Inheritance diagram for exotica::LevenbergMarquardtSolver:

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Public Member Functions
void	Solve (Eigen::MatrixXd &solution) override

void	SpecifyProblem (PlanningProblemPtr pointer) override

Public Member Functions inherited from exotica::MotionSolver
int	GetNumberOfMaxIterations ()

double	GetPlanningTime ()

PlanningProblemPtr	GetProblem () const

void	InstantiateBase (const Initializer &init) override

	MotionSolver ()=default

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

void	SetNumberOfMaxIterations (int max_iter)

virtual	~MotionSolver ()=default

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

void	InstantiateObject (const Initializer &init)

	Object ()

virtual std::string	type () const

virtual	~Object ()

Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

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

Initializer	GetInitializerTemplate () override

const LevenbergMarquardtSolverInitializer &	GetParameters () const

virtual void	Instantiate (const LevenbergMarquardtSolverInitializer &init)

void	InstantiateInternal (const Initializer &init) override

Private Attributes
Eigen::MatrixXd	cost_jacobian_
	Jacobian, used during optimisation. More...

double	error_
	Error, used during optimisation. More...

double	error_prev_
	Previous iteration error, used during optimisation. More...

Eigen::MatrixXd	JT_times_J_
	Gauss-Newton Hessian approximation (J^T * J) More...

double	lambda_ = 0
	Damping factor. More...

Eigen::LLT< Eigen::MatrixXd >	llt_
	Cholesky decomposition for J^T*J. More...

Eigen::MatrixXd	M_
	Scaling matrix, used for regularisation. More...

UnconstrainedEndPoseProblemPtr	prob_
	Shared pointer to the planning problem. More...

Eigen::VectorXd	q_
	Joint configuration vector, used during optimisation. More...

Eigen::VectorXd	qd_
	Change in joint configuration, used during optimisation. More...

Eigen::VectorXd	yd_
	Task space difference/error, used during optimisation. More...

Additional Inherited Members
Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

Protected Attributes inherited from exotica::MotionSolver
int	max_iterations_

double	planning_time_

PlanningProblemPtr	problem_

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