Path Optimization

Namespaces
	hpp::manipulation::pathOptimization

Classes
class	hpp::manipulation::GraphNodeOptimizer
class	hpp::manipulation::GraphOptimizer
class	hpp::manipulation::pathOptimization::EnforceTransitionSemantic
class	hpp::manipulation::pathOptimization::RandomShortcut
class	hpp::manipulation::pathOptimization::SmallSteps

Typedefs
typedef std::vector< CollisionConstraintsResult >	CollisionConstraintsResults_t
typedef Eigen::JacobiSVD< matrix_t >	Decomposition_t
typedef Eigen::LLT< matrix_t, Eigen::Lower >	LLT_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 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 std::vector< CollisionConstraintsResult >	CollisionConstraintsResults_t
typedef Eigen::JacobiSVD< matrix_t >	Decomposition_t
typedef Eigen::LLT< matrix_t, Eigen::Lower >	LLT_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 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 boost::shared_ptr< RandomShortcut >	hpp::manipulation::pathOptimization::RandomShortcutPtr_t

Functions
virtual PathVectorPtr_t	optimize (const PathVectorPtr_t &path)
	GradientBased (const Problem &problem)
	QuadraticProgram (size_type inputSize)
	QuadraticProgram (const QuadraticProgram &QP, const LinearConstraint &lc)
	QuadraticProgram (const QuadraticProgram &QP)
	~QuadraticProgram ()
void	addRows (const std::size_t &nbRows)
	SplineGradientBasedAbstract (const Problem &problem)
	SplineOptimizationData ()
	SplineOptimizationData (size_type rDof)
PathVectorPtr_t	buildPathVector (const Splines_t &splines) const
	SplineGradientBased (const Problem &problem)
virtual	~PathOptimizer ()
const Problem &	problem () const
void	interrupt ()
	PathOptimizer (const Problem &problem)
PathPtr_t	steer (ConfigurationIn_t q1, ConfigurationIn_t q2) const
void	reduced (const LinearConstraint &lc, QuadraticProgram &QPr) const
void	decompose ()
void	solve ()
void	computeLLT ()
double	solve (const LinearConstraint &ce, const LinearConstraint &ci)
void	updateSplines (Splines_t &spline, const vector_t &param) const
void	updateParameters (vector_t &param, const Splines_t &spline) 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
virtual void	initializePathValidation (const Splines_t &splines)
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)
virtual void	addProblemConstraints (const PathVectorPtr_t &init, const Splines_t &splines, LinearConstraint &lc, SplineOptimizationDatas_t &sods) 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
	hpp::manipulation::pathOptimization::HPP_PREDEF_CLASS (RandomShortcut)

Variables
	PolynomeBasis
	SplineOrder
	PolynomeBasis
	SplineOrder
	PolynomeBasis
	SplineOrder
	PolynomeBasis
	SplineOrder
ConstraintSetPtr_t	set
boost::shared_ptr< constraints::ExplicitConstraintSet >	es
RowBlockIndices	activeParameters
DevicePtr_t	robot_
bool	checkOptimum_
bool	interrupt_
matrix_t	H
vector_t	b
bool	bIsZero
LLT_t	llt
value_type	trace
Eigen::VectorXi	activeConstraint
int	activeSetSize
Decomposition_t	dec
vector_t	xStar
SSM_t::Ptr_t	steeringMethod_
std::vector< PathValidationPtr_t >	validations_
	PolynomeBasis
	SplineOrder
	PolynomeBasis
	SplineOrder
	PolynomeBasis
	SplineOrder
	PolynomeBasis
	SplineOrder
ConstraintSetPtr_t	set
boost::shared_ptr< constraints::ExplicitConstraintSet >	es
RowBlockIndices	activeParameters
DevicePtr_t	robot_
bool	checkOptimum_
bool	interrupt_
matrix_t	H
vector_t	b
bool	bIsZero
LLT_t	llt
value_type	trace
Eigen::VectorXi	activeConstraint
int	activeSetSize
Decomposition_t	dec
vector_t	xStar
SSM_t::Ptr_t	steeringMethod_
std::vector< PathValidationPtr_t >	validations_

Detailed Description

Typedef Documentation

RandomShortcutPtr_t

typedef boost::shared_ptr<RandomShortcut> hpp::manipulation::pathOptimization::RandomShortcutPtr_t

Function Documentation

HPP_PREDEF_CLASS()

hpp::manipulation::pathOptimization::HPP_PREDEF_CLASS

(

RandomShortcut

)