hpp::core::pathOptimization::ConfigOptimization Class Reference

#include <hpp/core/path-optimization/config-optimization.hh>

Inheritance diagram for hpp::core::pathOptimization::ConfigOptimization:

Collaboration diagram for hpp::core::pathOptimization::ConfigOptimization:

Classes
struct	Optimizer
struct	Parameters

Public Member Functions
virtual PathVectorPtr_t	optimize (const PathVectorPtr_t &path)
	Optimize path. More...
Public Member Functions inherited from hpp::core::PathOptimizer
virtual	~PathOptimizer ()
const Problem &	problem () const
	Get problem. More...
void	interrupt ()
	Interrupt path optimization. More...

Static Public Member Functions
template<typename Traits >
static ConfigOptimizationPtr_t	createWithTraits (const Problem &problem)
	Return shared pointer to new object. More...
static ConfigOptimizationPtr_t	create (const Problem &problem)
	Return shared pointer to new object. More...

Public Attributes
struct hpp::core::pathOptimization::ConfigOptimization::Parameters	parameters

Protected Types
typedef std::vector< Optimizer >	Optimizers_t

Protected Member Functions
	ConfigOptimization (const Problem &problem)
virtual constraints::ImplicitPtr_t	createNumConstraint (const PathVector &path) const
virtual std::size_t	buildOptimizers (const PathVector &pv, Optimizers_t &projectors)
Protected Member Functions inherited from hpp::core::PathOptimizer
	PathOptimizer (const Problem &problem)
PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const

Additional Inherited Members
Protected Attributes inherited from hpp::core::PathOptimizer
bool	interrupt_
	Whether to interrupt computation Set to false at start of optimize method, set to true by method interrupt. More...

Member Typedef Documentation

Optimizers_t

typedef std::vector<Optimizer> hpp::core::pathOptimization::ConfigOptimization::Optimizers_t

protected

Constructor & Destructor Documentation

ConfigOptimization()

hpp::core::pathOptimization::ConfigOptimization::ConfigOptimization ( const Problem &  problem )

protected

Member Function Documentation

buildOptimizers()

virtual std::size_t hpp::core::pathOptimization::ConfigOptimization::buildOptimizers ( const PathVector &  pv, Optimizers_t &  projectors  )

protectedvirtual

create()

static ConfigOptimizationPtr_t hpp::core::pathOptimization::ConfigOptimization::create ( const Problem &  problem )

static

Return shared pointer to new object.

createNumConstraint()

virtual constraints::ImplicitPtr_t hpp::core::pathOptimization::ConfigOptimization::createNumConstraint ( const PathVector &  path ) const

protectedvirtual

createWithTraits()

template<typename Traits >

ConfigOptimizationPtr_t hpp::core::pathOptimization::ConfigOptimization::createWithTraits ( const Problem &  problem )

static

Return shared pointer to new object.

References hpp::core::pathOptimization::ConfigOptimization::Parameters::addConfigConstraintToPath, hpp::core::pathOptimization::ConfigOptimization::Parameters::alphaInit, hpp::core::pathOptimization::ConfigOptimization::Parameters::getConfigProjector, hpp::core::pathOptimization::ConfigOptimization::Parameters::getGoal, hpp::core::pathOptimization::ConfigOptimization::Parameters::numberOfIterations, hpp::core::pathOptimization::ConfigOptimization::Parameters::numberOfPass, parameters, and hpp::core::pathOptimization::ConfigOptimization::Parameters::shouldFilter.

optimize()

virtual PathVectorPtr_t hpp::core::pathOptimization::ConfigOptimization::optimize ( const PathVectorPtr_t &  path )

virtual

Optimize path.

Implements hpp::core::PathOptimizer.

Member Data Documentation

parameters

struct hpp::core::pathOptimization::ConfigOptimization::Parameters hpp::core::pathOptimization::ConfigOptimization::parameters

Referenced by createWithTraits().