Time-indexed problem with bound, joint velocity, and general equality/inequality constraints. More...
#include <time_indexed_problem.h>
Inheritance diagram for exotica::TimeIndexedProblem:
Public Member Functions | |
| void | Instantiate (const TimeIndexedProblemInitializer &init) override |
| Instantiates the problem from an Initializer. More... | |
| bool | IsValid () override |
| Evaluates whether the problem is valid, i.e., all bound and general constraints are satisfied. More... | |
| TimeIndexedProblem ()=default | |
| virtual | ~TimeIndexedProblem ()=default |
 Public Member Functions inherited from exotica::AbstractTimeIndexedProblem | |
| AbstractTimeIndexedProblem () | |
| int | get_active_nonlinear_equality_constraints_dimension () const |
| Returns the dimension of the active equality constraints. More... | |
| int | get_active_nonlinear_inequality_constraints_dimension () const |
| Returns the dimension of the active inequality constraints. More... | |
| double | get_ct () const |
| Returns the cost scaling factor. More... | |
| int | get_joint_velocity_constraint_dimension () const |
| Returns the dimension of the joint velocity constraint (linear inequality). More... | |
| Eigen::MatrixXd | GetBounds () const |
| Returns the joint bounds (first column lower, second column upper). More... | |
| double | GetCost () const |
| Returns the scalar cost for the entire trajectory (both task and transition cost). More... | |
| Eigen::RowVectorXd | GetCostJacobian () const |
| Returns the Jacobian of the scalar cost over the entire trajectory (Jacobian of GetCost). More... | |
| double | GetDuration () const |
| Returns the duration of the trajectory (T * tau). More... | |
| Eigen::VectorXd | GetEquality () const |
| Returns the equality constraint values for the entire trajectory. More... | |
| Eigen::VectorXd | GetEquality (int t) const |
| Returns the value of the equality constraints at timestep t. More... | |
| Eigen::SparseMatrix< double > | GetEqualityJacobian () const |
| Returns the sparse Jacobian matrix of the equality constraints over the entire trajectory. More... | |
| Eigen::MatrixXd | GetEqualityJacobian (int t) const |
| Returns the Jacobian of the equality constraints at timestep t. More... | |
| std::vector< Eigen::Triplet< double > > | GetEqualityJacobianTriplets () const |
| Returns a vector of triplets to fill a sparse Jacobian for the equality constraints. More... | |
| Eigen::VectorXd | GetGoal (const std::string &task_name, int t=0) |
| Returns the goal for a given task at a given timestep (cost task). More... | |
| Eigen::VectorXd | GetGoalEQ (const std::string &task_name, int t=0) |
| Returns the goal for a given task at a given timestep (equality task). More... | |
| Eigen::VectorXd | GetGoalNEQ (const std::string &task_name, int t=0) |
| Returns the goal for a given task at a given timestep (goal task). More... | |
| Eigen::VectorXd | GetInequality () const |
| Returns the inequality constraint values for the entire trajectory. More... | |
| Eigen::VectorXd | GetInequality (int t) const |
| Returns the value of the inequality constraints at timestep t. More... | |
| Eigen::SparseMatrix< double > | GetInequalityJacobian () const |
| Returns the sparse Jacobian matrix of the inequality constraints over the entire trajectory. More... | |
| Eigen::MatrixXd | GetInequalityJacobian (int t) const |
| Returns the Jacobian of the inequality constraints at timestep t. More... | |
| std::vector< Eigen::Triplet< double > > | GetInequalityJacobianTriplets () const |
| Returns a vector of triplets to fill a sparse Jacobian for the inequality constraints. More... | |
| std::vector< Eigen::VectorXd > | GetInitialTrajectory () const |
| Returns the initial trajectory/seed. More... | |
| Eigen::VectorXd | GetJointVelocityConstraint () const |
| Returns the joint velocity constraint inequality terms (linear). More... | |
| Eigen::MatrixXd | GetJointVelocityConstraintBounds () const |
| Returns the joint velocity constraint bounds (constant terms). More... | |
| std::vector< Eigen::Triplet< double > > | GetJointVelocityConstraintJacobianTriplets () const |
| Returns the joint velocity constraint Jacobian as triplets. More... | |
| Eigen::VectorXd | GetJointVelocityLimits () const |
| Returns the per-DoF joint velocity limit vector. More... | |
| double | GetRho (const std::string &task_name, int t=0) |
| Returns the precision (Rho) for a given task at a given timestep (cost task). More... | |
| double | GetRhoEQ (const std::string &task_name, int t=0) |
| Returns the precision (Rho) for a given task at a given timestep (equality task). More... | |
| double | GetRhoNEQ (const std::string &task_name, int t=0) |
| Returns the precision (Rho) for a given task at a given timestep (equality task). More... | |
| double | GetScalarTaskCost (int t) const |
| Returns the scalar task cost at timestep t. More... | |
| Eigen::RowVectorXd | GetScalarTaskJacobian (int t) const |
| Returns the Jacobian of the scalar task cost at timestep t. More... | |
| double | GetScalarTransitionCost (int t) const |
| Returns the scalar transition cost (x^T*W*x) at timestep t. More... | |
| Eigen::RowVectorXd | GetScalarTransitionJacobian (int t) const |
| Returns the Jacobian of the transition cost at timestep t. More... | |
| int | GetT () const |
| Returns the number of timesteps in the trajectory. More... | |
| double | GetTau () const |
| Returns the time discretization tau for the trajectory. More... | |
| virtual void | PreUpdate () |
| Updates internal variables before solving, e.g., after setting new values for Rho. More... | |
| void | SetGoal (const std::string &task_name, Eigen::VectorXdRefConst goal, int t=0) |
| Sets goal for a given task at a given timestep (cost task). More... | |
| void | SetGoalEQ (const std::string &task_name, Eigen::VectorXdRefConst goal, int t=0) |
| Sets goal for a given task at a given timestep (equality task). More... | |
| void | SetGoalNEQ (const std::string &task_name, Eigen::VectorXdRefConst goal, int t=0) |
| Sets goal for a given task at a given timestep (inequality task). More... | |
| void | SetInitialTrajectory (const std::vector< Eigen::VectorXd > &q_init_in) |
| Sets the initial trajectory/seed. More... | |
| void | SetJointVelocityLimits (const Eigen::VectorXd &qdot_max_in) |
| Sets the joint velocity limits. Supports N- and 1-dimensional vectors. More... | |
| void | SetRho (const std::string &task_name, const double rho, int t=0) |
| Sets Rho for a given task at a given timestep (cost task). More... | |
| void | SetRhoEQ (const std::string &task_name, const double rho, int t=0) |
| Sets Rho for a given task at a given timestep (equality task). More... | |
| void | SetRhoNEQ (const std::string &task_name, const double rho, int t=0) |
| Sets Rho for a given task at a given timestep (inequality task). More... | |
| void | SetT (const int T_in) |
| Sets the number of timesteps in the trajectory. Note: Rho/Goal need to be updated for every timestep after calling this method. More... | |
| void | SetTau (const double tau_in) |
| Sets the time discretization tau for the trajectory. More... | |
| void | Update (Eigen::VectorXdRefConst x_trajectory_in) |
| Updates the entire problem from a given trajectory (e.g., used in an optimization solver) More... | |
| virtual void | Update (Eigen::VectorXdRefConst x_in, int t) |
| Updates an individual timestep from a given state vector. More... | |
| virtual | ~AbstractTimeIndexedProblem () |
| 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< TimeIndexedProblemInitializer > | |
| std::vector< Initializer > | GetAllTemplates () const override |
| Initializer | GetInitializerTemplate () override |
| const TimeIndexedProblemInitializer & | GetParameters () const |
| void | InstantiateInternal (const Initializer &init) override |
Additional Inherited Members | |
| Public Attributes inherited from exotica::AbstractTimeIndexedProblem | |
| TimeIndexedTask | cost |
| Cost task. More... | |
| TimeIndexedTask | equality |
| General equality task. More... | |
| std::vector< Hessian > | hessian |
| TimeIndexedTask | inequality |
| General inequality task. More... | |
| std::vector< Eigen::MatrixXd > | jacobian |
| int | length_jacobian |
| int | length_Phi |
| int | num_tasks |
| std::vector< 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_ |
| Protected Member Functions inherited from exotica::AbstractTimeIndexedProblem | |
| virtual void | ReinitializeVariables () |
| 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 inherited from exotica::AbstractTimeIndexedProblem | |
| std::vector< std::pair< int, int > > | active_nonlinear_equality_constraints_ |
| int | active_nonlinear_equality_constraints_dimension_ = 0 |
| std::vector< std::pair< int, int > > | active_nonlinear_inequality_constraints_ |
| int | active_nonlinear_inequality_constraints_dimension_ = 0 |
| TaskSpaceVector | cost_Phi |
| double | ct |
| Normalisation of scalar cost and Jacobian over trajectory length. More... | |
| TaskSpaceVector | equality_Phi |
| TaskSpaceVector | inequality_Phi |
| std::vector< Eigen::VectorXd > | initial_trajectory_ |
| int | joint_velocity_constraint_dimension_ = 0 |
| std::vector< Eigen::Triplet< double > > | joint_velocity_constraint_jacobian_triplets_ |
| std::vector< std::shared_ptr< KinematicResponse > > | kinematic_solutions_ |
| Eigen::VectorXd | q_dot_max_ |
| Joint velocity limit (rad/s) More... | |
| int | T_ = 0 |
| Number of time steps. More... | |
| double | tau_ = 0 |
| Time step duration. More... | |
| double | w_scale_ = 1.0 |
| Kinematic system transition error covariance multiplier (constant throughout the trajectory) More... | |
| std::vector< Eigen::VectorXd > | x |
| Current internal problem state. More... | |
| std::vector< Eigen::VectorXd > | xdiff |
| Eigen::VectorXd | xdiff_max_ |
| Maximum change in the variables in a single timestep tau_. Gets set/updated via SetJointVelocityLimits or ReinitializeVariables. 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_ |
| TaskMapMap | task_maps_ |
| TaskMapVec | tasks_ |
| Protected Attributes inherited from exotica::Instantiable< TimeIndexedProblemInitializer > | |
| TimeIndexedProblemInitializer | parameters_ |
Detailed Description
Time-indexed problem with bound, joint velocity, and general equality/inequality constraints.
Definition at line 39 of file time_indexed_problem.h.
Constructor & Destructor Documentation
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default |
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virtualdefault |
Member Function Documentation
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overridevirtual |
Instantiates the problem from an Initializer.
Reimplemented from exotica::Instantiable< TimeIndexedProblemInitializer >.
Definition at line 37 of file time_indexed_problem.cpp.
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overridevirtual |
Evaluates whether the problem is valid, i.e., all bound and general constraints are satisfied.
Reimplemented from exotica::PlanningProblem.
Definition at line 87 of file time_indexed_problem.cpp.
The documentation for this class was generated from the following files: