hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder > Class Template Reference

#include <hpp/manipulation/path-optimization/spline-gradient-based.hh>

Inheritance diagram for hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >:

Collaboration diagram for hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >:

Public Types
enum	{ PolynomeBasis = _PolynomeBasis , SplineOrder = _SplineOrder }
typedef core::pathOptimization::SplineGradientBased< PolynomeBasis, SplineOrder >	Parent_t
typedef shared_ptr< SplineGradientBased >	Ptr_t

Static Public Member Functions
static Ptr_t	create (const ProblemConstPtr_t &problem)
	Return shared pointer to new object. More...
static Ptr_t	createFromCore (const core::ProblemConstPtr_t &problem)

Protected Types
typedef hpp::core::pathOptimization::LinearConstraint	LinearConstraint

Protected Member Functions
	SplineGradientBased (const ProblemConstPtr_t &problem)
virtual void	initializePathValidation (const Splines_t &splines)
virtual void	addProblemConstraints (const core::PathVectorPtr_t &init, const Splines_t &splines, LinearConstraint &lc, SplineOptimizationDatas_t &sods) const
virtual void	constrainEndIntoState (const core::PathPtr_t &path, const size_type &idxSpline, const SplinePtr_t &spline, const graph::StatePtr_t state, LinearConstraint &lc) const
virtual void	constraintDerivativesAtEndOfSpline (const size_type &idxSpline, const SplinePtr_t &spline, LinearConstraint &lc) const

Member Typedef Documentation

LinearConstraint

template<int _PolynomeBasis, int _SplineOrder>

typedef hpp::core::pathOptimization::LinearConstraint hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::LinearConstraint

protected

Parent_t

template<int _PolynomeBasis, int _SplineOrder>

typedef core::pathOptimization::SplineGradientBased<PolynomeBasis, SplineOrder> hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::Parent_t

Ptr_t

template<int _PolynomeBasis, int _SplineOrder>

typedef shared_ptr<SplineGradientBased> hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::Ptr_t

Member Enumeration Documentation

anonymous enum

template<int _PolynomeBasis, int _SplineOrder>

anonymous enum

Enumerator
PolynomeBasis
SplineOrder

Constructor & Destructor Documentation

SplineGradientBased()

template<int _PolynomeBasis, int _SplineOrder>

hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::SplineGradientBased ( const ProblemConstPtr_t &  problem )

protected

Member Function Documentation

addProblemConstraints()

template<int _PolynomeBasis, int _SplineOrder>

virtual void hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::addProblemConstraints ( const core::PathVectorPtr_t &  init, const Splines_t &  splines, LinearConstraint &  lc, SplineOptimizationDatas_t &  sods  ) const

protectedvirtual

constrainEndIntoState()

template<int _PolynomeBasis, int _SplineOrder>

virtual void hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::constrainEndIntoState ( const core::PathPtr_t &  path, const size_type &  idxSpline, const SplinePtr_t &  spline, const graph::StatePtr_t  state, LinearConstraint &  lc  ) const

protectedvirtual

constraintDerivativesAtEndOfSpline()

template<int _PolynomeBasis, int _SplineOrder>

virtual void hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::constraintDerivativesAtEndOfSpline ( const size_type &  idxSpline, const SplinePtr_t &  spline, LinearConstraint &  lc  ) const

protectedvirtual

create()

template<int _PolynomeBasis, int _SplineOrder>

static Ptr_t hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::create ( const ProblemConstPtr_t &  problem )

static

Return shared pointer to new object.

createFromCore()

template<int _PolynomeBasis, int _SplineOrder>

static Ptr_t hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::createFromCore ( const core::ProblemConstPtr_t &  problem )

static

This is only for compatibility purpose (with ProblemSolver). problem is statically casted to an object of type const manipulation::Problem& and method create(const Problem&) is called.

initializePathValidation()

template<int _PolynomeBasis, int _SplineOrder>

virtual void hpp::manipulation::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::initializePathValidation ( const Splines_t &  splines )

protectedvirtual

Get path validation for each spline

Parameters

splines,vector

of splines

for each spline in the input vector, retrieve the path validation method of the transition the spline comes from. If no edge is found, use path validation in problem.

Note

path validation methods are stored in member hpp::core::pathOptimization::SplineGradientBasedAbstract::validations_

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The documentation for this class was generated from the following file:

• include/hpp/manipulation/path-optimization/spline-gradient-based.hh