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 >:

Collaboration diagram for hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >:

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 Problem &problem)

PathVectorPtr_t	buildPathVector (const Splines_t &splines) const

Protected Member Functions inherited from hpp::core::PathOptimizer
	PathOptimizer (const Problem &problem)

PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const

Protected Attributes
DevicePtr_t	robot_

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...

Spline convinience functions
static void	copy (const Splines_t &in, Splines_t &out)
	Copy a vector of Spline. More...

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. More...

void	updateSplines (Splines_t &spline, const vector_t &param) const
	Sets the parameters each spline. More...

void	updateParameters (vector_t &param, const Splines_t &spline) const
	Gets the parameters each spline. More...

Spline creation
typedef steeringMethod::Spline< PolynomeBasis, SplineOrder >	SSM_t
	Spline steering method. More...

SSM_t::Ptr_t	steeringMethod_

void	appendEquivalentSpline (const StraightPathPtr_t &path, Splines_t &splines) const
	Convert a straight path into a spline and append to vector. More...

void	appendEquivalentSpline (const InterpolatedPathPtr_t &path, Splines_t &splines) const
	Convert an interpolated path into a spline and append to vector. More...

void	appendEquivalentSpline (const PathVectorPtr_t &path, Splines_t &splines) const
	For each subpath of path, cast it into a known path and calls appropriate appendEquivalentSpline. More...

static PathVectorPtr_t	cleanInput (const PathVectorPtr_t &input)
	Flatten path and remove path of zero length. More...

Path validation
typedef std::vector< std::pair< PathValidationReportPtr_t, std::size_t > >	Reports_t

std::vector< PathValidationPtr_t >	validations_
	Path validation Its size is the number of spline paths. More...

virtual void	initializePathValidation (const Splines_t &splines)
	Initialize validations_. More...

Reports_t	validatePath (const Splines_t &splines, std::vector< std::size_t > &reordering, bool stopAtFirst, bool reorder) const
	Calls each validations_ on the corresponding spline. More...

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. More...

Indices_t	validateBounds (const Splines_t &splines, const LinearConstraint &lc) const
	Mostly for debugging purpose. More...

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. More...

Additional Inherited Members
Public Member Functions inherited from hpp::core::PathOptimizer
virtual	~PathOptimizer ()

const Problem &	problem () const
	Get problem. More...

virtual PathVectorPtr_t	optimize (const PathVectorPtr_t &path)=0
	Optimize path. More...

void	interrupt ()
	Interrupt path optimization. More...

Detailed Description

Common base for optimization-based path optimizer with splines.

Classes