exotica::PlanningProblem Class Reference

#include <planning_problem.h>

Inheritance diagram for exotica::PlanningProblem:

Public Member Functions
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 ()
virtual void	PreUpdate ()
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
int	N = 0
double	t_start
TerminationCriterion	termination_criterion
Public Attributes inherited from exotica::Object
bool	debug_
std::string	ns_
std::string	object_name_

Protected Member Functions
void	UpdateMultipleTaskKinematics (std::vector< std::shared_ptr< KinematicResponse >> responses)
void	UpdateTaskKinematics (std::shared_ptr< KinematicResponse > response)

Protected Attributes
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_

Additional Inherited Members
Private Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default
	~Uncopyable ()=default

Detailed Description

Definition at line 64 of file planning_problem.h.

Constructor & Destructor Documentation

PlanningProblem()

exotica::PlanningProblem::PlanningProblem ( )

default

~PlanningProblem()

exotica::PlanningProblem::~PlanningProblem ( )

virtualdefault

Member Function Documentation

ApplyStartState()

Eigen::VectorXd exotica::PlanningProblem::ApplyStartState ( bool  update_traj = true )

virtual

Reimplemented in exotica::DynamicTimeIndexedShootingProblem.

Definition at line 70 of file planning_problem.cpp.

get_num_controls()

int exotica::PlanningProblem::get_num_controls

(

)

const

Definition at line 65 of file planning_problem.cpp.

get_num_positions()

int exotica::PlanningProblem::get_num_positions

(

)

const

! Dimension of planning problem. TODO: Update from positions/velocities/controls and make private.

Definition at line 55 of file planning_problem.cpp.

get_num_velocities()

int exotica::PlanningProblem::get_num_velocities

(

)

const

Definition at line 60 of file planning_problem.cpp.

GetCostEvolution() [1/2]

std::pair< std::vector< double >, std::vector< double > > exotica::PlanningProblem::GetCostEvolution

(

)

const

Definition at line 271 of file planning_problem.cpp.

GetCostEvolution() [2/2]

double exotica::PlanningProblem::GetCostEvolution

(

int

index

)

const

Definition at line 289 of file planning_problem.cpp.

GetFlags()

KinematicRequestFlags exotica::PlanningProblem::GetFlags ( ) const

inline

Definition at line 91 of file planning_problem.h.

GetNumberOfIterations()

int exotica::PlanningProblem::GetNumberOfIterations

(

)

const

Definition at line 284 of file planning_problem.cpp.

GetNumberOfProblemUpdates()

unsigned int exotica::PlanningProblem::GetNumberOfProblemUpdates ( ) const

inline

Definition at line 84 of file planning_problem.h.

GetScene()

ScenePtr exotica::PlanningProblem::GetScene

(

)

const

Definition at line 266 of file planning_problem.cpp.

GetStartState()

Eigen::VectorXd exotica::PlanningProblem::GetStartState

(

)

const

Definition at line 121 of file planning_problem.cpp.

GetStartTime()

double exotica::PlanningProblem::GetStartTime

(

)

const

Definition at line 131 of file planning_problem.cpp.

GetTaskMaps()

TaskMapMap & exotica::PlanningProblem::GetTaskMaps

(

)

Definition at line 256 of file planning_problem.cpp.

GetTasks()

TaskMapVec & exotica::PlanningProblem::GetTasks

(

)

Definition at line 261 of file planning_problem.cpp.

InstantiateBase()

void exotica::PlanningProblem::InstantiateBase ( const Initializer &  init )

overridevirtual

Reimplemented from exotica::InstantiableBase.

Definition at line 136 of file planning_problem.cpp.

IsValid()

virtual bool exotica::PlanningProblem::IsValid ( )

inlinevirtual

Evaluates whether the problem is valid.

Reimplemented in exotica::UnconstrainedTimeIndexedProblem, exotica::BoundedTimeIndexedProblem, exotica::BoundedEndPoseProblem, exotica::SamplingProblem, exotica::EndPoseProblem, exotica::TimeIndexedProblem, and exotica::UnconstrainedEndPoseProblem.

Definition at line 93 of file planning_problem.h.

PreUpdate()

void exotica::PlanningProblem::PreUpdate ( )

virtual

Reimplemented in exotica::EndPoseProblem, exotica::DynamicTimeIndexedShootingProblem, exotica::UnconstrainedEndPoseProblem, exotica::BoundedEndPoseProblem, exotica::UnconstrainedTimeIndexedProblem, exotica::BoundedTimeIndexedProblem, exotica::SamplingProblem, exotica::TimeIndexedSamplingProblem, and exotica::AbstractTimeIndexedProblem.

Definition at line 86 of file planning_problem.cpp.

Print()

std::string exotica::PlanningProblem::Print ( const std::string &  prepend ) const

overridevirtual

Reimplemented from exotica::Object.

Definition at line 46 of file planning_problem.cpp.

ResetCostEvolution()

void exotica::PlanningProblem::ResetCostEvolution

(

size_t

size

)

Definition at line 305 of file planning_problem.cpp.

ResetNumberOfProblemUpdates()

void exotica::PlanningProblem::ResetNumberOfProblemUpdates ( )

inline

Definition at line 85 of file planning_problem.h.

SetCostEvolution()

void exotica::PlanningProblem::SetCostEvolution	(	int	index,
		double	value
	)

Definition at line 311 of file planning_problem.cpp.

SetStartState()

void exotica::PlanningProblem::SetStartState

(

Eigen::VectorXdRefConst

x

)

Definition at line 91 of file planning_problem.cpp.

SetStartTime()

void exotica::PlanningProblem::SetStartTime

(

double

t

)

Definition at line 126 of file planning_problem.cpp.

UpdateMultipleTaskKinematics()

void exotica::PlanningProblem::UpdateMultipleTaskKinematics ( std::vector< std::shared_ptr< KinematicResponse >>  responses )

protected

Definition at line 240 of file planning_problem.cpp.

UpdateTaskKinematics()

void exotica::PlanningProblem::UpdateTaskKinematics ( std::shared_ptr< KinematicResponse >  response )

protected

Definition at line 234 of file planning_problem.cpp.

Member Data Documentation

cost_evolution_

std::vector<std::pair<std::chrono::high_resolution_clock::time_point, double> > exotica::PlanningProblem::cost_evolution_

protected

Definition at line 112 of file planning_problem.h.

flags_

KinematicRequestFlags exotica::PlanningProblem::flags_ = KinematicRequestFlags::KIN_FK

protected

Definition at line 109 of file planning_problem.h.

N

int exotica::PlanningProblem::N = 0

Definition at line 97 of file planning_problem.h.

number_of_problem_updates_

unsigned int exotica::PlanningProblem::number_of_problem_updates_ = 0

protected

Definition at line 111 of file planning_problem.h.

scene_

ScenePtr exotica::PlanningProblem::scene_

protected

Definition at line 106 of file planning_problem.h.

start_state_

Eigen::VectorXd exotica::PlanningProblem::start_state_

protected

Definition at line 110 of file planning_problem.h.

t_start

double exotica::PlanningProblem::t_start

Definition at line 93 of file planning_problem.h.

task_maps_

TaskMapMap exotica::PlanningProblem::task_maps_

protected

Definition at line 107 of file planning_problem.h.

tasks_

TaskMapVec exotica::PlanningProblem::tasks_

protected

Definition at line 108 of file planning_problem.h.

termination_criterion

TerminationCriterion exotica::PlanningProblem::termination_criterion

Definition at line 95 of file planning_problem.h.

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

• planning_problem.h
• planning_problem.cpp