Terminal ball constraint (specialized for SE2) More...

#include <final_state_conditions_se2.h>

Inheritance diagram for mpc_local_planner::TerminalBallSE2:

[legend]

Public Types
using	Ptr = std::shared_ptr< TerminalBallSE2 >

Public Types inherited from corbo::TerminalBall
typedef std::shared_ptr< const TerminalBall >	ConstPtr

typedef std::shared_ptr< TerminalBall >	Ptr

Public Types inherited from corbo::FinalStageConstraint
typedef std::shared_ptr< const FinalStageConstraint >	ConstPtr

typedef std::shared_ptr< FinalStageConstraint >	Ptr

Public Types inherited from corbo::StageFunction
typedef std::shared_ptr< const StageFunction >	ConstPtr

typedef std::shared_ptr< StageFunction >	Ptr

Public Member Functions
void	computeNonIntegralStateTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, Eigen::Ref< Eigen::VectorXd > cost) const override

corbo::FinalStageConstraint::Ptr	getInstance () const override

	TerminalBallSE2 ()

	TerminalBallSE2 (const Eigen::Ref< const Eigen::MatrixXd > &S, double gamma)

Public Member Functions inherited from corbo::TerminalBall
bool	checkParameters (int state_dim, int control_dim, FinalStageCost::ConstPtr final_stage_cost, std::stringstream *issues) const override

double	getGamma ()

int	getNonIntegralStateTermDimension (int k) const override

const Eigen::MatrixXd &	getWeightS () const

bool	isEqualityConstraint () const override

void	setGamma (double gamma)

bool	setWeightS (const Eigen::DiagonalMatrix< double, -1 > &S)

bool	setWeightS (const Eigen::Ref< const Eigen::MatrixXd > &S)

	TerminalBall ()=default

	TerminalBall (const Eigen::Ref< const Eigen::MatrixXd > &S, double gamma)

bool	update (int n, double t, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, ReferenceTrajectoryInterface sref, bool single_dt, const Eigen::VectorXd &x0, FinalStageCost::ConstPtr final_stage_cost, StagePreprocessor::Ptr stage_preprocessor, const std::vector< double > &dts, const DiscretizationGridInterface ) override

Public Member Functions inherited from corbo::FinalStageConstraint
bool	hasIntegralTerms (int k) const final

bool	hasNonIntegralTerms (int k) const final

bool	isInequalityConstraint () const

bool	update (int n, double t, ReferenceTrajectoryInterface &xref, ReferenceTrajectoryInterface &uref, ReferenceTrajectoryInterface sref, bool single_dt, const Eigen::VectorXd &x0, StagePreprocessor::Ptr stage_preprocessor, const std::vector< double > &dts, const DiscretizationGridInterface grid) final

Public Member Functions inherited from corbo::StageFunction
virtual bool	checkParameters (int state_dim, int control_dim, std::stringstream *issues) const

virtual void	computeConcatenatedNonIntegralStateControlTerms (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost, bool lsq_mode=false) const

virtual void	computeConcatenatedNonIntegralStateTerms (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, const Eigen::Ref< const Eigen::VectorXd > &u_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost, bool lsq_mode=false) const

virtual void	computeNonIntegralStateDtTerm (int k, const Eigen::Ref< const Eigen::VectorXd > &x_k, double dt_k, Eigen::Ref< Eigen::VectorXd > cost) const

virtual int	getConcatenatedNonIntegralStateControlTermDimension (int k, bool lsq_mode=false) const

virtual int	getConcatenatedNonIntegralStateTermDimension (int k, bool lsq_mode=false) const

virtual int	getNonIntegralStateDtTermDimension (int k) const

virtual bool	isLinearNonIntegralControlTerm (int k) const

virtual bool	isLinearNonIntegralDtTerm (int k) const

virtual bool	isLinearNonIntegralStateTerm (int k) const

virtual bool	isLsqFormNonIntegralControlTerm (int k) const

virtual bool	isLsqFormNonIntegralDtTerm (int k) const

virtual bool	isLsqFormNonIntegralStateTerm (int k) const

virtual	~StageFunction ()=default

Additional Inherited Members
Protected Attributes inherited from corbo::TerminalBall
bool	_diagonal_mode

bool	_diagonal_mode_intentionally

double	_gamma

Eigen::MatrixXd	_S

Eigen::DiagonalMatrix< double, -1 >	_S_diag

const ReferenceTrajectoryInterface *	_x_ref

bool	_zero_x_ref

Detailed Description

Terminal ball constraint (specialized for SE2)

This class ensures that the distance (x_{ref} - x) is computed properly in SO(2) for the third state component.

See also: corbo::TerminalBall

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 92 of file final_state_conditions_se2.h.

Member Typedef Documentation

◆ Ptr

using mpc_local_planner::TerminalBallSE2::Ptr = std::shared_ptr<TerminalBallSE2>

Definition at line 95 of file final_state_conditions_se2.h.

Constructor & Destructor Documentation

◆ TerminalBallSE2() [1/2]

mpc_local_planner::TerminalBallSE2::TerminalBallSE2 ( )

inline

Definition at line 97 of file final_state_conditions_se2.h.

◆ TerminalBallSE2() [2/2]

mpc_local_planner::TerminalBallSE2::TerminalBallSE2	(	const Eigen::Ref< const Eigen::MatrixXd > &	S,
		double	gamma
	)

inline

Definition at line 99 of file final_state_conditions_se2.h.

Member Function Documentation

◆ computeNonIntegralStateTerm()

void mpc_local_planner::TerminalBallSE2::computeNonIntegralStateTerm	(	int	k,
		const Eigen::Ref< const Eigen::VectorXd > &	x_k,
		Eigen::Ref< Eigen::VectorXd >	cost
	)		const

overridevirtual

Reimplemented from corbo::TerminalBall.

Definition at line 74 of file final_state_conditions_se2.cpp.

◆ getInstance()

corbo::FinalStageConstraint::Ptr mpc_local_planner::TerminalBallSE2::getInstance ( ) const

inlineoverridevirtual

Reimplemented from corbo::TerminalBall.

Definition at line 101 of file final_state_conditions_se2.h.

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

Public Types

Public Member Functions

Additional Inherited Members