#include <time_indexed_sampling_problem.h>
Public Member Functions | |
| std::vector< double > | GetBounds () |
| Eigen::VectorXd | GetGoalEQ (const std::string &task_name) |
| Eigen::VectorXd | GetGoalNEQ (const std::string &task_name) |
| Eigen::VectorXd | GetGoalState () const |
| double | GetGoalTime () const |
| double | GetRhoEQ (const std::string &task_name) |
| double | GetRhoNEQ (const std::string &task_name) |
| int | GetSpaceDim () |
| void | Instantiate (const TimeIndexedSamplingProblemInitializer &init) override |
| bool | IsValid (Eigen::VectorXdRefConst x, const double &t) |
| void | PreUpdate () override |
| void | SetGoalEQ (const std::string &task_name, Eigen::VectorXdRefConst goal) |
| void | SetGoalNEQ (const std::string &task_name, Eigen::VectorXdRefConst goal) |
| void | SetGoalState (Eigen::VectorXdRefConst qT) |
| void | SetGoalTime (const double &t) |
| void | SetRhoEQ (const std::string &task_name, const double &rho) |
| void | SetRhoNEQ (const std::string &task_name, const double &rho) |
| TimeIndexedSamplingProblem () | |
| void | Update (Eigen::VectorXdRefConst x, const double &t) |
| virtual | ~TimeIndexedSamplingProblem () |
 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 |
| 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 | |
| InstantiableBase ()=default | |
| virtual | ~InstantiableBase ()=default |
| Public Member Functions inherited from exotica::Instantiable< TimeIndexedSamplingProblemInitializer > | |
| std::vector< Initializer > | GetAllTemplates () const override |
| Initializer | GetInitializerTemplate () override |
| const TimeIndexedSamplingProblemInitializer & | GetParameters () const |
| void | InstantiateInternal (const Initializer &init) override |
Public Attributes | |
| TaskSpaceVector | constraint_phi |
| SamplingTask | equality |
| SamplingTask | inequality |
| int | length_jacobian |
| int | length_Phi |
| int | num_tasks |
| TimeIndexedSamplingProblemInitializer | parameters |
| TaskSpaceVector | Phi |
| Eigen::VectorXd | vel_limits |
| 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_ |
Private Attributes | |
| Eigen::VectorXd | goal_ |
| Goal state to reach (spatial) at temporal goal (t_goal_) More... | |
| double | t_goal_ |
| Goal time: The time at which goal_ should be reached and the upper bound for the time-dimension. More... | |
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< TimeIndexedSamplingProblemInitializer > | |
| TimeIndexedSamplingProblemInitializer | parameters_ |
Detailed Description
Definition at line 40 of file time_indexed_sampling_problem.h.
Constructor & Destructor Documentation
| exotica::TimeIndexedSamplingProblem::TimeIndexedSamplingProblem | ( | ) |
Definition at line 37 of file time_indexed_sampling_problem.cpp.
|
virtualdefault |
Member Function Documentation
| std::vector< double > exotica::TimeIndexedSamplingProblem::GetBounds | ( | ) |
Definition at line 44 of file time_indexed_sampling_problem.cpp.
| Eigen::VectorXd exotica::TimeIndexedSamplingProblem::GetGoalEQ | ( | const std::string & | task_name | ) |
Definition at line 184 of file time_indexed_sampling_problem.cpp.
| Eigen::VectorXd exotica::TimeIndexedSamplingProblem::GetGoalNEQ | ( | const std::string & | task_name | ) |
Definition at line 236 of file time_indexed_sampling_problem.cpp.
| Eigen::VectorXd exotica::TimeIndexedSamplingProblem::GetGoalState | ( | ) | const |
Definition at line 144 of file time_indexed_sampling_problem.cpp.
| double exotica::TimeIndexedSamplingProblem::GetGoalTime | ( | ) | const |
Definition at line 134 of file time_indexed_sampling_problem.cpp.
| double exotica::TimeIndexedSamplingProblem::GetRhoEQ | ( | const std::string & | task_name | ) |
Definition at line 196 of file time_indexed_sampling_problem.cpp.
| double exotica::TimeIndexedSamplingProblem::GetRhoNEQ | ( | const std::string & | task_name | ) |
Definition at line 248 of file time_indexed_sampling_problem.cpp.
| int exotica::TimeIndexedSamplingProblem::GetSpaceDim | ( | ) |
Definition at line 297 of file time_indexed_sampling_problem.cpp.
|
overridevirtual |
Reimplemented from exotica::Instantiable< TimeIndexedSamplingProblemInitializer >.
Definition at line 59 of file time_indexed_sampling_problem.cpp.
| bool exotica::TimeIndexedSamplingProblem::IsValid | ( | Eigen::VectorXdRefConst | x, |
| const double & | t | ||
| ) |
Definition at line 260 of file time_indexed_sampling_problem.cpp.
|
overridevirtual |
Reimplemented from exotica::PlanningProblem.
Definition at line 283 of file time_indexed_sampling_problem.cpp.
| void exotica::TimeIndexedSamplingProblem::SetGoalEQ | ( | const std::string & | task_name, |
| Eigen::VectorXdRefConst | goal | ||
| ) |
Definition at line 156 of file time_indexed_sampling_problem.cpp.
| void exotica::TimeIndexedSamplingProblem::SetGoalNEQ | ( | const std::string & | task_name, |
| Eigen::VectorXdRefConst | goal | ||
| ) |
Definition at line 208 of file time_indexed_sampling_problem.cpp.
| void exotica::TimeIndexedSamplingProblem::SetGoalState | ( | Eigen::VectorXdRefConst | qT | ) |
Definition at line 149 of file time_indexed_sampling_problem.cpp.
| void exotica::TimeIndexedSamplingProblem::SetGoalTime | ( | const double & | t | ) |
Definition at line 139 of file time_indexed_sampling_problem.cpp.
| void exotica::TimeIndexedSamplingProblem::SetRhoEQ | ( | const std::string & | task_name, |
| const double & | rho | ||
| ) |
Definition at line 170 of file time_indexed_sampling_problem.cpp.
| void exotica::TimeIndexedSamplingProblem::SetRhoNEQ | ( | const std::string & | task_name, |
| const double & | rho | ||
| ) |
Definition at line 222 of file time_indexed_sampling_problem.cpp.
| void exotica::TimeIndexedSamplingProblem::Update | ( | Eigen::VectorXdRefConst | x, |
| const double & | t | ||
| ) |
Definition at line 291 of file time_indexed_sampling_problem.cpp.
Member Data Documentation
| TaskSpaceVector exotica::TimeIndexedSamplingProblem::constraint_phi |
Definition at line 78 of file time_indexed_sampling_problem.h.
| SamplingTask exotica::TimeIndexedSamplingProblem::equality |
Definition at line 76 of file time_indexed_sampling_problem.h.
|
private |
Goal state to reach (spatial) at temporal goal (t_goal_)
Definition at line 86 of file time_indexed_sampling_problem.h.
| SamplingTask exotica::TimeIndexedSamplingProblem::inequality |
Definition at line 75 of file time_indexed_sampling_problem.h.
| int exotica::TimeIndexedSamplingProblem::length_jacobian |
Definition at line 81 of file time_indexed_sampling_problem.h.
| int exotica::TimeIndexedSamplingProblem::length_Phi |
Definition at line 80 of file time_indexed_sampling_problem.h.
| int exotica::TimeIndexedSamplingProblem::num_tasks |
Definition at line 82 of file time_indexed_sampling_problem.h.
| TimeIndexedSamplingProblemInitializer exotica::TimeIndexedSamplingProblem::parameters |
Definition at line 77 of file time_indexed_sampling_problem.h.
| TaskSpaceVector exotica::TimeIndexedSamplingProblem::Phi |
Definition at line 74 of file time_indexed_sampling_problem.h.
|
private |
Goal time: The time at which goal_ should be reached and the upper bound for the time-dimension.
Definition at line 85 of file time_indexed_sampling_problem.h.
| Eigen::VectorXd exotica::TimeIndexedSamplingProblem::vel_limits |
Definition at line 73 of file time_indexed_sampling_problem.h.
The documentation for this class was generated from the following files: