GCC Code Coverage Report

Directory: ./
File: include/ndcurves/optimization/definitions.h
Date: 2025-03-05 17:18:30
Exec Total Coverage
Lines: 16 16 100.0%
Branches: 16 32 50.0%
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1 /**
2 * \file definitions.h
3 * \brief utils for defining optimization problems
4 * \author Steve T.
5 * \version 0.1
6 * \date 06/17/2013
7 */
8
9 #ifndef _CLASS_DEFINITIONS_H
10 #define _CLASS_DEFINITIONS_H
11
12 #include <ndcurves/bezier_curve.h>
13 #include <ndcurves/curve_constraint.h>
14 #include <ndcurves/linear_variable.h>
15 #include <ndcurves/quadratic_variable.h>
16
17 namespace ndcurves {
18 namespace optimization {
19
20 enum constraint_flag {
21 INIT_POS = 0x001,
22 INIT_VEL = 0x002,
23 INIT_ACC = 0x004,
24 INIT_JERK = 0x008,
25 END_POS = 0x010,
26 END_VEL = 0x020,
27 END_ACC = 0x040,
28 END_JERK = 0x080,
29 ALL = 0x0ff,
30 NONE = 0x100
31 };
32
33 template <typename Point, typename Numeric>
34 struct quadratic_problem {
35 Eigen::Matrix<Numeric, Eigen::Dynamic, Eigen::Dynamic> ineqMatrix;
36 Eigen::Matrix<Numeric, Eigen::Dynamic, 1> ineqVector;
37 quadratic_variable<Numeric> cost;
38 };
39
40 template <typename Point, typename Numeric>
41 struct problem_definition : public curve_constraints<Point> {
42 typedef Point point_t;
43 typedef Numeric num_t;
44 typedef curve_constraints<point_t> curve_constraints_t;
45 typedef Eigen::Matrix<num_t, Eigen::Dynamic, 1> vector_x_t;
46 typedef Eigen::Matrix<num_t, Eigen::Dynamic, Eigen::Dynamic> matrix_x_t;
47 typedef std::vector<matrix_x_t, Eigen::aligned_allocator<matrix_x_t> >
48 T_matrix_x_t;
49 typedef std::vector<vector_x_t, Eigen::aligned_allocator<vector_x_t> >
50 T_vector_x_t;
51 typedef typename T_matrix_x_t::const_iterator CIT_matrix_x_t;
52 typedef typename T_vector_x_t::const_iterator CIT_vector_x_t;
53
54 3 problem_definition(const std::size_t dim)
55 : curve_constraints_t(dim),
56 3 flag(NONE),
57
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59 3 degree(5),
60 3 totalTime(1.),
61
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 6 dim_(dim) {}
63
64 22 problem_definition(const curve_constraints_t& parent)
65 : curve_constraints_t(parent),
66 22 flag(NONE),
67
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69 22 degree(5),
70 22 totalTime(1.),
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 44 dim_(parent.dim_) {}
73
74 constraint_flag flag;
75 point_t init_pos;
76 point_t end_pos;
77 std::size_t degree;
78 num_t totalTime;
79 vector_x_t splitTimes_;
80 T_matrix_x_t inequalityMatrices_; // must be of size (splitTimes_ + 1)
81 T_vector_x_t inequalityVectors_; // must be of size (splitTimes_ + 1)
82 const std::size_t dim_;
83 };
84
85 } // namespace optimization
86 } // namespace ndcurves
87 #endif //_CLASS_DEFINITIONS_H
88