23 #ifndef EXOTICA_LEVENBERG_MARQUARDT_SOLVER_LEVENBERG_MARQUARDT_SOLVER_H_ 24 #define EXOTICA_LEVENBERG_MARQUARDT_SOLVER_LEVENBERG_MARQUARDT_SOLVER_H_ 29 #include <exotica_levenberg_marquardt_solver/levenberg_marquardt_solver_initializer.h> 36 void Solve(Eigen::MatrixXd& solution)
override;
53 Eigen::LLT<Eigen::MatrixXd>
llt_;
57 #endif // EXOTICA_LEVENBERG_MARQUARDT_SOLVER_LEVENBERG_MARQUARDT_SOLVER_H_ double lambda_
Damping factor.
Eigen::VectorXd yd_
Task space difference/error, used during optimisation.
Eigen::MatrixXd JT_times_J_
Gauss-Newton Hessian approximation (J^T * J)
Eigen::MatrixXd cost_jacobian_
Jacobian, used during optimisation.
Eigen::MatrixXd M_
Scaling matrix, used for regularisation.
Eigen::VectorXd q_
Joint configuration vector, used during optimisation.
void SpecifyProblem(PlanningProblemPtr pointer) override
void Solve(Eigen::MatrixXd &solution) override
std::shared_ptr< exotica::UnconstrainedEndPoseProblem > UnconstrainedEndPoseProblemPtr
Eigen::VectorXd qd_
Change in joint configuration, used during optimisation.
double error_
Error, used during optimisation.
double error_prev_
Previous iteration error, used during optimisation.
std::shared_ptr< PlanningProblem > PlanningProblemPtr
UnconstrainedEndPoseProblemPtr prob_
Shared pointer to the planning problem.
Eigen::LLT< Eigen::MatrixXd > llt_
Cholesky decomposition for J^T*J.