#include <dynamic_time_indexed_shooting_problem.h>

Inheritance diagram for exotica::DynamicTimeIndexedShootingProblem:

[legend]

Public Member Functions
Eigen::VectorXd	ApplyStartState (bool update_traj=true) override

void	DisableStochasticUpdates ()

	DynamicTimeIndexedShootingProblem ()

void	EnableStochasticUpdates ()

double	get_control_cost_weight () const

Eigen::MatrixXd	get_F (int t) const
	Returns the noise weight matrix at time t. More...

const ControlCostLossTermType &	get_loss_type () const

const Eigen::MatrixXd &	get_Q (int t) const
	Returns the precision matrix at time step t. More...

const Eigen::MatrixXd &	get_Qf () const
	Returns the cost weight matrix at time N. More...

const Eigen::MatrixXd &	get_R () const
	Returns the control weight matrix. More...

const int &	get_T () const
	Returns the number of timesteps in the state trajectory. More...

const double &	get_tau () const
	Returns the discretization timestep tau. More...

const Eigen::MatrixXd &	get_U () const
	Returns the control trajectory U. More...

Eigen::VectorXd	get_U (int t) const
	Returns the control state at time t. More...

const Eigen::MatrixXd &	get_X () const
	Returns the state trajectory X. More...

Eigen::VectorXd	get_X (int t) const
	Returns the state at time t. More...

const Eigen::MatrixXd &	get_X_star () const
	Returns the target state trajectory X. More...

double	GetControlCost (int t) const

Eigen::MatrixXd	GetControlCostHessian (int t)
	luu More...

Eigen::VectorXd	GetControlCostJacobian (int t)
	lu More...

const Eigen::MatrixXd &	GetControlNoiseJacobian (int column_idx) const
	F[i]_u. More...

Eigen::MatrixXd	GetStateControlCostHessian ()

double	GetStateCost (int t) const

Eigen::MatrixXd	GetStateCostHessian (int t)
	lxx More...

Eigen::VectorXd	GetStateCostJacobian (int t)
	lx More...

void	Instantiate (const DynamicTimeIndexedShootingProblemInitializer &init) override

void	OnSolverIterationEnd ()
	lxu == lux More...

void	PreUpdate () override

void	set_control_cost_weight (const double control_cost_weight_in)

void	set_loss_type (const ControlCostLossTermType &loss_type_in)

void	set_Q (Eigen::MatrixXdRefConst Q_in, int t)
	Sets the precision matrix for time step t. More...

void	set_Qf (Eigen::MatrixXdRefConst Q_in)
	Sets the cost weight matrix for time N. More...

void	set_T (const int &T_in)
	Sets the number of timesteps in the state trajectory. More...

void	set_U (Eigen::MatrixXdRefConst U_in)
	Sets the control trajectory U (can be used as the initial guess) More...

void	set_X (Eigen::MatrixXdRefConst X_in)
	Sets the state trajectory X (can be used as the initial guess) More...

void	set_X_star (Eigen::MatrixXdRefConst X_star_in)
	Sets the target state trajectory X. More...

void	Update (Eigen::VectorXdRefConst u, int t)

void	Update (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, int t)

void	UpdateTerminalState (Eigen::VectorXdRefConst x)

virtual	~DynamicTimeIndexedShootingProblem ()

Public Member Functions inherited from exotica::PlanningProblem
int	get_num_controls () const

int	get_num_positions () const
	! Dimension of planning problem. TODO: Update from positions/velocities/controls and make private. More...

int	get_num_velocities () const

std::pair< std::vector< double >, std::vector< double > >	GetCostEvolution () const

double	GetCostEvolution (int index) const

KinematicRequestFlags	GetFlags () const

int	GetNumberOfIterations () const

unsigned int	GetNumberOfProblemUpdates () const

ScenePtr	GetScene () const

Eigen::VectorXd	GetStartState () const

double	GetStartTime () const

TaskMapMap &	GetTaskMaps ()

TaskMapVec &	GetTasks ()

void	InstantiateBase (const Initializer &init) override

virtual bool	IsValid ()
	Evaluates whether the problem is valid. More...

	PlanningProblem ()

std::string	Print (const std::string &prepend) const override

void	ResetCostEvolution (size_t size)

void	ResetNumberOfProblemUpdates ()

void	SetCostEvolution (int index, double value)

void	SetStartState (Eigen::VectorXdRefConst x)

void	SetStartTime (double t)

virtual	~PlanningProblem ()

Public Member Functions inherited from exotica::Object
std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

	Object ()

virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...

virtual	~Object ()

Public Member Functions inherited from exotica::InstantiableBase
virtual std::vector< Initializer >	GetAllTemplates () const =0

	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

Public Member Functions inherited from exotica::Instantiable< DynamicTimeIndexedShootingProblemInitializer >
std::vector< Initializer >	GetAllTemplates () const override

Initializer	GetInitializerTemplate () override

const DynamicTimeIndexedShootingProblemInitializer &	GetParameters () const

void	InstantiateInternal (const Initializer &init) override

Public Attributes
TimeIndexedTask	cost
	Cost task. More...

std::vector< Hessian >	ddPhi_ddu
	Stacked TaskMap Hessian w.r.t. control. More...

std::vector< Hessian >	ddPhi_ddx
	Stacked TaskMap Hessian w.r.t. state. More...

std::vector< Hessian >	ddPhi_dxdu
	Stacked TaskMap Hessian w.r.t. state and control. More...

std::vector< Eigen::MatrixXd >	dPhi_du
	Stacked TaskMap Jacobian w.r.t. control. More...

std::vector< Eigen::MatrixXd >	dPhi_dx
	Stacked TaskMap Jacobian w.r.t. state. More...

int	length_jacobian
	Length of tangent vector to Phi. More...

int	length_Phi
	Length of TaskSpaceVector (Phi => stacked task-maps) More...

int	num_tasks
	Number of TaskMaps. More...

std::vector< TaskSpaceVector >	Phi
	Stacked TaskMap vector. More...

Public Attributes inherited from exotica::PlanningProblem
int	N = 0

TerminationCriterion	termination_criterion

Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

Protected Member Functions
void	InstantiateCostTerms (const DynamicTimeIndexedShootingProblemInitializer &init)

void	ReinitializeVariables ()

void	UpdateTaskMaps (Eigen::VectorXdRefConst x, Eigen::VectorXdRefConst u, int t)

void	ValidateTimeIndex (int &t_in) const
	Checks the desired time index for bounds and supports -1 indexing. More...

Protected Member Functions inherited from exotica::PlanningProblem
void	UpdateMultipleTaskKinematics (std::vector< std::shared_ptr< KinematicResponse >> responses)

void	UpdateTaskKinematics (std::shared_ptr< KinematicResponse > response)

Protected Attributes
Eigen::VectorXd	bimodal_huber_mode1_

Eigen::VectorXd	bimodal_huber_mode2_

std::vector< Eigen::MatrixXd >	Ci_
	Noise weight terms. More...

std::vector< Eigen::MatrixXd >	control_cost_hessian_

std::vector< Eigen::VectorXd >	control_cost_jacobian_

double	control_cost_weight_ = 1

TaskSpaceVector	cost_Phi

Eigen::MatrixXd	CW_
	White noise covariance. More...

std::vector< Eigen::MatrixXd >	dxdiff_

std::vector< Eigen::MatrixXd >	general_cost_hessian_

std::vector< Eigen::VectorXd >	general_cost_jacobian_

std::mt19937	generator_

Eigen::VectorXd	huber_rate_

std::vector< std::shared_ptr< KinematicResponse > >	kinematic_solutions_

Eigen::VectorXd	l1_rate_

ControlCostLossTermType	loss_type_

std::vector< Eigen::MatrixXd >	Q_
	State space penalty matrix (precision matrix), per time index. More...

Eigen::MatrixXd	Qf_
	Final state cost. More...

Eigen::MatrixXd	R_
	Control space penalty matrix. More...

Eigen::VectorXd	smooth_l1_mean_

Eigen::VectorXd	smooth_l1_std_

std::normal_distribution< double >	standard_normal_noise_ {0, 1}

std::vector< Eigen::MatrixXd >	state_cost_hessian_

std::vector< Eigen::VectorXd >	state_cost_jacobian_

bool	stochastic_matrices_specified_ = false

bool	stochastic_updates_enabled_ = false

int	T_
	Number of time steps. More...

double	tau_
	Time step duration. More...

Eigen::MatrixXd	U_
	Control trajectory. Size: num-controls x (T-1) More...

Eigen::MatrixXd	X_
	State trajectory (i.e., positions, velocities). Size: num-states x T. More...

Eigen::MatrixXd	X_diff_
	Difference between X_ and X_star_. Size: ndx x T. More...

Eigen::MatrixXd	X_star_
	Goal state trajectory (i.e., positions, velocities). Size: num-states x T. More...

Protected Attributes inherited from exotica::PlanningProblem
std::vector< std::pair< std::chrono::high_resolution_clock::time_point, double > >	cost_evolution_

KinematicRequestFlags	flags_ = KinematicRequestFlags::KIN_FK

unsigned int	number_of_problem_updates_ {0}

ScenePtr	scene_

Eigen::VectorXd	start_state_

double	t_start {0.0}

TaskMapMap	task_maps_

TaskMapVec	tasks_

Protected Attributes inherited from exotica::Instantiable< DynamicTimeIndexedShootingProblemInitializer >
DynamicTimeIndexedShootingProblemInitializer	parameters_

Detailed Description

Definition at line 50 of file dynamic_time_indexed_shooting_problem.h.

Constructor & Destructor Documentation

◆ DynamicTimeIndexedShootingProblem()

exotica::DynamicTimeIndexedShootingProblem::DynamicTimeIndexedShootingProblem ( )

Definition at line 40 of file dynamic_time_indexed_shooting_problem.cpp.

◆ ~DynamicTimeIndexedShootingProblem()

exotica::DynamicTimeIndexedShootingProblem::~DynamicTimeIndexedShootingProblem ( )

virtualdefault

Member Function Documentation

◆ ApplyStartState()

Eigen::VectorXd exotica::DynamicTimeIndexedShootingProblem::ApplyStartState ( bool update_traj = true )

overridevirtual

Reimplemented from exotica::PlanningProblem.

Definition at line 430 of file dynamic_time_indexed_shooting_problem.cpp.

◆ DisableStochasticUpdates()

void exotica::DynamicTimeIndexedShootingProblem::DisableStochasticUpdates ( )

Definition at line 932 of file dynamic_time_indexed_shooting_problem.cpp.

◆ EnableStochasticUpdates()

void exotica::DynamicTimeIndexedShootingProblem::EnableStochasticUpdates ( )

Definition at line 927 of file dynamic_time_indexed_shooting_problem.cpp.

◆ get_control_cost_weight()

double exotica::DynamicTimeIndexedShootingProblem::get_control_cost_weight ( ) const

inline

Definition at line 167 of file dynamic_time_indexed_shooting_problem.h.

◆ get_F()

Eigen::MatrixXd exotica::DynamicTimeIndexedShootingProblem::get_F ( int t ) const

Returns the noise weight matrix at time t.

Definition at line 903 of file dynamic_time_indexed_shooting_problem.cpp.

◆ get_loss_type()

const ControlCostLossTermType& exotica::DynamicTimeIndexedShootingProblem::get_loss_type ( ) const

inline

Definition at line 165 of file dynamic_time_indexed_shooting_problem.h.

◆ get_Q()

const Eigen::MatrixXd & exotica::DynamicTimeIndexedShootingProblem::get_Q ( int t ) const

Returns the precision matrix at time step t.

Definition at line 499 of file dynamic_time_indexed_shooting_problem.cpp.

◆ get_Qf()

const Eigen::MatrixXd & exotica::DynamicTimeIndexedShootingProblem::get_Qf ( ) const

Returns the cost weight matrix at time N.

Definition at line 505 of file dynamic_time_indexed_shooting_problem.cpp.

◆ get_R()

const Eigen::MatrixXd & exotica::DynamicTimeIndexedShootingProblem::get_R ( ) const

Returns the control weight matrix.

Definition at line 510 of file dynamic_time_indexed_shooting_problem.cpp.

◆ get_T()

const int & exotica::DynamicTimeIndexedShootingProblem::get_T ( ) const

Returns the number of timesteps in the state trajectory.

Definition at line 387 of file dynamic_time_indexed_shooting_problem.cpp.

◆ get_tau()

const double & exotica::DynamicTimeIndexedShootingProblem::get_tau ( ) const

Returns the discretization timestep tau.

Definition at line 402 of file dynamic_time_indexed_shooting_problem.cpp.

◆ get_U() [1/2]

const Eigen::MatrixXd & exotica::DynamicTimeIndexedShootingProblem::get_U ( ) const

Returns the control trajectory U.

Definition at line 462 of file dynamic_time_indexed_shooting_problem.cpp.

◆ get_U() [2/2]

Eigen::VectorXd exotica::DynamicTimeIndexedShootingProblem::get_U ( int t ) const

Returns the control state at time t.

Definition at line 467 of file dynamic_time_indexed_shooting_problem.cpp.

◆ get_X() [1/2]

const Eigen::MatrixXd & exotica::DynamicTimeIndexedShootingProblem::get_X ( ) const

Returns the state trajectory X.

Definition at line 436 of file dynamic_time_indexed_shooting_problem.cpp.

◆ get_X() [2/2]

Eigen::VectorXd exotica::DynamicTimeIndexedShootingProblem::get_X ( int t ) const

Returns the state at time t.

Definition at line 441 of file dynamic_time_indexed_shooting_problem.cpp.

◆ get_X_star()

const Eigen::MatrixXd & exotica::DynamicTimeIndexedShootingProblem::get_X_star ( ) const

Returns the target state trajectory X.

Definition at line 479 of file dynamic_time_indexed_shooting_problem.cpp.

◆ GetControlCost()

double exotica::DynamicTimeIndexedShootingProblem::GetControlCost ( int t ) const

Definition at line 826 of file dynamic_time_indexed_shooting_problem.cpp.

◆ GetControlCostHessian()

Eigen::MatrixXd exotica::DynamicTimeIndexedShootingProblem::GetControlCostHessian ( int t )

luu

Definition at line 793 of file dynamic_time_indexed_shooting_problem.cpp.

◆ GetControlCostJacobian()

Eigen::VectorXd exotica::DynamicTimeIndexedShootingProblem::GetControlCostJacobian ( int t )

lu

Definition at line 867 of file dynamic_time_indexed_shooting_problem.cpp.

◆ GetControlNoiseJacobian()

const Eigen::MatrixXd & exotica::DynamicTimeIndexedShootingProblem::GetControlNoiseJacobian ( int column_idx ) const

F[i]_u.

Definition at line 920 of file dynamic_time_indexed_shooting_problem.cpp.

◆ GetStateControlCostHessian()

Eigen::MatrixXd exotica::DynamicTimeIndexedShootingProblem::GetStateControlCostHessian ( )

inline

Definition at line 115 of file dynamic_time_indexed_shooting_problem.h.

◆ GetStateCost()

double exotica::DynamicTimeIndexedShootingProblem::GetStateCost ( int t ) const

Definition at line 735 of file dynamic_time_indexed_shooting_problem.cpp.

◆ GetStateCostHessian()

Eigen::MatrixXd exotica::DynamicTimeIndexedShootingProblem::GetStateCostHessian ( int t )

lxx

Definition at line 758 of file dynamic_time_indexed_shooting_problem.cpp.

◆ GetStateCostJacobian()

Eigen::VectorXd exotica::DynamicTimeIndexedShootingProblem::GetStateCostJacobian ( int t )

lx

Definition at line 743 of file dynamic_time_indexed_shooting_problem.cpp.

◆ Instantiate()

void exotica::DynamicTimeIndexedShootingProblem::Instantiate ( const DynamicTimeIndexedShootingProblemInitializer & init )

overridevirtual

Reimplemented from exotica::Instantiable< DynamicTimeIndexedShootingProblemInitializer >.

Definition at line 110 of file dynamic_time_indexed_shooting_problem.cpp.

◆ InstantiateCostTerms()

void exotica::DynamicTimeIndexedShootingProblem::InstantiateCostTerms ( const DynamicTimeIndexedShootingProblemInitializer & init )

protected

Definition at line 46 of file dynamic_time_indexed_shooting_problem.cpp.

◆ OnSolverIterationEnd()

void exotica::DynamicTimeIndexedShootingProblem::OnSolverIterationEnd ( )

inline

lxu == lux

Definition at line 124 of file dynamic_time_indexed_shooting_problem.h.

◆ PreUpdate()

void exotica::DynamicTimeIndexedShootingProblem::PreUpdate ( )

overridevirtual

Reimplemented from exotica::PlanningProblem.

Definition at line 407 of file dynamic_time_indexed_shooting_problem.cpp.

◆ ReinitializeVariables()

void exotica::DynamicTimeIndexedShootingProblem::ReinitializeVariables ( )

protected

Definition at line 249 of file dynamic_time_indexed_shooting_problem.cpp.

◆ set_control_cost_weight()

void exotica::DynamicTimeIndexedShootingProblem::set_control_cost_weight ( const double control_cost_weight_in )

inline

Definition at line 168 of file dynamic_time_indexed_shooting_problem.h.

◆ set_loss_type()

void exotica::DynamicTimeIndexedShootingProblem::set_loss_type ( const ControlCostLossTermType & loss_type_in )

inline

Definition at line 166 of file dynamic_time_indexed_shooting_problem.h.

◆ set_Q()

void exotica::DynamicTimeIndexedShootingProblem::set_Q	(	Eigen::MatrixXdRefConst	Q_in,
		int	t
	)

Sets the precision matrix for time step t.

Definition at line 515 of file dynamic_time_indexed_shooting_problem.cpp.

◆ set_Qf()

void exotica::DynamicTimeIndexedShootingProblem::set_Qf ( Eigen::MatrixXdRefConst Q_in )

Sets the cost weight matrix for time N.

Definition at line 522 of file dynamic_time_indexed_shooting_problem.cpp.

◆ set_T()

void exotica::DynamicTimeIndexedShootingProblem::set_T ( const int & T_in )

Sets the number of timesteps in the state trajectory.

Definition at line 392 of file dynamic_time_indexed_shooting_problem.cpp.

◆ set_U()

void exotica::DynamicTimeIndexedShootingProblem::set_U ( Eigen::MatrixXdRefConst U_in )

Sets the control trajectory U (can be used as the initial guess)

Definition at line 473 of file dynamic_time_indexed_shooting_problem.cpp.

◆ set_X()

void exotica::DynamicTimeIndexedShootingProblem::set_X ( Eigen::MatrixXdRefConst X_in )

Sets the state trajectory X (can be used as the initial guess)

Definition at line 447 of file dynamic_time_indexed_shooting_problem.cpp.

◆ set_X_star()

void exotica::DynamicTimeIndexedShootingProblem::set_X_star ( Eigen::MatrixXdRefConst X_star_in )

Sets the target state trajectory X.

Definition at line 484 of file dynamic_time_indexed_shooting_problem.cpp.

◆ Update() [1/2]

void exotica::DynamicTimeIndexedShootingProblem::Update	(	Eigen::VectorXdRefConst	u,
		int	t
	)

Definition at line 613 of file dynamic_time_indexed_shooting_problem.cpp.

◆ Update() [2/2]

void exotica::DynamicTimeIndexedShootingProblem::Update	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRefConst	u,
		int	t
	)

Definition at line 527 of file dynamic_time_indexed_shooting_problem.cpp.

◆ UpdateTaskMaps()

void exotica::DynamicTimeIndexedShootingProblem::UpdateTaskMaps	(	Eigen::VectorXdRefConst	x,
		Eigen::VectorXdRefConst	u,
		int	t
	)

protected

Definition at line 661 of file dynamic_time_indexed_shooting_problem.cpp.

◆ UpdateTerminalState()

void exotica::DynamicTimeIndexedShootingProblem::UpdateTerminalState ( Eigen::VectorXdRefConst x )

Definition at line 628 of file dynamic_time_indexed_shooting_problem.cpp.

◆ ValidateTimeIndex()

void exotica::DynamicTimeIndexedShootingProblem::ValidateTimeIndex ( int & t_in ) const

inlineprotected

Checks the desired time index for bounds and supports -1 indexing.

Definition at line 172 of file dynamic_time_indexed_shooting_problem.h.

Member Data Documentation

◆ bimodal_huber_mode1_

Eigen::VectorXd exotica::DynamicTimeIndexedShootingProblem::bimodal_huber_mode1_

protected

Definition at line 227 of file dynamic_time_indexed_shooting_problem.h.

◆ bimodal_huber_mode2_

Eigen::VectorXd exotica::DynamicTimeIndexedShootingProblem::bimodal_huber_mode2_

protected

Definition at line 227 of file dynamic_time_indexed_shooting_problem.h.

◆ Ci_

std::vector<Eigen::MatrixXd> exotica::DynamicTimeIndexedShootingProblem::Ci_

protected

Noise weight terms.

Definition at line 201 of file dynamic_time_indexed_shooting_problem.h.

◆ control_cost_hessian_

std::vector<Eigen::MatrixXd> exotica::DynamicTimeIndexedShootingProblem::control_cost_hessian_

protected

Definition at line 211 of file dynamic_time_indexed_shooting_problem.h.

◆ control_cost_jacobian_

std::vector<Eigen::VectorXd> exotica::DynamicTimeIndexedShootingProblem::control_cost_jacobian_

protected

Definition at line 210 of file dynamic_time_indexed_shooting_problem.h.

◆ control_cost_weight_

double exotica::DynamicTimeIndexedShootingProblem::control_cost_weight_ = 1

protected

Definition at line 220 of file dynamic_time_indexed_shooting_problem.h.

◆ cost

TimeIndexedTask exotica::DynamicTimeIndexedShootingProblem::cost

Cost task.

Definition at line 95 of file dynamic_time_indexed_shooting_problem.h.

◆ cost_Phi

TaskSpaceVector exotica::DynamicTimeIndexedShootingProblem::cost_Phi

protected

Definition at line 218 of file dynamic_time_indexed_shooting_problem.h.

◆ CW_

Eigen::MatrixXd exotica::DynamicTimeIndexedShootingProblem::CW_

protected

White noise covariance.

Definition at line 202 of file dynamic_time_indexed_shooting_problem.h.

◆ ddPhi_ddu

std::vector<Hessian> exotica::DynamicTimeIndexedShootingProblem::ddPhi_ddu

Stacked TaskMap Hessian w.r.t. control.

Definition at line 100 of file dynamic_time_indexed_shooting_problem.h.

◆ ddPhi_ddx

std::vector<Hessian> exotica::DynamicTimeIndexedShootingProblem::ddPhi_ddx

Stacked TaskMap Hessian w.r.t. state.

Definition at line 99 of file dynamic_time_indexed_shooting_problem.h.

◆ ddPhi_dxdu

std::vector<Hessian> exotica::DynamicTimeIndexedShootingProblem::ddPhi_dxdu

Stacked TaskMap Hessian w.r.t. state and control.

Definition at line 101 of file dynamic_time_indexed_shooting_problem.h.

◆ dPhi_du

std::vector<Eigen::MatrixXd> exotica::DynamicTimeIndexedShootingProblem::dPhi_du

Stacked TaskMap Jacobian w.r.t. control.

Definition at line 98 of file dynamic_time_indexed_shooting_problem.h.

◆ dPhi_dx

std::vector<Eigen::MatrixXd> exotica::DynamicTimeIndexedShootingProblem::dPhi_dx

Stacked TaskMap Jacobian w.r.t. state.

Definition at line 97 of file dynamic_time_indexed_shooting_problem.h.

◆ dxdiff_

std::vector<Eigen::MatrixXd> exotica::DynamicTimeIndexedShootingProblem::dxdiff_

protected

Definition at line 205 of file dynamic_time_indexed_shooting_problem.h.

◆ general_cost_hessian_

std::vector<Eigen::MatrixXd> exotica::DynamicTimeIndexedShootingProblem::general_cost_hessian_

protected

Definition at line 209 of file dynamic_time_indexed_shooting_problem.h.

◆ general_cost_jacobian_

std::vector<Eigen::VectorXd> exotica::DynamicTimeIndexedShootingProblem::general_cost_jacobian_

protected

Definition at line 208 of file dynamic_time_indexed_shooting_problem.h.

◆ generator_

std::mt19937 exotica::DynamicTimeIndexedShootingProblem::generator_

protected

Definition at line 215 of file dynamic_time_indexed_shooting_problem.h.

◆ huber_rate_

Eigen::VectorXd exotica::DynamicTimeIndexedShootingProblem::huber_rate_

protected

Definition at line 226 of file dynamic_time_indexed_shooting_problem.h.

◆ kinematic_solutions_

std::vector<std::shared_ptr<KinematicResponse> > exotica::DynamicTimeIndexedShootingProblem::kinematic_solutions_

protected

Definition at line 213 of file dynamic_time_indexed_shooting_problem.h.

◆ l1_rate_

Eigen::VectorXd exotica::DynamicTimeIndexedShootingProblem::l1_rate_

protected

Definition at line 225 of file dynamic_time_indexed_shooting_problem.h.

◆ length_jacobian

int exotica::DynamicTimeIndexedShootingProblem::length_jacobian

Length of tangent vector to Phi.

Definition at line 105 of file dynamic_time_indexed_shooting_problem.h.

◆ length_Phi

int exotica::DynamicTimeIndexedShootingProblem::length_Phi

Length of TaskSpaceVector (Phi => stacked task-maps)

Definition at line 104 of file dynamic_time_indexed_shooting_problem.h.

◆ loss_type_

ControlCostLossTermType exotica::DynamicTimeIndexedShootingProblem::loss_type_

protected

Definition at line 221 of file dynamic_time_indexed_shooting_problem.h.

◆ num_tasks

int exotica::DynamicTimeIndexedShootingProblem::num_tasks

Number of TaskMaps.

Definition at line 106 of file dynamic_time_indexed_shooting_problem.h.

◆ Phi

std::vector<TaskSpaceVector> exotica::DynamicTimeIndexedShootingProblem::Phi

Stacked TaskMap vector.

Definition at line 96 of file dynamic_time_indexed_shooting_problem.h.

◆ Q_

std::vector<Eigen::MatrixXd> exotica::DynamicTimeIndexedShootingProblem::Q_

protected

State space penalty matrix (precision matrix), per time index.

Definition at line 198 of file dynamic_time_indexed_shooting_problem.h.

◆ Qf_

Eigen::MatrixXd exotica::DynamicTimeIndexedShootingProblem::Qf_

protected

Final state cost.

Definition at line 197 of file dynamic_time_indexed_shooting_problem.h.

◆ R_

Eigen::MatrixXd exotica::DynamicTimeIndexedShootingProblem::R_

protected

Control space penalty matrix.

Definition at line 199 of file dynamic_time_indexed_shooting_problem.h.

◆ smooth_l1_mean_

Eigen::VectorXd exotica::DynamicTimeIndexedShootingProblem::smooth_l1_mean_

protected

Definition at line 229 of file dynamic_time_indexed_shooting_problem.h.

◆ smooth_l1_std_

Eigen::VectorXd exotica::DynamicTimeIndexedShootingProblem::smooth_l1_std_

protected

Definition at line 229 of file dynamic_time_indexed_shooting_problem.h.

◆ standard_normal_noise_

std::normal_distribution<double> exotica::DynamicTimeIndexedShootingProblem::standard_normal_noise_ {0, 1}

protected

Definition at line 216 of file dynamic_time_indexed_shooting_problem.h.

◆ state_cost_hessian_

std::vector<Eigen::MatrixXd> exotica::DynamicTimeIndexedShootingProblem::state_cost_hessian_

protected

Definition at line 207 of file dynamic_time_indexed_shooting_problem.h.

◆ state_cost_jacobian_

std::vector<Eigen::VectorXd> exotica::DynamicTimeIndexedShootingProblem::state_cost_jacobian_

protected

Definition at line 206 of file dynamic_time_indexed_shooting_problem.h.

◆ stochastic_matrices_specified_

bool exotica::DynamicTimeIndexedShootingProblem::stochastic_matrices_specified_ = false

protected

Definition at line 189 of file dynamic_time_indexed_shooting_problem.h.

◆ stochastic_updates_enabled_

bool exotica::DynamicTimeIndexedShootingProblem::stochastic_updates_enabled_ = false

protected

Definition at line 190 of file dynamic_time_indexed_shooting_problem.h.

◆ T_

int exotica::DynamicTimeIndexedShootingProblem::T_

protected

Number of time steps.

Definition at line 187 of file dynamic_time_indexed_shooting_problem.h.

◆ tau_

double exotica::DynamicTimeIndexedShootingProblem::tau_

protected

Time step duration.

Definition at line 188 of file dynamic_time_indexed_shooting_problem.h.

◆ U_

Eigen::MatrixXd exotica::DynamicTimeIndexedShootingProblem::U_

protected

Control trajectory. Size: num-controls x (T-1)

Definition at line 193 of file dynamic_time_indexed_shooting_problem.h.

◆ X_

Eigen::MatrixXd exotica::DynamicTimeIndexedShootingProblem::X_

protected

State trajectory (i.e., positions, velocities). Size: num-states x T.

Definition at line 192 of file dynamic_time_indexed_shooting_problem.h.

◆ X_diff_

Eigen::MatrixXd exotica::DynamicTimeIndexedShootingProblem::X_diff_

protected

Difference between X_ and X_star_. Size: ndx x T.

Definition at line 195 of file dynamic_time_indexed_shooting_problem.h.

◆ X_star_

Eigen::MatrixXd exotica::DynamicTimeIndexedShootingProblem::X_star_

protected

Goal state trajectory (i.e., positions, velocities). Size: num-states x T.

Definition at line 194 of file dynamic_time_indexed_shooting_problem.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DynamicTimeIndexedShootingProblem()

◆ ~DynamicTimeIndexedShootingProblem()

Member Function Documentation

◆ ApplyStartState()

◆ DisableStochasticUpdates()

◆ EnableStochasticUpdates()

◆ get_control_cost_weight()

◆ get_F()

◆ get_loss_type()

◆ get_Q()

◆ get_Qf()

◆ get_R()

◆ get_T()

◆ get_tau()

◆ get_U() [1/2]

◆ get_U() [2/2]

◆ get_X() [1/2]

◆ get_X() [2/2]

◆ get_X_star()

◆ GetControlCost()

◆ GetControlCostHessian()

◆ GetControlCostJacobian()

◆ GetControlNoiseJacobian()

◆ GetStateControlCostHessian()

◆ GetStateCost()

◆ GetStateCostHessian()

◆ GetStateCostJacobian()

◆ Instantiate()

◆ InstantiateCostTerms()

◆ OnSolverIterationEnd()

◆ PreUpdate()

◆ ReinitializeVariables()

◆ set_control_cost_weight()

◆ set_loss_type()

◆ set_Q()

◆ set_Qf()

◆ set_T()

◆ set_U()

◆ set_X()

◆ set_X_star()

◆ Update() [1/2]

◆ Update() [2/2]

◆ UpdateTaskMaps()

◆ UpdateTerminalState()

◆ ValidateTimeIndex()

Member Data Documentation

◆ bimodal_huber_mode1_

◆ bimodal_huber_mode2_

◆ Ci_

◆ control_cost_hessian_

◆ control_cost_jacobian_

◆ control_cost_weight_

◆ cost

◆ cost_Phi

◆ CW_

◆ ddPhi_ddu

◆ ddPhi_ddx

◆ ddPhi_dxdu

◆ dPhi_du

◆ dPhi_dx

◆ dxdiff_

◆ general_cost_hessian_

◆ general_cost_jacobian_

◆ generator_

◆ huber_rate_

◆ kinematic_solutions_

◆ l1_rate_

◆ length_jacobian

◆ length_Phi

◆ loss_type_

◆ num_tasks

◆ Phi

◆ Q_

◆ Qf_