inline

Initializes optimizer environment.

~SplineOptimizer()

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

spline::SplineOptimizer< Time, Numeric, Dim, Safe, Point >::~SplineOptimizer ( )

inline

Destructor.

Member Function Documentation

GenerateOptimizedCurve() [1/2]

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

template<typename In >

exact_cubic_t* spline::SplineOptimizer< Time, Numeric, Dim, Safe, Point >::GenerateOptimizedCurve	(	In	wayPointsBegin,
		In	wayPointsEnd
	)		const

Starts an optimization loop to create curve.

Parameters

waypoints

: a list comprising at least 2 waypoints in ascending time order

Returns

An Optimised curve

GenerateOptimizedCurve() [2/2]

template<typename Time = double, typename Numeric = Time, std::size_t Dim = 3, bool Safe = false, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

template<typename In >

exact_cubic<Time, Numeric, Dim, Safe, Point>* spline::SplineOptimizer< Time, Numeric, Dim, Safe, Point >::GenerateOptimizedCurve ( In  wayPointsBegin, In  wayPointsEnd  ) const

inline

A looks something like that : (n = size) [H2(0) 0 0 -H1(0) 0----------------—0] [ 0 0 H2(0) 0 0 -H1(0)------------—0] [ 0 0 0 H2(0) 0 0 H1(0)-----—0] ... [ 0 0 0 0 H2(n) 0 0 0 -H1(n)-0] // row n

Overall it's fairly easy to fill

A looks something like that : (n = size) [G1(0) 0 0 G2(0) 0--------------------—0 -1 0] [ 0 0 G1(0) 0 0 G2(0)----------------—0 -1 0] [ 0 0 0 G1(0) 0 0 G2(0)--------—0 -1 0] ... [ 0 0 0 0 G1(n) 0 0 0 G2(n)-0 -1 0] // row n

Overall it's fairly easy to fill

A looks something like that : (n = size) [G3(0) 0 0 G4(0) 0----------------—0 -1 0] [ 0 0 G3(0) 0 0 G4(0)------------—0 -1 0] [ 0 0 0 G3(0) 0 0 G4(0)-----—0 -1 0] ... [ 0 0 0 0 G3(n) 0 0 0 G4(n)-0 -1 0] // row n

Overall it's fairly easy to fill

A looks something like that : (n = size) [H3(0) 0 0 H4(0) 0----------------—0 -2 0] [ 0 0 H3(0) 0 0 H4(0)------------—0 -2 0] [ 0 0 0 H3(0) 0 0 H4(0)----—0 -2 0] ... [ 0 0 0 0 H3(n) 0 0 0 H4(n)-0 -2 0] // row n

Overall it's fairly easy to fill

*No Bounds on variables. *‍/