Arbitrarily constrained end-pose problem implementation. More...

#include <end_pose_problem.h>

Inheritance diagram for exotica::EndPoseProblem:

[legend]

Public Member Functions
	EndPoseProblem ()

Eigen::MatrixXd	GetBounds () const

Eigen::VectorXd	GetEquality ()

Eigen::MatrixXd	GetEqualityJacobian ()

Eigen::VectorXd	GetGoal (const std::string &task_name)

Eigen::VectorXd	GetGoalEQ (const std::string &task_name)

Eigen::VectorXd	GetGoalNEQ (const std::string &task_name)

Eigen::VectorXd	GetInequality ()

Eigen::MatrixXd	GetInequalityJacobian ()

double	GetRho (const std::string &task_name)

double	GetRhoEQ (const std::string &task_name)

double	GetRhoNEQ (const std::string &task_name)

double	GetScalarCost ()

Eigen::RowVectorXd	GetScalarJacobian ()

double	GetScalarTaskCost (const std::string &task_name) const

void	Instantiate (const EndPoseProblemInitializer &init) override

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

void	PreUpdate () override

void	SetGoal (const std::string &task_name, Eigen::VectorXdRefConst goal)

void	SetGoalEQ (const std::string &task_name, Eigen::VectorXdRefConst goal)

void	SetGoalNEQ (const std::string &task_name, Eigen::VectorXdRefConst goal)

void	SetRho (const std::string &task_name, const double &rho)

void	SetRhoEQ (const std::string &task_name, const double &rho)

void	SetRhoNEQ (const std::string &task_name, const double &rho)

void	Update (Eigen::VectorXdRefConst x)

virtual	~EndPoseProblem ()

Public Member Functions inherited from exotica::PlanningProblem
virtual Eigen::VectorXd	ApplyStartState (bool update_traj=true)

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

	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
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

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

Initializer	GetInitializerTemplate () override

const EndPoseProblemInitializer &	GetParameters () const

void	InstantiateInternal (const Initializer &init) override

Public Attributes
EndPoseTask	cost

EndPoseTask	equality

Hessian	hessian

EndPoseTask	inequality

Eigen::MatrixXd	jacobian

int	length_jacobian

int	length_Phi

int	num_tasks

TaskSpaceVector	Phi

bool	use_bounds

Eigen::MatrixXd	W

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

double	t_start

TerminationCriterion	termination_criterion

Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

Additional Inherited Members
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 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_

TaskMapMap	task_maps_

TaskMapVec	tasks_

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

Detailed Description

Arbitrarily constrained end-pose problem implementation.

Definition at line 41 of file end_pose_problem.h.

Constructor & Destructor Documentation

exotica::EndPoseProblem::EndPoseProblem ( )

Definition at line 39 of file end_pose_problem.cpp.

exotica::EndPoseProblem::~EndPoseProblem ( )

virtualdefault

Member Function Documentation

Eigen::MatrixXd exotica::EndPoseProblem::GetBounds ( ) const

Definition at line 46 of file end_pose_problem.cpp.

Eigen::VectorXd exotica::EndPoseProblem::GetEquality ( )

Definition at line 137 of file end_pose_problem.cpp.

Eigen::MatrixXd exotica::EndPoseProblem::GetEqualityJacobian ( )

Definition at line 142 of file end_pose_problem.cpp.

Eigen::VectorXd exotica::EndPoseProblem::GetGoal ( const std::string & task_name )

Definition at line 237 of file end_pose_problem.cpp.

Eigen::VectorXd exotica::EndPoseProblem::GetGoalEQ ( const std::string & task_name )

Definition at line 289 of file end_pose_problem.cpp.

Eigen::VectorXd exotica::EndPoseProblem::GetGoalNEQ ( const std::string & task_name )

Definition at line 341 of file end_pose_problem.cpp.

Eigen::VectorXd exotica::EndPoseProblem::GetInequality ( )

Definition at line 147 of file end_pose_problem.cpp.

Eigen::MatrixXd exotica::EndPoseProblem::GetInequalityJacobian ( )

Definition at line 152 of file end_pose_problem.cpp.

double exotica::EndPoseProblem::GetRho ( const std::string & task_name )

Definition at line 249 of file end_pose_problem.cpp.

double exotica::EndPoseProblem::GetRhoEQ ( const std::string & task_name )

Definition at line 301 of file end_pose_problem.cpp.

double exotica::EndPoseProblem::GetRhoNEQ ( const std::string & task_name )

Definition at line 353 of file end_pose_problem.cpp.

double exotica::EndPoseProblem::GetScalarCost ( )

Definition at line 115 of file end_pose_problem.cpp.

Eigen::RowVectorXd exotica::EndPoseProblem::GetScalarJacobian ( )

Definition at line 120 of file end_pose_problem.cpp.

double exotica::EndPoseProblem::GetScalarTaskCost ( const std::string & task_name ) const

Definition at line 125 of file end_pose_problem.cpp.

void exotica::EndPoseProblem::Instantiate ( const EndPoseProblemInitializer & init )

overridevirtual

Reimplemented from exotica::Instantiable< EndPoseProblemInitializer >.

Definition at line 51 of file end_pose_problem.cpp.

bool exotica::EndPoseProblem::IsValid ( )

overridevirtual

Evaluates whether the problem is valid.

Reimplemented from exotica::PlanningProblem.

Definition at line 365 of file end_pose_problem.cpp.

void exotica::EndPoseProblem::PreUpdate ( )

overridevirtual

Reimplemented from exotica::PlanningProblem.

Definition at line 106 of file end_pose_problem.cpp.

void exotica::EndPoseProblem::SetGoal	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal
	)

Definition at line 209 of file end_pose_problem.cpp.

void exotica::EndPoseProblem::SetGoalEQ	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal
	)

Definition at line 261 of file end_pose_problem.cpp.

void exotica::EndPoseProblem::SetGoalNEQ	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal
	)

Definition at line 313 of file end_pose_problem.cpp.

void exotica::EndPoseProblem::SetRho	(	const std::string &	task_name,
		const double &	rho
	)

Definition at line 223 of file end_pose_problem.cpp.

void exotica::EndPoseProblem::SetRhoEQ	(	const std::string &	task_name,
		const double &	rho
	)

Definition at line 275 of file end_pose_problem.cpp.

void exotica::EndPoseProblem::SetRhoNEQ	(	const std::string &	task_name,
		const double &	rho
	)

Definition at line 327 of file end_pose_problem.cpp.

void exotica::EndPoseProblem::Update ( Eigen::VectorXdRefConst x )

Definition at line 157 of file end_pose_problem.cpp.

Member Data Documentation

EndPoseTask exotica::EndPoseProblem::cost

Definition at line 74 of file end_pose_problem.h.

EndPoseTask exotica::EndPoseProblem::equality

Definition at line 76 of file end_pose_problem.h.

Hessian exotica::EndPoseProblem::hessian

Definition at line 81 of file end_pose_problem.h.

EndPoseTask exotica::EndPoseProblem::inequality

Definition at line 75 of file end_pose_problem.h.

Eigen::MatrixXd exotica::EndPoseProblem::jacobian

Definition at line 80 of file end_pose_problem.h.

int exotica::EndPoseProblem::length_jacobian

Definition at line 84 of file end_pose_problem.h.

int exotica::EndPoseProblem::length_Phi

Definition at line 83 of file end_pose_problem.h.

int exotica::EndPoseProblem::num_tasks

Definition at line 85 of file end_pose_problem.h.

TaskSpaceVector exotica::EndPoseProblem::Phi

Definition at line 79 of file end_pose_problem.h.

bool exotica::EndPoseProblem::use_bounds

Definition at line 86 of file end_pose_problem.h.

Eigen::MatrixXd exotica::EndPoseProblem::W

Definition at line 78 of file end_pose_problem.h.

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

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation