30 #ifndef EXOTICA_CORE_TIME_INDEXED_SAMPLING_PROBLEM_H_ 31 #define EXOTICA_CORE_TIME_INDEXED_SAMPLING_PROBLEM_H_ 36 #include <exotica_core/time_indexed_sampling_problem_initializer.h> 46 void Instantiate(
const TimeIndexedSamplingProblemInitializer& init)
override;
56 Eigen::VectorXd
GetGoalEQ(
const std::string& task_name);
57 void SetRhoEQ(
const std::string& task_name,
const double& rho);
58 double GetRhoEQ(
const std::string& task_name);
61 Eigen::VectorXd
GetGoalNEQ(
const std::string& task_name);
62 void SetRhoNEQ(
const std::string& task_name,
const double& rho);
63 double GetRhoNEQ(
const std::string& task_name);
92 #endif // EXOTICA_CORE_TIME_INDEXED_SAMPLING_PROBLEM_H_ TimeIndexedSamplingProblem()
TimeIndexedSamplingProblemInitializer parameters
void PreUpdate() override
Eigen::VectorXd GetGoalNEQ(const std::string &task_name)
void Update(Eigen::VectorXdRefConst x, const double &t)
Eigen::VectorXd GetGoalState() const
void SetGoalEQ(const std::string &task_name, Eigen::VectorXdRefConst goal)
Eigen::VectorXd goal_
Goal state to reach (spatial) at temporal goal (t_goal_)
double GetRhoNEQ(const std::string &task_name)
Eigen::VectorXd vel_limits
void SetRhoEQ(const std::string &task_name, const double &rho)
virtual bool IsValid()
Evaluates whether the problem is valid.
void SetGoalState(Eigen::VectorXdRefConst qT)
void SetRhoNEQ(const std::string &task_name, const double &rho)
const Eigen::Ref< const Eigen::VectorXd > & VectorXdRefConst
Convenience wrapper for storing references to sub-matrices/vectors.
Eigen::VectorXd GetGoalEQ(const std::string &task_name)
double GetRhoEQ(const std::string &task_name)
void SetGoalNEQ(const std::string &task_name, Eigen::VectorXdRefConst goal)
virtual ~TimeIndexedSamplingProblem()
std::shared_ptr< exotica::TimeIndexedSamplingProblem > TimeIndexedSamplingProblemPtr
std::vector< double > GetBounds()
double GetGoalTime() const
double t_goal_
Goal time: The time at which goal_ should be reached and the upper bound for the time-dimension.
TaskSpaceVector constraint_phi
void Instantiate(const TimeIndexedSamplingProblemInitializer &init) override
void SetGoalTime(const double &t)