VectorVertexSE2 with support for partially fixed components. More...

#include <vector_vertex_se2.h>

Inheritance diagram for mpc_local_planner::PartiallyFixedVectorVertexSE2:

[legend]

Public Types
using	Ptr = std::shared_ptr< PartiallyFixedVectorVertexSE2 >

using	UPtr = std::unique_ptr< PartiallyFixedVectorVertexSE2 >

Public Types inherited from mpc_local_planner::VectorVertexSE2
using	Ptr = std::shared_ptr< VectorVertexSE2 >

using	UPtr = std::unique_ptr< VectorVertexSE2 >

Public Types inherited from corbo::VectorVertex
typedef std::shared_ptr< VectorVertex >	Ptr

typedef std::unique_ptr< VectorVertex >	UPtr

Public Types inherited from corbo::VertexInterface
typedef std::shared_ptr< VertexInterface >	Ptr

typedef std::unique_ptr< VertexInterface >	UPtr

Public Member Functions
const Eigen::Array< bool, -1, 1 >	fixedArray () const
	Read-only access to the underlying logical array for fixed components. More...

int	getDimensionUnfixed () const override

int	getNumberFiniteBounds (bool unfixed_only) const override

int	getNumberFiniteLowerBounds (bool unfixed_only) const override

int	getNumberFiniteUpperBounds (bool unfixed_only) const override

bool	hasFixedComponents () const override

bool	isFixedComponent (int idx) const override

	PartiallyFixedVectorVertexSE2 ()=default
	Default constructor. More...

	PartiallyFixedVectorVertexSE2 (const Eigen::Ref< const Eigen::VectorXd > &values)
	Construct vertex with given values. More...

	PartiallyFixedVectorVertexSE2 (const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &fixed)
	Construct vertex with given values and fixed components. More...

	PartiallyFixedVectorVertexSE2 (const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub)
	Construct vertex with given values, lower and upper bounds. More...

	PartiallyFixedVectorVertexSE2 (int dimension)

	PartiallyFixedVectorVertexSE2 (int dimension, const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &fixed)
	Construct and allocate memory for a given dimension. More...

void	plusUnfixed (const double *inc) override

void	set (const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, bool fixed=false) override
	Set values and bounds at once. More...

void	set (const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &fixed)
	Set values and bounds at once (overload with fixed vector) More...

void	setDimension (int dim) override

void	setFixed (bool fixed) override

void	setFixed (const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &fixed)
	Set logical array [dimension() x 1] in order to fix selected components. More...

void	setFixed (int idx, bool fixed)
	Set component with idx (0 <= idx < dimension()) to (un)fixed. More...

Public Member Functions inherited from mpc_local_planner::VectorVertexSE2
void	plus (const double *inc) override

void	plus (int idx, double inc) override

void	setData (int idx, double data) override

	VectorVertexSE2 ()=default
	Default constructor. More...

	VectorVertexSE2 (bool fixed)

	VectorVertexSE2 (const Eigen::Ref< const Eigen::VectorXd > &values, bool fixed=false)
	Construct vertex with given values. More...

	VectorVertexSE2 (const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, bool fixed=false)
	Construct vertex with given values, lower and upper bounds. More...

	VectorVertexSE2 (int dimension, bool fixed=false)
	Construct and allocate memory for a given dimension. More...

Public Member Functions inherited from corbo::VectorVertex
void	clear () override

void	discardTop () override

const double *	getData () const override

double *	getDataRaw () override

int	getDimension () const override

const double *	getLowerBounds () const override

int	getNumBackups () const override

const double *	getUpperBounds () const override

bool	hasFiniteBounds () const override

bool	hasFiniteLowerBound (int idx) const override

bool	hasFiniteLowerBounds () const override

bool	hasFiniteUpperBound (int idx) const override

bool	hasFiniteUpperBounds () const override

const Eigen::VectorXd &	lowerBound () const

void	pop () override

void	push () override

void	setLowerBound (int idx, double lb) override

void	setLowerBounds (const Eigen::Ref< const Eigen::VectorXd > &lb) override

void	setUpperBound (int idx, double ub) override

void	setUpperBounds (const Eigen::Ref< const Eigen::VectorXd > &ub) override

void	top () override

const Eigen::VectorXd &	upperBound () const

Eigen::VectorXd &	values ()

const Eigen::VectorXd &	values () const

	VectorVertex ()=default

	VectorVertex (bool fixed)

	VectorVertex (const Eigen::Ref< const Eigen::VectorXd > &values, bool fixed=false)

	VectorVertex (const Eigen::Ref< const Eigen::VectorXd > &values, const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub, bool fixed=false)

	VectorVertex (int dimension, bool fixed=false)

Public Member Functions inherited from corbo::VertexInterface
virtual void	clearBackups ()

void	clearConnectedEdges ()

const std::set< BaseEdge * > &	getConnectedEqualityEdgesRef () const

const std::set< BaseEdge * > &	getConnectedInequalityEdgesRef () const

const std::set< BaseEdge * > &	getConnectedLsqObjectiveEdgesRef () const

const std::set< BaseMixedEdge * > &	getConnectedMixedEdgesRef () const

const std::set< BaseEdge * > &	getConnectedObjectiveEdgesRef () const

Eigen::Map< const Eigen::VectorXd >	getDataMap () const

Eigen::Map< Eigen::VectorXd >	getDataRawMap ()

Eigen::Map< const Eigen::VectorXd >	getLowerBoundsMap () const

Eigen::Map< const Eigen::VectorXd >	getUpperBoundsMap () const

int	getVertexIdx () const

virtual bool	isFixed () const

void	registerEqualityEdge (BaseEdge *edge)

void	registerInequalityEdge (BaseEdge *edge)

void	registerLsqObjectiveEdge (BaseEdge *edge)

void	registerMixedEdge (BaseMixedEdge *edge)

void	registerObjectiveEdge (BaseEdge *edge)

virtual	~VertexInterface ()

Protected Attributes
Eigen::Array< bool, -1, 1 >	_fixed

int	_num_unfixed

Protected Attributes inherited from corbo::VectorVertex
std::vector< Eigen::VectorXd >	_backup

bool	_finite_lb_bounds

bool	_finite_ub_bounds

bool	_fixed

Eigen::VectorXd	_lb

Eigen::VectorXd	_ub

Eigen::VectorXd	_values

Detailed Description

VectorVertexSE2 with support for partially fixed components.

The vertex extends VectorVertexSE2 by allowing the user to partially fix components of the underlying vector.

See also: VectorVertexSE2 corbo::VertexInterface corbo::VectorVertex corbo::HyperGraph corbo::EdgeInterface

Author: Christoph Rösmann (chris.nosp@m.toph.nosp@m..roes.nosp@m.mann.nosp@m.@tu-d.nosp@m.ortm.nosp@m.und.d.nosp@m.e)

Definition at line 158 of file vector_vertex_se2.h.

Member Typedef Documentation

◆ Ptr

using mpc_local_planner::PartiallyFixedVectorVertexSE2::Ptr = std::shared_ptr<PartiallyFixedVectorVertexSE2>

Definition at line 161 of file vector_vertex_se2.h.

◆ UPtr

using mpc_local_planner::PartiallyFixedVectorVertexSE2::UPtr = std::unique_ptr<PartiallyFixedVectorVertexSE2>

Definition at line 162 of file vector_vertex_se2.h.

Constructor & Destructor Documentation

◆ PartiallyFixedVectorVertexSE2() [1/6]

mpc_local_planner::PartiallyFixedVectorVertexSE2::PartiallyFixedVectorVertexSE2 ( )

default

Default constructor.

◆ PartiallyFixedVectorVertexSE2() [2/6]

mpc_local_planner::PartiallyFixedVectorVertexSE2::PartiallyFixedVectorVertexSE2 ( int dimension )

inlineexplicit

Definition at line 167 of file vector_vertex_se2.h.

◆ PartiallyFixedVectorVertexSE2() [3/6]

mpc_local_planner::PartiallyFixedVectorVertexSE2::PartiallyFixedVectorVertexSE2	(	int	dimension,
		const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &	fixed
	)

inlineexplicit

Construct and allocate memory for a given dimension.

Definition at line 173 of file vector_vertex_se2.h.

◆ PartiallyFixedVectorVertexSE2() [4/6]

mpc_local_planner::PartiallyFixedVectorVertexSE2::PartiallyFixedVectorVertexSE2 ( const Eigen::Ref< const Eigen::VectorXd > & values )

inlineexplicit

Construct vertex with given values.

Definition at line 179 of file vector_vertex_se2.h.

◆ PartiallyFixedVectorVertexSE2() [5/6]

mpc_local_planner::PartiallyFixedVectorVertexSE2::PartiallyFixedVectorVertexSE2	(	const Eigen::Ref< const Eigen::VectorXd > &	values,
		const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &	fixed
	)

inlineexplicit

Construct vertex with given values and fixed components.

Definition at line 185 of file vector_vertex_se2.h.

◆ PartiallyFixedVectorVertexSE2() [6/6]

mpc_local_planner::PartiallyFixedVectorVertexSE2::PartiallyFixedVectorVertexSE2	(	const Eigen::Ref< const Eigen::VectorXd > &	values,
		const Eigen::Ref< const Eigen::VectorXd > &	lb,
		const Eigen::Ref< const Eigen::VectorXd > &	ub
	)

inlineexplicit

Construct vertex with given values, lower and upper bounds.

Definition at line 191 of file vector_vertex_se2.h.

Member Function Documentation

◆ fixedArray()

const Eigen::Array<bool, -1, 1> mpc_local_planner::PartiallyFixedVectorVertexSE2::fixedArray ( ) const

inline

Read-only access to the underlying logical array for fixed components.

Definition at line 327 of file vector_vertex_se2.h.

◆ getDimensionUnfixed()

int mpc_local_planner::PartiallyFixedVectorVertexSE2::getDimensionUnfixed ( ) const

inlineoverridevirtual

Reimplemented from corbo::VectorVertex.

Definition at line 198 of file vector_vertex_se2.h.

◆ getNumberFiniteBounds()

int mpc_local_planner::PartiallyFixedVectorVertexSE2::getNumberFiniteBounds ( bool unfixed_only ) const

inlineoverridevirtual

Reimplemented from corbo::VectorVertex.

Definition at line 311 of file vector_vertex_se2.h.

◆ getNumberFiniteLowerBounds()

int mpc_local_planner::PartiallyFixedVectorVertexSE2::getNumberFiniteLowerBounds ( bool unfixed_only ) const

inlineoverridevirtual

Reimplemented from corbo::VectorVertex.

Definition at line 279 of file vector_vertex_se2.h.

◆ getNumberFiniteUpperBounds()

int mpc_local_planner::PartiallyFixedVectorVertexSE2::getNumberFiniteUpperBounds ( bool unfixed_only ) const

inlineoverridevirtual

Reimplemented from corbo::VectorVertex.

Definition at line 295 of file vector_vertex_se2.h.

◆ hasFixedComponents()

bool mpc_local_planner::PartiallyFixedVectorVertexSE2::hasFixedComponents ( ) const

inlineoverridevirtual

Reimplemented from corbo::VectorVertex.

Definition at line 274 of file vector_vertex_se2.h.

◆ isFixedComponent()

bool mpc_local_planner::PartiallyFixedVectorVertexSE2::isFixedComponent ( int idx ) const

inlineoverridevirtual

Reimplemented from corbo::VectorVertex.

Definition at line 276 of file vector_vertex_se2.h.

◆ plusUnfixed()

void mpc_local_planner::PartiallyFixedVectorVertexSE2::plusUnfixed ( const double * inc )

inlineoverridevirtual

Reimplemented from mpc_local_planner::VectorVertexSE2.

Definition at line 260 of file vector_vertex_se2.h.

◆ set() [1/2]

void mpc_local_planner::PartiallyFixedVectorVertexSE2::set	(	const Eigen::Ref< const Eigen::VectorXd > &	values,
		const Eigen::Ref< const Eigen::VectorXd > &	lb,
		const Eigen::Ref< const Eigen::VectorXd > &	ub,
		bool	fixed = `false`
	)

inlineoverridevirtual

Set values and bounds at once.

Reimplemented from mpc_local_planner::VectorVertexSE2.

Definition at line 209 of file vector_vertex_se2.h.

◆ set() [2/2]

void mpc_local_planner::PartiallyFixedVectorVertexSE2::set	(	const Eigen::Ref< const Eigen::VectorXd > &	values,
		const Eigen::Ref< const Eigen::VectorXd > &	lb,
		const Eigen::Ref< const Eigen::VectorXd > &	ub,
		const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> &	fixed
	)

inline

Set values and bounds at once (overload with fixed vector)

Definition at line 224 of file vector_vertex_se2.h.

◆ setDimension()

void mpc_local_planner::PartiallyFixedVectorVertexSE2::setDimension ( int dim )

inlineoverridevirtual

Reimplemented from corbo::VectorVertex.

Definition at line 201 of file vector_vertex_se2.h.

◆ setFixed() [1/3]

void mpc_local_planner::PartiallyFixedVectorVertexSE2::setFixed ( bool fixed )

inlineoverridevirtual

Reimplemented from corbo::VectorVertex.

Definition at line 253 of file vector_vertex_se2.h.

◆ setFixed() [2/3]

void mpc_local_planner::PartiallyFixedVectorVertexSE2::setFixed ( const Eigen::Ref< const Eigen::Array< bool, -1, 1 >> & fixed )

inline

Set logical array [dimension() x 1] in order to fix selected components.

Definition at line 246 of file vector_vertex_se2.h.

◆ setFixed() [3/3]

void mpc_local_planner::PartiallyFixedVectorVertexSE2::setFixed	(	int	idx,
		bool	fixed
	)

inline

Set component with idx (0 <= idx < dimension()) to (un)fixed.

Definition at line 239 of file vector_vertex_se2.h.

Member Data Documentation

◆ _fixed

Eigen::Array<bool, -1, 1> mpc_local_planner::PartiallyFixedVectorVertexSE2::_fixed

protected

Definition at line 330 of file vector_vertex_se2.h.

◆ _num_unfixed

int mpc_local_planner::PartiallyFixedVectorVertexSE2::_num_unfixed

protected

Definition at line 331 of file vector_vertex_se2.h.

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

vector_vertex_se2.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ PartiallyFixedVectorVertexSE2() [1/6]

◆ PartiallyFixedVectorVertexSE2() [2/6]

◆ PartiallyFixedVectorVertexSE2() [3/6]

◆ PartiallyFixedVectorVertexSE2() [4/6]

◆ PartiallyFixedVectorVertexSE2() [5/6]

◆ PartiallyFixedVectorVertexSE2() [6/6]

Member Function Documentation

◆ fixedArray()

◆ getDimensionUnfixed()

◆ getNumberFiniteBounds()

◆ getNumberFiniteLowerBounds()

◆ getNumberFiniteUpperBounds()

◆ hasFixedComponents()

◆ isFixedComponent()

◆ plusUnfixed()

◆ set() [1/2]

◆ set() [2/2]

◆ setDimension()

◆ setFixed() [1/3]

◆ setFixed() [2/3]

◆ setFixed() [3/3]

Member Data Documentation

◆ _fixed

◆ _num_unfixed