#include <time_indexed_sampling_problem.h>

Inheritance diagram for exotica::TimeIndexedSamplingProblem:

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

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

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

Eigen::VectorXd	GetGoalState () const

double	GetGoalTime () const

double	GetRhoEQ (const std::string &task_name)

double	GetRhoNEQ (const std::string &task_name)

int	GetSpaceDim ()

void	Instantiate (const TimeIndexedSamplingProblemInitializer &init) override

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

bool	IsValid (Eigen::VectorXdRefConst x, const double &t)

void	PreUpdate () override

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	SetGoalTime (const double &t)

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

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

	TimeIndexedSamplingProblem ()

void	Update (Eigen::VectorXdRefConst x, const double &t)

virtual	~TimeIndexedSamplingProblem ()

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

	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

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

Initializer	GetInitializerTemplate () override

const TimeIndexedSamplingProblemInitializer &	GetParameters () const

void	InstantiateInternal (const Initializer &init) override

Public Attributes
TaskSpaceVector	constraint_phi

SamplingTask	equality

SamplingTask	inequality

int	length_jacobian

int	length_Phi

int	num_tasks

TimeIndexedSamplingProblemInitializer	parameters

TaskSpaceVector	Phi

Eigen::VectorXd	vel_limits

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_

Private Attributes
Eigen::VectorXd	goal_
	Goal state to reach (spatial) at temporal goal (t_goal_) More...

double	t_goal_
	Goal time: The time at which goal_ should be reached and the upper bound for the time-dimension. More...

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< TimeIndexedSamplingProblemInitializer >
TimeIndexedSamplingProblemInitializer	parameters_