Public Member Functions | Public Attributes | Private Attributes | List of all members
exotica::TimeIndexedSamplingProblem Class Reference

#include <time_indexed_sampling_problem.h>

Inheritance diagram for exotica::TimeIndexedSamplingProblem:
Inheritance graph
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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
 
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
 
TaskMapMapGetTaskMaps ()
 
TaskMapVecGetTasks ()
 
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
 InstantiableBase ()=default
 
virtual ~InstantiableBase ()=default
 
- Public Member Functions inherited from exotica::Instantiable< TimeIndexedSamplingProblemInitializer >
std::vector< InitializerGetAllTemplates () 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_
 

Detailed Description

Definition at line 40 of file time_indexed_sampling_problem.h.

Constructor & Destructor Documentation

exotica::TimeIndexedSamplingProblem::TimeIndexedSamplingProblem ( )

Definition at line 37 of file time_indexed_sampling_problem.cpp.

exotica::TimeIndexedSamplingProblem::~TimeIndexedSamplingProblem ( )
virtualdefault

Member Function Documentation

std::vector< double > exotica::TimeIndexedSamplingProblem::GetBounds ( )

Definition at line 44 of file time_indexed_sampling_problem.cpp.

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

Definition at line 184 of file time_indexed_sampling_problem.cpp.

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

Definition at line 236 of file time_indexed_sampling_problem.cpp.

Eigen::VectorXd exotica::TimeIndexedSamplingProblem::GetGoalState ( ) const

Definition at line 144 of file time_indexed_sampling_problem.cpp.

double exotica::TimeIndexedSamplingProblem::GetGoalTime ( ) const

Definition at line 134 of file time_indexed_sampling_problem.cpp.

double exotica::TimeIndexedSamplingProblem::GetRhoEQ ( const std::string &  task_name)

Definition at line 196 of file time_indexed_sampling_problem.cpp.

double exotica::TimeIndexedSamplingProblem::GetRhoNEQ ( const std::string &  task_name)

Definition at line 248 of file time_indexed_sampling_problem.cpp.

int exotica::TimeIndexedSamplingProblem::GetSpaceDim ( )

Definition at line 297 of file time_indexed_sampling_problem.cpp.

void exotica::TimeIndexedSamplingProblem::Instantiate ( const TimeIndexedSamplingProblemInitializer &  init)
overridevirtual
bool exotica::TimeIndexedSamplingProblem::IsValid ( Eigen::VectorXdRefConst  x,
const double &  t 
)

Definition at line 260 of file time_indexed_sampling_problem.cpp.

void exotica::TimeIndexedSamplingProblem::PreUpdate ( )
overridevirtual

Reimplemented from exotica::PlanningProblem.

Definition at line 283 of file time_indexed_sampling_problem.cpp.

void exotica::TimeIndexedSamplingProblem::SetGoalEQ ( const std::string &  task_name,
Eigen::VectorXdRefConst  goal 
)

Definition at line 156 of file time_indexed_sampling_problem.cpp.

void exotica::TimeIndexedSamplingProblem::SetGoalNEQ ( const std::string &  task_name,
Eigen::VectorXdRefConst  goal 
)

Definition at line 208 of file time_indexed_sampling_problem.cpp.

void exotica::TimeIndexedSamplingProblem::SetGoalState ( Eigen::VectorXdRefConst  qT)

Definition at line 149 of file time_indexed_sampling_problem.cpp.

void exotica::TimeIndexedSamplingProblem::SetGoalTime ( const double &  t)

Definition at line 139 of file time_indexed_sampling_problem.cpp.

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

Definition at line 170 of file time_indexed_sampling_problem.cpp.

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

Definition at line 222 of file time_indexed_sampling_problem.cpp.

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

Definition at line 291 of file time_indexed_sampling_problem.cpp.

Member Data Documentation

TaskSpaceVector exotica::TimeIndexedSamplingProblem::constraint_phi

Definition at line 78 of file time_indexed_sampling_problem.h.

SamplingTask exotica::TimeIndexedSamplingProblem::equality

Definition at line 76 of file time_indexed_sampling_problem.h.

Eigen::VectorXd exotica::TimeIndexedSamplingProblem::goal_
private

Goal state to reach (spatial) at temporal goal (t_goal_)

Definition at line 86 of file time_indexed_sampling_problem.h.

SamplingTask exotica::TimeIndexedSamplingProblem::inequality

Definition at line 75 of file time_indexed_sampling_problem.h.

int exotica::TimeIndexedSamplingProblem::length_jacobian

Definition at line 81 of file time_indexed_sampling_problem.h.

int exotica::TimeIndexedSamplingProblem::length_Phi

Definition at line 80 of file time_indexed_sampling_problem.h.

int exotica::TimeIndexedSamplingProblem::num_tasks

Definition at line 82 of file time_indexed_sampling_problem.h.

TimeIndexedSamplingProblemInitializer exotica::TimeIndexedSamplingProblem::parameters

Definition at line 77 of file time_indexed_sampling_problem.h.

TaskSpaceVector exotica::TimeIndexedSamplingProblem::Phi

Definition at line 74 of file time_indexed_sampling_problem.h.

double exotica::TimeIndexedSamplingProblem::t_goal_
private

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

Definition at line 85 of file time_indexed_sampling_problem.h.

Eigen::VectorXd exotica::TimeIndexedSamplingProblem::vel_limits

Definition at line 73 of file time_indexed_sampling_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