#include <abstract_time_indexed_problem.h>

Inheritance diagram for exotica::AbstractTimeIndexedProblem:

[legend]

Public Member Functions
	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^TWx) 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...

virtual void	Update (Eigen::VectorXdRefConst x_in, int t)
	Updates an individual timestep from a given state vector. 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	~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

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
virtual std::vector< Initializer >	GetAllTemplates () const =0

virtual Initializer	GetInitializerTemplate ()=0

	InstantiableBase ()=default

virtual void	InstantiateInternal (const Initializer &init)=0

virtual	~InstantiableBase ()=default

Public Attributes
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

TerminationCriterion	termination_criterion

Public Attributes inherited from exotica::Object
bool	debug_

std::string	ns_

std::string	object_name_

Protected Member Functions
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
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_

double	t_start {0.0}

TaskMapMap	task_maps_

TaskMapVec	tasks_

Detailed Description

Definition at line 40 of file abstract_time_indexed_problem.h.

Constructor & Destructor Documentation

◆ AbstractTimeIndexedProblem()

exotica::AbstractTimeIndexedProblem::AbstractTimeIndexedProblem ( )

Definition at line 35 of file abstract_time_indexed_problem.cpp.

◆ ~AbstractTimeIndexedProblem()

exotica::AbstractTimeIndexedProblem::~AbstractTimeIndexedProblem ( )

virtualdefault

Member Function Documentation

◆ get_active_nonlinear_equality_constraints_dimension()

int exotica::AbstractTimeIndexedProblem::get_active_nonlinear_equality_constraints_dimension ( ) const

Returns the dimension of the active equality constraints.

Definition at line 344 of file abstract_time_indexed_problem.cpp.

◆ get_active_nonlinear_inequality_constraints_dimension()

int exotica::AbstractTimeIndexedProblem::get_active_nonlinear_inequality_constraints_dimension ( ) const

Returns the dimension of the active inequality constraints.

Definition at line 349 of file abstract_time_indexed_problem.cpp.

◆ get_ct()

double exotica::AbstractTimeIndexedProblem::get_ct ( ) const

Returns the cost scaling factor.

Definition at line 294 of file abstract_time_indexed_problem.cpp.

◆ get_joint_velocity_constraint_dimension()

int exotica::AbstractTimeIndexedProblem::get_joint_velocity_constraint_dimension ( ) const

Returns the dimension of the joint velocity constraint (linear inequality).

Definition at line 492 of file abstract_time_indexed_problem.cpp.

◆ GetBounds()

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

Returns the joint bounds (first column lower, second column upper).

Definition at line 42 of file abstract_time_indexed_problem.cpp.

◆ GetCost()

double exotica::AbstractTimeIndexedProblem::GetCost ( ) const

Returns the scalar cost for the entire trajectory (both task and transition cost).

Definition at line 299 of file abstract_time_indexed_problem.cpp.

◆ GetCostJacobian()

Eigen::RowVectorXd exotica::AbstractTimeIndexedProblem::GetCostJacobian ( ) const

Returns the Jacobian of the scalar cost over the entire trajectory (Jacobian of GetCost).

Definition at line 309 of file abstract_time_indexed_problem.cpp.

◆ GetDuration()

double exotica::AbstractTimeIndexedProblem::GetDuration ( ) const

Returns the duration of the trajectory (T * tau).

Definition at line 204 of file abstract_time_indexed_problem.cpp.

◆ GetEquality() [1/2]

Eigen::VectorXd exotica::AbstractTimeIndexedProblem::GetEquality ( ) const

Returns the equality constraint values for the entire trajectory.

Definition at line 354 of file abstract_time_indexed_problem.cpp.

◆ GetEquality() [2/2]

Eigen::VectorXd exotica::AbstractTimeIndexedProblem::GetEquality ( int t ) const

Returns the value of the equality constraints at timestep t.

Definition at line 411 of file abstract_time_indexed_problem.cpp.

◆ GetEqualityJacobian() [1/2]

Eigen::SparseMatrix< double > exotica::AbstractTimeIndexedProblem::GetEqualityJacobian ( ) const

Returns the sparse Jacobian matrix of the equality constraints over the entire trajectory.

Definition at line 369 of file abstract_time_indexed_problem.cpp.

◆ GetEqualityJacobian() [2/2]

Eigen::MatrixXd exotica::AbstractTimeIndexedProblem::GetEqualityJacobian ( int t ) const

Returns the Jacobian of the equality constraints at timestep t.

Definition at line 417 of file abstract_time_indexed_problem.cpp.

◆ GetEqualityJacobianTriplets()

std::vector< Eigen::Triplet< double > > exotica::AbstractTimeIndexedProblem::GetEqualityJacobianTriplets ( ) const

Returns a vector of triplets to fill a sparse Jacobian for the equality constraints.

Definition at line 377 of file abstract_time_indexed_problem.cpp.

◆ GetGoal()

Eigen::VectorXd exotica::AbstractTimeIndexedProblem::GetGoal	(	const std::string &	task_name,
		int	t = `0`
	)

Returns the goal for a given task at a given timestep (cost task).

Parameters

task_name	Name of task
t	Timestep

Definition at line 561 of file abstract_time_indexed_problem.cpp.

◆ GetGoalEQ()

Eigen::VectorXd exotica::AbstractTimeIndexedProblem::GetGoalEQ	(	const std::string &	task_name,
		int	t = `0`
	)

Returns the goal for a given task at a given timestep (equality task).

Parameters

task_name	Name of task
t	Timestep

Definition at line 582 of file abstract_time_indexed_problem.cpp.

◆ GetGoalNEQ()

Eigen::VectorXd exotica::AbstractTimeIndexedProblem::GetGoalNEQ	(	const std::string &	task_name,
		int	t = `0`
	)

Returns the goal for a given task at a given timestep (goal task).

Parameters

task_name	Name of task
t	Timestep

Definition at line 603 of file abstract_time_indexed_problem.cpp.

◆ GetInequality() [1/2]

Eigen::VectorXd exotica::AbstractTimeIndexedProblem::GetInequality ( ) const

Returns the inequality constraint values for the entire trajectory.

Definition at line 423 of file abstract_time_indexed_problem.cpp.

◆ GetInequality() [2/2]

Eigen::VectorXd exotica::AbstractTimeIndexedProblem::GetInequality ( int t ) const

Returns the value of the inequality constraints at timestep t.

Definition at line 480 of file abstract_time_indexed_problem.cpp.

◆ GetInequalityJacobian() [1/2]

Eigen::SparseMatrix< double > exotica::AbstractTimeIndexedProblem::GetInequalityJacobian ( ) const

Returns the sparse Jacobian matrix of the inequality constraints over the entire trajectory.

Definition at line 438 of file abstract_time_indexed_problem.cpp.

◆ GetInequalityJacobian() [2/2]

Eigen::MatrixXd exotica::AbstractTimeIndexedProblem::GetInequalityJacobian ( int t ) const

Returns the Jacobian of the inequality constraints at timestep t.

Definition at line 486 of file abstract_time_indexed_problem.cpp.

◆ GetInequalityJacobianTriplets()

std::vector< Eigen::Triplet< double > > exotica::AbstractTimeIndexedProblem::GetInequalityJacobianTriplets ( ) const

Returns a vector of triplets to fill a sparse Jacobian for the inequality constraints.

Definition at line 446 of file abstract_time_indexed_problem.cpp.

◆ GetInitialTrajectory()

std::vector< Eigen::VectorXd > exotica::AbstractTimeIndexedProblem::GetInitialTrajectory ( ) const

Returns the initial trajectory/seed.

Definition at line 199 of file abstract_time_indexed_problem.cpp.

◆ GetJointVelocityConstraint()

Eigen::VectorXd exotica::AbstractTimeIndexedProblem::GetJointVelocityConstraint ( ) const

Returns the joint velocity constraint inequality terms (linear).

Definition at line 511 of file abstract_time_indexed_problem.cpp.

◆ GetJointVelocityConstraintBounds()

Eigen::MatrixXd exotica::AbstractTimeIndexedProblem::GetJointVelocityConstraintBounds ( ) const

Returns the joint velocity constraint bounds (constant terms).

Definition at line 521 of file abstract_time_indexed_problem.cpp.

◆ GetJointVelocityConstraintJacobianTriplets()

std::vector< Eigen::Triplet< double > > exotica::AbstractTimeIndexedProblem::GetJointVelocityConstraintJacobianTriplets ( ) const

Returns the joint velocity constraint Jacobian as triplets.

Definition at line 544 of file abstract_time_indexed_problem.cpp.

◆ GetJointVelocityLimits()

Eigen::VectorXd exotica::AbstractTimeIndexedProblem::GetJointVelocityLimits ( ) const

Returns the per-DoF joint velocity limit vector.

Definition at line 497 of file abstract_time_indexed_problem.cpp.

◆ GetRho()

double exotica::AbstractTimeIndexedProblem::GetRho	(	const std::string &	task_name,
		int	t = `0`
	)

Returns the precision (Rho) for a given task at a given timestep (cost task).

Parameters

task_name	Name of task
t	Timestep

Definition at line 566 of file abstract_time_indexed_problem.cpp.

◆ GetRhoEQ()

double exotica::AbstractTimeIndexedProblem::GetRhoEQ	(	const std::string &	task_name,
		int	t = `0`
	)

Returns the precision (Rho) for a given task at a given timestep (equality task).

Parameters

task_name	Name of task
t	Timestep

Definition at line 587 of file abstract_time_indexed_problem.cpp.

◆ GetRhoNEQ()

double exotica::AbstractTimeIndexedProblem::GetRhoNEQ	(	const std::string &	task_name,
		int	t = `0`
	)

Returns the precision (Rho) for a given task at a given timestep (equality task).

Parameters

task_name	Name of task
t	Timestep

Definition at line 608 of file abstract_time_indexed_problem.cpp.

◆ GetScalarTaskCost()

double exotica::AbstractTimeIndexedProblem::GetScalarTaskCost ( int t ) const

Returns the scalar task cost at timestep t.

Definition at line 320 of file abstract_time_indexed_problem.cpp.

◆ GetScalarTaskJacobian()

Eigen::RowVectorXd exotica::AbstractTimeIndexedProblem::GetScalarTaskJacobian ( int t ) const

Returns the Jacobian of the scalar task cost at timestep t.

Definition at line 326 of file abstract_time_indexed_problem.cpp.

◆ GetScalarTransitionCost()

double exotica::AbstractTimeIndexedProblem::GetScalarTransitionCost ( int t ) const

Returns the scalar transition cost (x^T*W*x) at timestep t.

Definition at line 332 of file abstract_time_indexed_problem.cpp.

◆ GetScalarTransitionJacobian()

Eigen::RowVectorXd exotica::AbstractTimeIndexedProblem::GetScalarTransitionJacobian ( int t ) const

Returns the Jacobian of the transition cost at timestep t.

Definition at line 338 of file abstract_time_indexed_problem.cpp.

◆ GetT()

int exotica::AbstractTimeIndexedProblem::GetT ( ) const

Returns the number of timesteps in the trajectory.

Definition at line 113 of file abstract_time_indexed_problem.cpp.

◆ GetTau()

double exotica::AbstractTimeIndexedProblem::GetTau ( ) const

Returns the time discretization tau for the trajectory.

Definition at line 128 of file abstract_time_indexed_problem.cpp.

◆ PreUpdate()

void exotica::AbstractTimeIndexedProblem::PreUpdate ( )

virtual

Updates internal variables before solving, e.g., after setting new values for Rho.

Reimplemented from exotica::PlanningProblem.

Reimplemented in exotica::UnconstrainedTimeIndexedProblem, and exotica::BoundedTimeIndexedProblem.

Definition at line 140 of file abstract_time_indexed_problem.cpp.

◆ ReinitializeVariables()

void exotica::AbstractTimeIndexedProblem::ReinitializeVariables ( )

protectedvirtual

Reimplemented in exotica::UnconstrainedTimeIndexedProblem, and exotica::BoundedTimeIndexedProblem.

Definition at line 47 of file abstract_time_indexed_problem.cpp.

◆ SetGoal()

void exotica::AbstractTimeIndexedProblem::SetGoal	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal,
		int	t = `0`
	)

Sets goal for a given task at a given timestep (cost task).

Parameters

task_name	Name of task
goal	Goal
t	Timestep

Definition at line 550 of file abstract_time_indexed_problem.cpp.

◆ SetGoalEQ()

void exotica::AbstractTimeIndexedProblem::SetGoalEQ	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal,
		int	t = `0`
	)

Sets goal for a given task at a given timestep (equality task).

Parameters

task_name	Name of task
goal	Goal
t	Timestep

Definition at line 571 of file abstract_time_indexed_problem.cpp.

◆ SetGoalNEQ()

void exotica::AbstractTimeIndexedProblem::SetGoalNEQ	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal,
		int	t = `0`
	)

Sets goal for a given task at a given timestep (inequality task).

Parameters

task_name	Name of task
goal	Goal
t	Timestep

Definition at line 592 of file abstract_time_indexed_problem.cpp.

◆ SetInitialTrajectory()

void exotica::AbstractTimeIndexedProblem::SetInitialTrajectory ( const std::vector< Eigen::VectorXd > & q_init_in )

Sets the initial trajectory/seed.

Parameters

q_init_in Vector of states. Expects T states of dimension N.

Definition at line 186 of file abstract_time_indexed_problem.cpp.

◆ SetJointVelocityLimits()

void exotica::AbstractTimeIndexedProblem::SetJointVelocityLimits ( const Eigen::VectorXd & qdot_max_in )

Sets the joint velocity limits. Supports N- and 1-dimensional vectors.

Definition at line 503 of file abstract_time_indexed_problem.cpp.

◆ SetRho()

void exotica::AbstractTimeIndexedProblem::SetRho	(	const std::string &	task_name,
		const double	rho,
		int	t = `0`
	)

Sets Rho for a given task at a given timestep (cost task).

Parameters

task_name	Name of task
rho	Rho (scaling/precision)
t	Timestep

Definition at line 555 of file abstract_time_indexed_problem.cpp.

◆ SetRhoEQ()

void exotica::AbstractTimeIndexedProblem::SetRhoEQ	(	const std::string &	task_name,
		const double	rho,
		int	t = `0`
	)

Sets Rho for a given task at a given timestep (equality task).

Parameters

task_name	Name of task
rho	Rho (scaling/precision)
t	Timestep

Definition at line 576 of file abstract_time_indexed_problem.cpp.

◆ SetRhoNEQ()

void exotica::AbstractTimeIndexedProblem::SetRhoNEQ	(	const std::string &	task_name,
		const double	rho,
		int	t = `0`
	)

Sets Rho for a given task at a given timestep (inequality task).

Parameters

task_name	Name of task
rho	Rho (scaling/precision)
t	Timestep

Definition at line 597 of file abstract_time_indexed_problem.cpp.

◆ SetT()

void exotica::AbstractTimeIndexedProblem::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.

Definition at line 118 of file abstract_time_indexed_problem.cpp.

◆ SetTau()

void exotica::AbstractTimeIndexedProblem::SetTau ( const double tau_in )

Sets the time discretization tau for the trajectory.

Definition at line 133 of file abstract_time_indexed_problem.cpp.

◆ Update() [1/2]

void exotica::AbstractTimeIndexedProblem::Update	(	Eigen::VectorXdRefConst	x_in,
		int	t
	)

virtual

Updates an individual timestep from a given state vector.

Parameters

x_in	State
t	Timestep to update

Reimplemented in exotica::UnconstrainedTimeIndexedProblem, and exotica::BoundedTimeIndexedProblem.

Definition at line 220 of file abstract_time_indexed_problem.cpp.

◆ Update() [2/2]

void exotica::AbstractTimeIndexedProblem::Update ( Eigen::VectorXdRefConst x_trajectory_in )

Updates the entire problem from a given trajectory (e.g., used in an optimization solver)

Parameters

x_trajectory_in Trajectory flattened as a vector; expects dimension: (T - 1) * N

Definition at line 209 of file abstract_time_indexed_problem.cpp.

◆ ValidateTimeIndex()

void exotica::AbstractTimeIndexedProblem::ValidateTimeIndex ( int & t_in ) const

inlineprotected

Checks the desired time index for bounds and supports -1 indexing.

Definition at line 245 of file abstract_time_indexed_problem.h.

Member Data Documentation

◆ active_nonlinear_equality_constraints_

std::vector<std::pair<int, int> > exotica::AbstractTimeIndexedProblem::active_nonlinear_equality_constraints_

protected

Definition at line 278 of file abstract_time_indexed_problem.h.

◆ active_nonlinear_equality_constraints_dimension_

int exotica::AbstractTimeIndexedProblem::active_nonlinear_equality_constraints_dimension_ = 0

protected

Definition at line 280 of file abstract_time_indexed_problem.h.

◆ active_nonlinear_inequality_constraints_

std::vector<std::pair<int, int> > exotica::AbstractTimeIndexedProblem::active_nonlinear_inequality_constraints_

protected

Definition at line 279 of file abstract_time_indexed_problem.h.

◆ active_nonlinear_inequality_constraints_dimension_

int exotica::AbstractTimeIndexedProblem::active_nonlinear_inequality_constraints_dimension_ = 0

protected

Definition at line 281 of file abstract_time_indexed_problem.h.

◆ cost

TimeIndexedTask exotica::AbstractTimeIndexedProblem::cost

Cost task.

Definition at line 224 of file abstract_time_indexed_problem.h.

◆ cost_Phi

TaskSpaceVector exotica::AbstractTimeIndexedProblem::cost_Phi

protected

Definition at line 265 of file abstract_time_indexed_problem.h.

◆ ct

double exotica::AbstractTimeIndexedProblem::ct

protected

Normalisation of scalar cost and Jacobian over trajectory length.

Definition at line 272 of file abstract_time_indexed_problem.h.

◆ equality

TimeIndexedTask exotica::AbstractTimeIndexedProblem::equality

General equality task.

Definition at line 226 of file abstract_time_indexed_problem.h.

◆ equality_Phi

TaskSpaceVector exotica::AbstractTimeIndexedProblem::equality_Phi

protected

Definition at line 267 of file abstract_time_indexed_problem.h.

◆ hessian

std::vector<Hessian> exotica::AbstractTimeIndexedProblem::hessian

Definition at line 233 of file abstract_time_indexed_problem.h.

◆ inequality

TimeIndexedTask exotica::AbstractTimeIndexedProblem::inequality

General inequality task.

Definition at line 225 of file abstract_time_indexed_problem.h.

◆ inequality_Phi

TaskSpaceVector exotica::AbstractTimeIndexedProblem::inequality_Phi

protected

Definition at line 266 of file abstract_time_indexed_problem.h.

◆ initial_trajectory_

std::vector<Eigen::VectorXd> exotica::AbstractTimeIndexedProblem::initial_trajectory_

protected

Definition at line 269 of file abstract_time_indexed_problem.h.

◆ jacobian

std::vector<Eigen::MatrixXd> exotica::AbstractTimeIndexedProblem::jacobian

Definition at line 232 of file abstract_time_indexed_problem.h.

◆ joint_velocity_constraint_dimension_

int exotica::AbstractTimeIndexedProblem::joint_velocity_constraint_dimension_ = 0

protected

Definition at line 284 of file abstract_time_indexed_problem.h.

◆ joint_velocity_constraint_jacobian_triplets_

std::vector<Eigen::Triplet<double> > exotica::AbstractTimeIndexedProblem::joint_velocity_constraint_jacobian_triplets_

protected

Definition at line 285 of file abstract_time_indexed_problem.h.

◆ kinematic_solutions_

std::vector<std::shared_ptr<KinematicResponse> > exotica::AbstractTimeIndexedProblem::kinematic_solutions_

protected

Definition at line 270 of file abstract_time_indexed_problem.h.

◆ length_jacobian

int exotica::AbstractTimeIndexedProblem::length_jacobian

Definition at line 237 of file abstract_time_indexed_problem.h.

◆ length_Phi

int exotica::AbstractTimeIndexedProblem::length_Phi

Definition at line 236 of file abstract_time_indexed_problem.h.

◆ num_tasks

int exotica::AbstractTimeIndexedProblem::num_tasks

Definition at line 238 of file abstract_time_indexed_problem.h.

◆ Phi

std::vector<TaskSpaceVector> exotica::AbstractTimeIndexedProblem::Phi

Definition at line 231 of file abstract_time_indexed_problem.h.

◆ q_dot_max_

Eigen::VectorXd exotica::AbstractTimeIndexedProblem::q_dot_max_

protected

Joint velocity limit (rad/s)

Definition at line 274 of file abstract_time_indexed_problem.h.

◆ T_

int exotica::AbstractTimeIndexedProblem::T_ = 0

protected

Number of time steps.

Definition at line 257 of file abstract_time_indexed_problem.h.

◆ tau_

double exotica::AbstractTimeIndexedProblem::tau_ = 0

protected

Time step duration.

Definition at line 258 of file abstract_time_indexed_problem.h.

◆ use_bounds

bool exotica::AbstractTimeIndexedProblem::use_bounds

Definition at line 239 of file abstract_time_indexed_problem.h.

◆ W

Eigen::MatrixXd exotica::AbstractTimeIndexedProblem::W

Definition at line 228 of file abstract_time_indexed_problem.h.

◆ w_scale_

double exotica::AbstractTimeIndexedProblem::w_scale_ = 1.0

protected

Kinematic system transition error covariance multiplier (constant throughout the trajectory)

Definition at line 263 of file abstract_time_indexed_problem.h.

◆ x

std::vector<Eigen::VectorXd> exotica::AbstractTimeIndexedProblem::x

protected

Current internal problem state.

Definition at line 260 of file abstract_time_indexed_problem.h.

◆ xdiff

std::vector<Eigen::VectorXd> exotica::AbstractTimeIndexedProblem::xdiff

protected

Definition at line 261 of file abstract_time_indexed_problem.h.

◆ xdiff_max_

Eigen::VectorXd exotica::AbstractTimeIndexedProblem::xdiff_max_

protected

Maximum change in the variables in a single timestep tau_. Gets set/updated via SetJointVelocityLimits or ReinitializeVariables.

Definition at line 275 of file abstract_time_indexed_problem.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AbstractTimeIndexedProblem()

◆ ~AbstractTimeIndexedProblem()

Member Function Documentation

◆ get_active_nonlinear_equality_constraints_dimension()

◆ get_active_nonlinear_inequality_constraints_dimension()

◆ get_ct()

◆ get_joint_velocity_constraint_dimension()

◆ GetBounds()

◆ GetCost()

◆ GetCostJacobian()

◆ GetDuration()

◆ GetEquality() [1/2]

◆ GetEquality() [2/2]

◆ GetEqualityJacobian() [1/2]

◆ GetEqualityJacobian() [2/2]

◆ GetEqualityJacobianTriplets()

◆ GetGoal()

◆ GetGoalEQ()

◆ GetGoalNEQ()

◆ GetInequality() [1/2]

◆ GetInequality() [2/2]

◆ GetInequalityJacobian() [1/2]

◆ GetInequalityJacobian() [2/2]

◆ GetInequalityJacobianTriplets()

◆ GetInitialTrajectory()

◆ GetJointVelocityConstraint()

◆ GetJointVelocityConstraintBounds()

◆ GetJointVelocityConstraintJacobianTriplets()

◆ GetJointVelocityLimits()

◆ GetRho()

◆ GetRhoEQ()

◆ GetRhoNEQ()

◆ GetScalarTaskCost()

◆ GetScalarTaskJacobian()

◆ GetScalarTransitionCost()

◆ GetScalarTransitionJacobian()

◆ GetT()

◆ GetTau()

◆ PreUpdate()

◆ ReinitializeVariables()

◆ SetGoal()

◆ SetGoalEQ()

◆ SetGoalNEQ()

◆ SetInitialTrajectory()

◆ SetJointVelocityLimits()

◆ SetRho()

◆ SetRhoEQ()

◆ SetRhoNEQ()

◆ SetT()

◆ SetTau()

◆ Update() [1/2]

◆ Update() [2/2]

◆ ValidateTimeIndex()

Member Data Documentation

◆ active_nonlinear_equality_constraints_

◆ active_nonlinear_equality_constraints_dimension_

◆ active_nonlinear_inequality_constraints_

◆ active_nonlinear_inequality_constraints_dimension_

◆ cost

◆ cost_Phi

◆ ct

◆ equality

◆ equality_Phi

◆ hessian

◆ inequality

◆ inequality_Phi

◆ initial_trajectory_

◆ jacobian

◆ joint_velocity_constraint_dimension_

◆ joint_velocity_constraint_jacobian_triplets_

◆ kinematic_solutions_

◆ length_jacobian

◆ length_Phi

◆ num_tasks