#include <planning_problem.h>

Inheritance diagram for exotica::PlanningProblem:

[legend]

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

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_

double	t_start {0.0}

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 283 of file planning_problem.cpp.

◆ GetCostEvolution() [2/2]

double exotica::PlanningProblem::GetCostEvolution ( int index ) const

Definition at line 301 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 296 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 278 of file planning_problem.cpp.

◆ GetStartState()

Eigen::VectorXd exotica::PlanningProblem::GetStartState ( ) const

Definition at line 133 of file planning_problem.cpp.

◆ GetStartTime()

double exotica::PlanningProblem::GetStartTime ( ) const

Definition at line 143 of file planning_problem.cpp.

◆ GetTaskMaps()

TaskMapMap & exotica::PlanningProblem::GetTaskMaps ( )

Definition at line 268 of file planning_problem.cpp.

◆ GetTasks()

TaskMapVec & exotica::PlanningProblem::GetTasks ( )

Definition at line 273 of file planning_problem.cpp.

◆ InstantiateBase()

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

overridevirtual

Reimplemented from exotica::InstantiableBase.

Definition at line 148 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 317 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 323 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 138 of file planning_problem.cpp.

◆ UpdateMultipleTaskKinematics()

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

protected

Definition at line 252 of file planning_problem.cpp.

◆ UpdateTaskKinematics()

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

protected

Definition at line 246 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 108 of file planning_problem.h.

◆ N

int exotica::PlanningProblem::N = 0

Definition at line 96 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 105 of file planning_problem.h.

◆ start_state_

Eigen::VectorXd exotica::PlanningProblem::start_state_

protected

Definition at line 109 of file planning_problem.h.

◆ t_start

double exotica::PlanningProblem::t_start {0.0}

protected

Definition at line 110 of file planning_problem.h.

◆ task_maps_

TaskMapMap exotica::PlanningProblem::task_maps_

protected

Definition at line 106 of file planning_problem.h.

◆ tasks_

TaskMapVec exotica::PlanningProblem::tasks_

protected

Definition at line 107 of file planning_problem.h.

◆ termination_criterion

TerminationCriterion exotica::PlanningProblem::termination_criterion

Definition at line 93 of file planning_problem.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PlanningProblem()

◆ ~PlanningProblem()

Member Function Documentation

◆ ApplyStartState()

◆ get_num_controls()

◆ get_num_positions()

◆ get_num_velocities()

◆ GetCostEvolution() [1/2]

◆ GetCostEvolution() [2/2]

◆ GetFlags()

◆ GetNumberOfIterations()

◆ GetNumberOfProblemUpdates()

◆ GetScene()

◆ GetStartState()

◆ GetStartTime()

◆ GetTaskMaps()

◆ GetTasks()

◆ InstantiateBase()

◆ IsValid()

◆ PreUpdate()

◆ Print()

◆ ResetCostEvolution()

◆ ResetNumberOfProblemUpdates()

◆ SetCostEvolution()

◆ SetStartState()

◆ SetStartTime()

◆ UpdateMultipleTaskKinematics()

◆ UpdateTaskKinematics()

Member Data Documentation

◆ cost_evolution_

◆ flags_

◆ N

◆ number_of_problem_updates_

◆ scene_

◆ start_state_

◆ t_start

◆ task_maps_

◆ tasks_

◆ termination_criterion