Vertex specialization for vectors in SE2. More...

#include <vector_vertex_se2.h>

Inheritance diagram for mpc_local_planner::VectorVertexSE2:

[legend]

Public Types
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
void	plus (const double *inc) override

void	plus (int idx, double inc) override

void	plusUnfixed (const double *inc) override

virtual 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)
	Set values and bounds at once. More...

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

int	getDimensionUnfixed () const override

const double *	getLowerBounds () const override

int	getNumBackups () const override

int	getNumberFiniteBounds (bool unfixed_only) const override

int	getNumberFiniteLowerBounds (bool unfixed_only) const override

int	getNumberFiniteUpperBounds (bool unfixed_only) 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

bool	hasFixedComponents () const override

bool	isFixedComponent (int) const override

const Eigen::VectorXd &	lowerBound () const

void	pop () override

void	push () override

virtual void	setDimension (int dim)

virtual void	setFixed (bool fixed)

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 ()

Additional Inherited Members
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

Vertex specialization for vectors in SE2.

This class defines a vector vertex in which the first three components must be defined in SE2. Whereas the first two states are ordinary real numbers on (-inf, inf), the third component must remain in [-pi, pi).

The minimum dimension of this vertex is 3. This vertex allows for larger dimensions of 3, but these components are considered as standard real numbers on (-inf, inf).

See also: corbo::VertexInterface corbo::PartiallyFixedVectorVertex corbo::HyperGraph corbo::EdgeInterface corbo::ScalarVertex

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 74 of file vector_vertex_se2.h.

Member Typedef Documentation

◆ Ptr

using mpc_local_planner::VectorVertexSE2::Ptr = std::shared_ptr<VectorVertexSE2>

Definition at line 97 of file vector_vertex_se2.h.

◆ UPtr

using mpc_local_planner::VectorVertexSE2::UPtr = std::unique_ptr<VectorVertexSE2>

Definition at line 98 of file vector_vertex_se2.h.

Constructor & Destructor Documentation

◆ VectorVertexSE2() [1/5]

mpc_local_planner::VectorVertexSE2::VectorVertexSE2 ( )

default

Default constructor.

◆ VectorVertexSE2() [2/5]

mpc_local_planner::VectorVertexSE2::VectorVertexSE2 ( bool fixed )

inlineexplicit

Definition at line 103 of file vector_vertex_se2.h.

◆ VectorVertexSE2() [3/5]

mpc_local_planner::VectorVertexSE2::VectorVertexSE2	(	int	dimension,
		bool	fixed = `false`
	)

inlineexplicit

Construct and allocate memory for a given dimension.

Definition at line 106 of file vector_vertex_se2.h.

◆ VectorVertexSE2() [4/5]

mpc_local_planner::VectorVertexSE2::VectorVertexSE2	(	const Eigen::Ref< const Eigen::VectorXd > &	values,
		bool	fixed = `false`
	)

inlineexplicit

Construct vertex with given values.

Definition at line 109 of file vector_vertex_se2.h.

◆ VectorVertexSE2() [5/5]

mpc_local_planner::VectorVertexSE2::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`
	)

inlineexplicit

Construct vertex with given values, lower and upper bounds.

Definition at line 112 of file vector_vertex_se2.h.

Member Function Documentation

◆ plus() [1/2]

void mpc_local_planner::VectorVertexSE2::plus ( const double * inc )

inlineoverridevirtual

Reimplemented from corbo::VectorVertex.

Definition at line 127 of file vector_vertex_se2.h.

◆ plus() [2/2]

void mpc_local_planner::VectorVertexSE2::plus	(	int	idx,
		double	inc
	)

inlineoverridevirtual

Reimplemented from corbo::VectorVertex.

Definition at line 119 of file vector_vertex_se2.h.

◆ plusUnfixed()

void mpc_local_planner::VectorVertexSE2::plusUnfixed ( const double * inc )

inlineoverridevirtual

Reimplemented from corbo::VectorVertex.

Reimplemented in mpc_local_planner::PartiallyFixedVectorVertexSE2.

Definition at line 136 of file vector_vertex_se2.h.

◆ set()

virtual void mpc_local_planner::VectorVertexSE2::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`
	)

inlinevirtual

Set values and bounds at once.

Reimplemented from corbo::VectorVertex.

Reimplemented in mpc_local_planner::PartiallyFixedVectorVertexSE2.

Definition at line 148 of file vector_vertex_se2.h.

◆ setData()

void mpc_local_planner::VectorVertexSE2::setData	(	int	idx,
		double	data
	)

inlineoverridevirtual

Reimplemented from corbo::VectorVertex.

Definition at line 139 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

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ VectorVertexSE2() [1/5]

◆ VectorVertexSE2() [2/5]

◆ VectorVertexSE2() [3/5]

◆ VectorVertexSE2() [4/5]

◆ VectorVertexSE2() [5/5]

Member Function Documentation

◆ plus() [1/2]

◆ plus() [2/2]

◆ plusUnfixed()

◆ set()

◆ setData()