Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | List of all members
exotica::PlanningProblem Class Reference

#include <planning_problem.h>

Inheritance diagram for exotica::PlanningProblem:
Inheritance graph
[legend]

Public Member Functions

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
 
TaskMapMapGetTaskMaps ()
 
TaskMapVecGetTasks ()
 
void InstantiateBase (const Initializer &init) override
 
virtual bool IsValid ()
 Evaluates whether the problem is valid. More...
 
 PlanningProblem ()
 
virtual void PreUpdate ()
 
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< InitializerGetAllTemplates () const =0
 
virtual Initializer GetInitializerTemplate ()=0
 
 InstantiableBase ()=default
 
virtual void InstantiateInternal (const Initializer &init)=0
 
virtual ~InstantiableBase ()=default
 

Public Attributes

int N = 0
 
double t_start
 
TerminationCriterion termination_criterion
 
- Public Attributes inherited from exotica::Object
bool debug_
 
std::string ns_
 
std::string object_name_
 

Protected Member Functions

void UpdateMultipleTaskKinematics (std::vector< std::shared_ptr< KinematicResponse >> responses)
 
void UpdateTaskKinematics (std::shared_ptr< KinematicResponse > response)
 

Protected Attributes

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_
 

Additional Inherited Members

- Private Member Functions inherited from exotica::Uncopyable
 Uncopyable ()=default
 
 ~Uncopyable ()=default
 

Detailed Description

Definition at line 64 of file planning_problem.h.

Constructor & Destructor Documentation

exotica::PlanningProblem::PlanningProblem ( )
default
exotica::PlanningProblem::~PlanningProblem ( )
virtualdefault

Member Function Documentation

Eigen::VectorXd exotica::PlanningProblem::ApplyStartState ( bool  update_traj = true)
virtual

Reimplemented in exotica::DynamicTimeIndexedShootingProblem.

Definition at line 70 of file planning_problem.cpp.

int exotica::PlanningProblem::get_num_controls ( ) const

Definition at line 65 of file planning_problem.cpp.

int exotica::PlanningProblem::get_num_positions ( ) const

! Dimension of planning problem. TODO: Update from positions/velocities/controls and make private.

Definition at line 55 of file planning_problem.cpp.

int exotica::PlanningProblem::get_num_velocities ( ) const

Definition at line 60 of file planning_problem.cpp.

std::pair< std::vector< double >, std::vector< double > > exotica::PlanningProblem::GetCostEvolution ( ) const

Definition at line 271 of file planning_problem.cpp.

double exotica::PlanningProblem::GetCostEvolution ( int  index) const

Definition at line 289 of file planning_problem.cpp.

KinematicRequestFlags exotica::PlanningProblem::GetFlags ( ) const
inline

Definition at line 91 of file planning_problem.h.

int exotica::PlanningProblem::GetNumberOfIterations ( ) const

Definition at line 284 of file planning_problem.cpp.

unsigned int exotica::PlanningProblem::GetNumberOfProblemUpdates ( ) const
inline

Definition at line 84 of file planning_problem.h.

ScenePtr exotica::PlanningProblem::GetScene ( ) const

Definition at line 266 of file planning_problem.cpp.

Eigen::VectorXd exotica::PlanningProblem::GetStartState ( ) const

Definition at line 121 of file planning_problem.cpp.

double exotica::PlanningProblem::GetStartTime ( ) const

Definition at line 131 of file planning_problem.cpp.

TaskMapMap & exotica::PlanningProblem::GetTaskMaps ( )

Definition at line 256 of file planning_problem.cpp.

TaskMapVec & exotica::PlanningProblem::GetTasks ( )

Definition at line 261 of file planning_problem.cpp.

void exotica::PlanningProblem::InstantiateBase ( const Initializer init)
overridevirtual

Reimplemented from exotica::InstantiableBase.

Definition at line 136 of file planning_problem.cpp.

virtual bool exotica::PlanningProblem::IsValid ( )
inlinevirtual
void exotica::PlanningProblem::PreUpdate ( )
virtual
std::string exotica::PlanningProblem::Print ( const std::string &  prepend) const
overridevirtual

Reimplemented from exotica::Object.

Definition at line 46 of file planning_problem.cpp.

void exotica::PlanningProblem::ResetCostEvolution ( size_t  size)

Definition at line 305 of file planning_problem.cpp.

void exotica::PlanningProblem::ResetNumberOfProblemUpdates ( )
inline

Definition at line 85 of file planning_problem.h.

void exotica::PlanningProblem::SetCostEvolution ( int  index,
double  value 
)

Definition at line 311 of file planning_problem.cpp.

void exotica::PlanningProblem::SetStartState ( Eigen::VectorXdRefConst  x)

Definition at line 91 of file planning_problem.cpp.

void exotica::PlanningProblem::SetStartTime ( double  t)

Definition at line 126 of file planning_problem.cpp.

void exotica::PlanningProblem::UpdateMultipleTaskKinematics ( std::vector< std::shared_ptr< KinematicResponse >>  responses)
protected

Definition at line 240 of file planning_problem.cpp.

void exotica::PlanningProblem::UpdateTaskKinematics ( std::shared_ptr< KinematicResponse response)
protected

Definition at line 234 of file planning_problem.cpp.

Member Data Documentation

std::vector<std::pair<std::chrono::high_resolution_clock::time_point, double> > exotica::PlanningProblem::cost_evolution_
protected

Definition at line 112 of file planning_problem.h.

KinematicRequestFlags exotica::PlanningProblem::flags_ = KinematicRequestFlags::KIN_FK
protected

Definition at line 109 of file planning_problem.h.

int exotica::PlanningProblem::N = 0

Definition at line 97 of file planning_problem.h.

unsigned int exotica::PlanningProblem::number_of_problem_updates_ = 0
protected

Definition at line 111 of file planning_problem.h.

ScenePtr exotica::PlanningProblem::scene_
protected

Definition at line 106 of file planning_problem.h.

Eigen::VectorXd exotica::PlanningProblem::start_state_
protected

Definition at line 110 of file planning_problem.h.

double exotica::PlanningProblem::t_start

Definition at line 93 of file planning_problem.h.

TaskMapMap exotica::PlanningProblem::task_maps_
protected

Definition at line 107 of file planning_problem.h.

TaskMapVec exotica::PlanningProblem::tasks_
protected

Definition at line 108 of file planning_problem.h.

TerminationCriterion exotica::PlanningProblem::termination_criterion

Definition at line 95 of file planning_problem.h.


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


exotica_core
Author(s): Yiming Yang, Michael Camilleri
autogenerated on Sat Apr 10 2021 02:34:50