exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver Class Reference

Inheritance diagram for exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver:

Public Member Functions
def	__init__ (self, problem=None, method=None, debug=False)
def	cost_fun (self, x)
def	cost_jac (self, x)
def	eq_constraint_fun (self, x)
def	eq_constraint_jac (self, x)
def	neq_constraint_fun (self, x)
def	neq_constraint_jac (self, x)
def	solve (self)
def	specifyProblem (self, problem)

Public Attributes
	debug
	hessian_update_strategy
	max_iterations
	method
	problem

Detailed Description

Uses SciPy to solve a constrained EndPoseProblem. Options for SciPy minimize
can be found here:
https://docs.scipy.org/doc/scipy/reference/generated/scipy.optimize.minimize.html

Definition at line 16 of file end_pose_solver.py.

Constructor & Destructor Documentation

def exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver.__init__	(		self,
			problem = None,
			method = None,
			debug = False
	)

Definition at line 23 of file end_pose_solver.py.

Member Function Documentation

def exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver.cost_fun	(		self,
			x
	)

Definition at line 53 of file end_pose_solver.py.

def exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver.cost_jac	(		self,
			x
	)

Definition at line 57 of file end_pose_solver.py.

def exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver.eq_constraint_fun	(		self,
			x
	)

Definition at line 36 of file end_pose_solver.py.

def exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver.eq_constraint_jac	(		self,
			x
	)

Definition at line 40 of file end_pose_solver.py.

def exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver.neq_constraint_fun	(		self,
			x
	)

Definition at line 44 of file end_pose_solver.py.

def exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver.neq_constraint_jac	(		self,
			x
	)

Definition at line 49 of file end_pose_solver.py.

def exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver.solve

(

self

)

Definition at line 61 of file end_pose_solver.py.

def exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver.specifyProblem	(		self,
			problem
	)

Definition at line 33 of file end_pose_solver.py.

Member Data Documentation

exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver.debug

Definition at line 26 of file end_pose_solver.py.

exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver.hessian_update_strategy

Definition at line 28 of file end_pose_solver.py.

exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver.max_iterations

Definition at line 31 of file end_pose_solver.py.

exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver.method

Definition at line 27 of file end_pose_solver.py.

exotica_scipy_solver.end_pose_solver.SciPyEndPoseSolver.problem

Definition at line 25 of file end_pose_solver.py.

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

• end_pose_solver.py