Bound constrained end-pose problem implementation. More...

#include <bounded_end_pose_problem.h>

Inheritance diagram for exotica::BoundedEndPoseProblem:

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Public Member Functions
	BoundedEndPoseProblem ()

Eigen::MatrixXd	GetBounds () const

Eigen::VectorXd	GetGoal (const std::string &task_name)

double	GetRho (const std::string &task_name)

double	GetScalarCost () const

Eigen::RowVectorXd	GetScalarJacobian () const

double	GetScalarTaskCost (const std::string &task_name) const

void	Instantiate (const BoundedEndPoseProblemInitializer &init) override

bool	IsValid () override
	Evaluates whether the problem is valid. More...

void	PreUpdate () override

void	SetGoal (const std::string &task_name, Eigen::VectorXdRefConst goal)

void	SetRho (const std::string &task_name, const double &rho)

void	Update (Eigen::VectorXdRefConst x)

virtual	~BoundedEndPoseProblem ()

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

	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

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

Initializer	GetInitializerTemplate () override

const BoundedEndPoseProblemInitializer &	GetParameters () const

void	InstantiateInternal (const Initializer &init) override

Public Attributes
EndPoseTask	cost

Hessian	hessian

Eigen::MatrixXd	jacobian

int	length_jacobian

int	length_Phi

int	num_tasks

TaskSpaceVector	Phi

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_

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< BoundedEndPoseProblemInitializer >
BoundedEndPoseProblemInitializer	parameters_