#include <sampling_problem.h>

Inheritance diagram for exotica::SamplingProblem:

[legend]

Public Member Functions
std::vector< double >	GetBounds ()

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

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

const Eigen::VectorXd &	GetGoalState () const

double	GetRhoEQ (const std::string &task_name)

double	GetRhoNEQ (const std::string &task_name)

int	GetSpaceDim ()

void	Instantiate (const SamplingProblemInitializer &init) override

bool	IsCompoundStateSpace ()

bool	IsStateValid (Eigen::VectorXdRefConst x)

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

void	PreUpdate () override

	SamplingProblem ()

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

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

void	SetGoalState (Eigen::VectorXdRefConst qT)

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

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

void	Update (Eigen::VectorXdRefConst x)

virtual	~SamplingProblem ()

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< SamplingProblemInitializer >
std::vector< Initializer >	GetAllTemplates () const override

Initializer	GetInitializerTemplate () override

const SamplingProblemInitializer &	GetParameters () const

void	InstantiateInternal (const Initializer &init) override

Public Attributes
SamplingTask	equality

SamplingTask	inequality

int	length_jacobian

int	length_Phi

int	num_tasks

TaskSpaceVector	Phi

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_

Private Attributes
bool	compound_

Eigen::VectorXd	goal_

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_

double	t_start {0.0}

TaskMapMap	task_maps_

TaskMapVec	tasks_

Protected Attributes inherited from exotica::Instantiable< SamplingProblemInitializer >
SamplingProblemInitializer	parameters_

Detailed Description

Definition at line 40 of file sampling_problem.h.

Constructor & Destructor Documentation

◆ SamplingProblem()

exotica::SamplingProblem::SamplingProblem ( )

Definition at line 37 of file sampling_problem.cpp.

◆ ~SamplingProblem()

exotica::SamplingProblem::~SamplingProblem ( )

virtualdefault

Member Function Documentation

◆ GetBounds()

std::vector< double > exotica::SamplingProblem::GetBounds ( )

Definition at line 44 of file sampling_problem.cpp.

◆ GetGoalEQ()

Eigen::VectorXd exotica::SamplingProblem::GetGoalEQ ( const std::string & task_name )

Definition at line 159 of file sampling_problem.cpp.

◆ GetGoalNEQ()

Eigen::VectorXd exotica::SamplingProblem::GetGoalNEQ ( const std::string & task_name )

Definition at line 211 of file sampling_problem.cpp.

◆ GetGoalState()

const Eigen::VectorXd& exotica::SamplingProblem::GetGoalState ( ) const

inline

Definition at line 69 of file sampling_problem.h.

◆ GetRhoEQ()

double exotica::SamplingProblem::GetRhoEQ ( const std::string & task_name )

Definition at line 171 of file sampling_problem.cpp.

◆ GetRhoNEQ()

double exotica::SamplingProblem::GetRhoNEQ ( const std::string & task_name )

Definition at line 223 of file sampling_problem.cpp.

◆ GetSpaceDim()

int exotica::SamplingProblem::GetSpaceDim ( )

Definition at line 288 of file sampling_problem.cpp.

◆ Instantiate()

void exotica::SamplingProblem::Instantiate ( const SamplingProblemInitializer & init )

overridevirtual

Reimplemented from exotica::Instantiable< SamplingProblemInitializer >.

Definition at line 59 of file sampling_problem.cpp.

◆ IsCompoundStateSpace()

bool exotica::SamplingProblem::IsCompoundStateSpace ( )

Definition at line 293 of file sampling_problem.cpp.

◆ IsStateValid()

bool exotica::SamplingProblem::IsStateValid ( Eigen::VectorXdRefConst x )

Definition at line 282 of file sampling_problem.cpp.

◆ IsValid()

bool exotica::SamplingProblem::IsValid ( )

overridevirtual

Evaluates whether the problem is valid.

Reimplemented from exotica::PlanningProblem.

Definition at line 248 of file sampling_problem.cpp.

◆ PreUpdate()

void exotica::SamplingProblem::PreUpdate ( )

overridevirtual

Reimplemented from exotica::PlanningProblem.

Definition at line 116 of file sampling_problem.cpp.

◆ SetGoalEQ()

void exotica::SamplingProblem::SetGoalEQ	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal
	)

Definition at line 131 of file sampling_problem.cpp.

◆ SetGoalNEQ()

void exotica::SamplingProblem::SetGoalNEQ	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal
	)

Definition at line 183 of file sampling_problem.cpp.

◆ SetGoalState()

void exotica::SamplingProblem::SetGoalState ( Eigen::VectorXdRefConst qT )

Definition at line 124 of file sampling_problem.cpp.

◆ SetRhoEQ()

void exotica::SamplingProblem::SetRhoEQ	(	const std::string &	task_name,
		const double &	rho
	)

Definition at line 145 of file sampling_problem.cpp.

◆ SetRhoNEQ()

void exotica::SamplingProblem::SetRhoNEQ	(	const std::string &	task_name,
		const double &	rho
	)

Definition at line 197 of file sampling_problem.cpp.

◆ Update()

void exotica::SamplingProblem::Update ( Eigen::VectorXdRefConst x )

Definition at line 235 of file sampling_problem.cpp.

Member Data Documentation

◆ compound_

bool exotica::SamplingProblem::compound_

private

Definition at line 80 of file sampling_problem.h.

◆ equality

SamplingTask exotica::SamplingProblem::equality

Definition at line 72 of file sampling_problem.h.

◆ goal_

Eigen::VectorXd exotica::SamplingProblem::goal_

private

Definition at line 79 of file sampling_problem.h.

◆ inequality

SamplingTask exotica::SamplingProblem::inequality

Definition at line 71 of file sampling_problem.h.

◆ length_jacobian

int exotica::SamplingProblem::length_jacobian

Definition at line 75 of file sampling_problem.h.

◆ length_Phi

int exotica::SamplingProblem::length_Phi

Definition at line 74 of file sampling_problem.h.

◆ num_tasks

int exotica::SamplingProblem::num_tasks

Definition at line 76 of file sampling_problem.h.

◆ Phi

TaskSpaceVector exotica::SamplingProblem::Phi

Definition at line 70 of file sampling_problem.h.

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

Public Member Functions

Public Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SamplingProblem()

◆ ~SamplingProblem()

Member Function Documentation

◆ GetBounds()

◆ GetGoalEQ()

◆ GetGoalNEQ()

◆ GetGoalState()

◆ GetRhoEQ()

◆ GetRhoNEQ()

◆ GetSpaceDim()

◆ Instantiate()

◆ IsCompoundStateSpace()

◆ IsStateValid()

◆ IsValid()

◆ PreUpdate()

◆ SetGoalEQ()

◆ SetGoalNEQ()

◆ SetGoalState()

◆ SetRhoEQ()

◆ SetRhoNEQ()

◆ Update()

Member Data Documentation

◆ compound_

◆ equality

◆ goal_

◆ inequality

◆ length_jacobian

◆ length_Phi

◆ num_tasks

◆ Phi