solve_end_effector.hh File Reference

#include <hpp/bezier-com-traj/common_solve_methods.hh>
#include <hpp/bezier-com-traj/solve.hh>
#include <hpp/bezier-com-traj/waypoints/waypoints_definition.hh>
#include <limits>

Include dependency graph for solve_end_effector.hh:

Go to the source code of this file.

Namespaces
namespace	bezier_com_traj

Functions
template<typename Path >
ResultDataCOMTraj	bezier_com_traj::solveEndEffector (const ProblemData &pData, const Path &path, const double T, const double weightDistance, bool useVelCost=true)
	solveEndEffector Tries to produce a trajectory represented as a bezier curve that satisfy position, velocity and acceleration constraint for the initial and final point and that follow as close as possible the input trajectory
coefs_t	bezier_com_traj::initCoefs ()
std::vector< bezier_t::point_t >	bezier_com_traj::computeConstantWaypointsInitPredef (const ProblemData &pData, double T)
std::vector< bezier_t::point_t >	bezier_com_traj::computeConstantWaypointsGoalPredef (const ProblemData &pData, double T)
void	bezier_com_traj::computeConstraintsMatrix (const ProblemData &pData, const std::vector< waypoint_t > &wps_acc, const std::vector< waypoint_t > &wps_vel, const VectorX &acc_bounds, const VectorX &vel_bounds, MatrixXX &A, VectorX &b, const std::vector< waypoint_t > &wps_jerk=std::vector< waypoint_t >(), const VectorX &jerk_bounds=VectorX(DIM_POINT))
std::pair< MatrixXX, VectorX >	bezier_com_traj::computeDistanceCostFunction (size_t numPoints, const ProblemData &pData, double T, std::vector< point3_t > pts_path)
template<typename Path >
std::pair< MatrixXX, VectorX >	bezier_com_traj::computeDistanceCostFunction (size_t numPoints, const ProblemData &pData, double T, const Path &path)
void	bezier_com_traj::computeC_of_T (const ProblemData &pData, double T, ResultDataCOMTraj &res)
void	bezier_com_traj::computeVelCostFunctionDiscretized (int numPoints, const ProblemData &pData, double T, MatrixXX &H, VectorX &g)
void	bezier_com_traj::computeAccelerationCostFunctionDiscretized (int numPoints, const ProblemData &pData, double T, MatrixXX &H, VectorX &g)
void	bezier_com_traj::computeJerkCostFunctionDiscretized (int numPoints, const ProblemData &pData, double T, MatrixXX &H, VectorX &g)
std::pair< MatrixXX, VectorX >	bezier_com_traj::computeEndEffectorConstraints (const ProblemData &pData, const double T, std::vector< bezier_t::point_t > pi)
template<typename Path >
std::pair< MatrixXX, VectorX >	bezier_com_traj::computeEndEffectorCost (const ProblemData &pData, const Path &path, const double T, const double weightDistance, bool, std::vector< bezier_t::point_t > pi)

Variables
const int	bezier_com_traj::DIM_POINT = 3
const bool	bezier_com_traj::verbose = false