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 boost::shared_ptr< SplineGradientBased >	Ptr_t
typedef path::Spline< PolynomeBasis, SplineOrder >	Spline
typedef path::Spline< PolynomeBasis, SplineOrder >	Spline
typedef Spline::Ptr_t	SplinePtr_t
typedef Spline::Ptr_t	SplinePtr_t
typedef std::vector< SplinePtr_t >	Splines_t
typedef std::vector< SplinePtr_t >	Splines_t
Public Types inherited from hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >
typedef SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >	Base
typedef boost::shared_ptr< SplineGradientBased >	Ptr_t
typedef path::Spline< PolynomeBasis, SplineOrder >	Spline
typedef Spline::Ptr_t	SplinePtr_t
typedef std::vector< SplinePtr_t >	Splines_t
typedef SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >	Base
typedef boost::shared_ptr< SplineGradientBased >	Ptr_t
typedef path::Spline< PolynomeBasis, SplineOrder >	Spline
typedef Spline::Ptr_t	SplinePtr_t
typedef std::vector< SplinePtr_t >	Splines_t
Public Types inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >
typedef path::Spline< PolynomeBasis, SplineOrder >	Spline
typedef Spline::Ptr_t	SplinePtr_t
typedef std::vector< SplinePtr_t >	Splines_t
typedef path::Spline< PolynomeBasis, SplineOrder >	Spline
typedef Spline::Ptr_t	SplinePtr_t
typedef std::vector< SplinePtr_t >	Splines_t

Static Public Member Functions
static Ptr_t	create (const Problem &problem)
	Return shared pointer to new object. More...
static Ptr_t	createFromCore (const core::Problem &problem)
Static Public Member Functions inherited from hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >
static Ptr_t	create (const Problem &problem)
static Ptr_t	create (const Problem &problem)
Static Public Member Functions inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >
static void	copy (const Splines_t &in, Splines_t &out)
static void	interpolate (const Splines_t &a, const Splines_t &b, const value_type &alpha, Splines_t &res)
static void	copy (const Splines_t &in, Splines_t &out)
static void	interpolate (const Splines_t &a, const Splines_t &b, const value_type &alpha, Splines_t &res)

Protected Types
typedef hpp::core::pathOptimization::LinearConstraint	LinearConstraint
typedef std::vector< SplineOptimizationData >	SplineOptimizationDatas_t
typedef std::vector< SplineOptimizationData >	SplineOptimizationDatas_t
Protected Types inherited from hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >
typedef Eigen::RowBlockIndices	RowBlockIndices
typedef std::vector< SplineOptimizationData >	SplineOptimizationDatas_t
typedef Eigen::RowBlockIndices	RowBlockIndices
typedef std::vector< SplineOptimizationData >	SplineOptimizationDatas_t
Protected Types inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >
typedef steeringMethod::Spline< PolynomeBasis, SplineOrder >	SSM_t
typedef std::vector< std::pair< PathValidationReportPtr_t, std::size_t > >	Reports_t
typedef Eigen::RowBlockIndices	RowBlockIndices
typedef std::vector< bool >	Bools_t
typedef std::vector< size_type >	Indices_t
typedef std::vector< SplineOptimizationData >	SplineOptimizationDatas_t
typedef steeringMethod::Spline< PolynomeBasis, SplineOrder >	SSM_t
typedef std::vector< std::pair< PathValidationReportPtr_t, std::size_t > >	Reports_t
typedef Eigen::RowBlockIndices	RowBlockIndices
typedef std::vector< bool >	Bools_t
typedef std::vector< size_type >	Indices_t
typedef std::vector< SplineOptimizationData >	SplineOptimizationDatas_t

Protected Member Functions
	SplineGradientBased (const Problem &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
Protected Member Functions inherited from hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >
	SplineGradientBased (const Problem &problem)
void	addProblemConstraintOnPath (const PathPtr_t &path, const size_type &idxSpline, const SplinePtr_t &spline, LinearConstraint &lc, SplineOptimizationData &sod) const
Eigen::RowBlockIndices	computeActiveParameters (const PathPtr_t &path, const constraints::solver::BySubstitution &hs, const value_type &guessThr=-1, const bool &useExplicitInput=false) const
void	addProblemConstraintOnPath (const PathPtr_t &path, const size_type &idxSpline, const SplinePtr_t &spline, LinearConstraint &lc, SplineOptimizationData &sod) const
Eigen::RowBlockIndices	computeActiveParameters (const PathPtr_t &path, const constraints::solver::BySubstitution &hs, const value_type &guessThr=-1, const bool &useExplicitInput=false) const
	SplineGradientBased (const Problem &problem)
void	addProblemConstraintOnPath (const PathPtr_t &path, const size_type &idxSpline, const SplinePtr_t &spline, LinearConstraint &lc, SplineOptimizationData &sod) const
Eigen::RowBlockIndices	computeActiveParameters (const PathPtr_t &path, const constraints::solver::BySubstitution &hs, const value_type &guessThr=-1, const bool &useExplicitInput=false) const
void	addProblemConstraintOnPath (const PathPtr_t &path, const size_type &idxSpline, const SplinePtr_t &spline, LinearConstraint &lc, SplineOptimizationData &sod) const
Eigen::RowBlockIndices	computeActiveParameters (const PathPtr_t &path, const constraints::solver::BySubstitution &hs, const value_type &guessThr=-1, const bool &useExplicitInput=false) const
Protected Member Functions inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >
	SplineGradientBasedAbstract (const Problem &problem)
PathVectorPtr_t	buildPathVector (const Splines_t &splines) const
void	appendEquivalentSpline (const StraightPathPtr_t &path, Splines_t &splines) const
void	appendEquivalentSpline (const InterpolatedPathPtr_t &path, Splines_t &splines) const
void	appendEquivalentSpline (const PathVectorPtr_t &path, Splines_t &splines) const
Reports_t	validatePath (const Splines_t &splines, std::vector< std::size_t > &reordering, bool stopAtFirst, bool reorder) const
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
Indices_t	validateBounds (const Splines_t &splines, const LinearConstraint &lc) const
void	addContinuityConstraints (const Splines_t &splines, const size_type maxOrder, const SplineOptimizationDatas_t &ess, LinearConstraint &continuity)
	SplineGradientBasedAbstract (const Problem &problem)
PathVectorPtr_t	buildPathVector (const Splines_t &splines) const
void	appendEquivalentSpline (const StraightPathPtr_t &path, Splines_t &splines) const
void	appendEquivalentSpline (const InterpolatedPathPtr_t &path, Splines_t &splines) const
void	appendEquivalentSpline (const PathVectorPtr_t &path, Splines_t &splines) const
Reports_t	validatePath (const Splines_t &splines, std::vector< std::size_t > &reordering, bool stopAtFirst, bool reorder) const
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
Indices_t	validateBounds (const Splines_t &splines, const LinearConstraint &lc) const
void	addContinuityConstraints (const Splines_t &splines, const size_type maxOrder, const SplineOptimizationDatas_t &ess, LinearConstraint &continuity)
Protected Member Functions inherited from hpp::core::PathOptimizer
	PathOptimizer (const Problem &problem)
PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const
	PathOptimizer (const Problem &problem)
PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const

Additional Inherited Members
Public Member Functions inherited from hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >
virtual PathVectorPtr_t	optimize (const PathVectorPtr_t &path)
virtual PathVectorPtr_t	optimize (const PathVectorPtr_t &path)
Public Member Functions inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >
void	updateSplines (Splines_t &spline, const vector_t &param) const
void	updateParameters (vector_t &param, const Splines_t &spline) const
void	updateSplines (Splines_t &spline, const vector_t &param) const
void	updateParameters (vector_t &param, const Splines_t &spline) const
Public Member Functions inherited from hpp::core::PathOptimizer
virtual	~PathOptimizer ()
const Problem &	problem () const
void	interrupt ()
virtual	~PathOptimizer ()
const Problem &	problem () const
void	interrupt ()
Public Attributes inherited from hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >
	PolynomeBasis
	SplineOrder
Public Attributes inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >
	PolynomeBasis
	SplineOrder
Static Protected Member Functions inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >
static PathVectorPtr_t	cleanInput (const PathVectorPtr_t &input)
static PathVectorPtr_t	cleanInput (const PathVectorPtr_t &input)
Protected Attributes inherited from hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >
bool	checkOptimum_
Protected Attributes inherited from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >
DevicePtr_t	robot_
SSM_t::Ptr_t	steeringMethod_
std::vector< PathValidationPtr_t >	validations_
Protected Attributes inherited from hpp::core::PathOptimizer
bool	interrupt_

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

Spline [1/2]

template<int _PolynomeBasis, int _SplineOrder>

typedef path::Spline< PolynomeBasis, SplineOrder > hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::Spline

Spline [2/2]

template<int _PolynomeBasis, int _SplineOrder>

typedef path::Spline< PolynomeBasis, SplineOrder > hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::Spline

SplineOptimizationDatas_t [1/2]

template<int _PolynomeBasis, int _SplineOrder>

typedef std::vector< SplineOptimizationData > hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::SplineOptimizationDatas_t

protected

SplineOptimizationDatas_t [2/2]

template<int _PolynomeBasis, int _SplineOrder>

typedef std::vector< SplineOptimizationData > hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::SplineOptimizationDatas_t

protected

SplinePtr_t [1/2]

template<int _PolynomeBasis, int _SplineOrder>

typedef Spline::Ptr_t hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::SplinePtr_t

SplinePtr_t [2/2]

template<int _PolynomeBasis, int _SplineOrder>

typedef Spline::Ptr_t hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::SplinePtr_t

Splines_t [1/2]

template<int _PolynomeBasis, int _SplineOrder>

typedef std::vector< SplinePtr_t > hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::Splines_t

Splines_t [2/2]

template<int _PolynomeBasis, int _SplineOrder>

typedef std::vector< SplinePtr_t > hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >::Splines_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 Problem &  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

Reimplemented from hpp::core::pathOptimization::SplineGradientBased< _PolynomeBasis, _SplineOrder >.

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 Problem &  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::Problem &  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_

Reimplemented from hpp::core::pathOptimization::SplineGradientBasedAbstract< _PolynomeBasis, _SplineOrder >.

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

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