tuw_control: tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap > Struct Template Reference

#include <trajectory_optimizer.h>

Inheritance diagram for tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >:

Inheritance graph

[legend]

Public Types
enum	AccessType { AccessType::STATE_0, AccessType::PARAM_CP, AccessType::PARAM_ARC, AccessType::ENUM_SIZE }

Public Member Functions
void	computeJacobian ()

void	computeJacobian1Entry (size_t _idx)

void	initParamStruct (std::shared_ptr< TMyParamType > &_paramStructPtr)

virtual void	initState0ParamFuncsHValid (const size_t &_optFailCount)

TrajectoryOptimizer &	operator= (const TrajectoryOptimizer &)=default

TrajectoryOptimizer &	operator= (TrajectoryOptimizer &&)=default

virtual void	optimize ()

double &	stepSize ()

	TrajectoryOptimizer (StateSimPtr &_stateSim, std::unique_ptr< TrajectorySimulator::CostsEvaluatorClass > _costsEvaluator, OptimizationStateSPtr _optState)

	TrajectoryOptimizer (const TrajectoryOptimizer &)=default

	TrajectoryOptimizer (TrajectoryOptimizer &&)=default

	TrajectoryOptimizer ()

	~TrajectoryOptimizer ()=default

Public Member Functions inherited from tuw::TrajectorySimGrade
void	evaluateTrajectory (const double &_arcBegin=0)

void	initCostsEvaluator ()

TrajectorySimGrade &	operator= (const TrajectorySimGrade &)=default

TrajectorySimGrade &	operator= (TrajectorySimGrade &&)=default

void	setSimMode (const TrajectorySimulator::SimMode &_simMode)

const TrajectorySimulator::SimMode &	simMode () const

	TrajectorySimGrade (StateSimPtr &_stateSim)

	TrajectorySimGrade (StateSimPtr &_stateSim, std::unique_ptr< TrajectorySimulator::CostsEvaluatorClass > _costsEvaluator)

	TrajectorySimGrade (const TrajectorySimGrade &)=default

	TrajectorySimGrade (TrajectorySimGrade &&)=default

TrajectorySimulatorSPtr &	trajSim ()

	~TrajectorySimGrade ()=default

Public Attributes
double	fCache

std::vector< double >	gCache

std::vector< double >	hCache

OptimizationStateSPtr	optState_

std::shared_ptr< TMyParamType >	paramStructPtr

CostsEvaluatorCached< TNumType, TTrajSimG, TMyParamType, TOptVarMap >	trajSimG

CostsEvaluatorCached< TNumType, TTrajSimH, TMyParamType, TOptVarMap >	trajSimH

CostsEvaluatorCached< TNumType, TTrajSimJ, TMyParamType, TOptVarMap >	trajSimJ

CostsEvaluatorCached< TNumType, TTrajSimJGH, TMyParamType, TOptVarMap >	trajSimJGH

Private Attributes
TrajectorySimulator::LatticeVecSPtrVec	partLattices

std::vector< TrajectorySimulator::LatticePointType >	simulationLattice

double	stepSize_

Detailed Description

template<class TNumType, class TTrajSimJGH, class TTrajSimJ, class TTrajSimG, class TTrajSimH, class TMyParamType, template< class, class > class TOptVarMap>
struct tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >

Definition at line 106 of file trajectory_optimizer.h.

Member Enumeration Documentation

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

enum tuw::TrajectoryOptimizer::AccessType

strong

Enumerator
STATE_0
PARAM_CP
PARAM_ARC
ENUM_SIZE

Definition at line 109 of file trajectory_optimizer.h.

Constructor & Destructor Documentation

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::TrajectoryOptimizer	(	StateSimPtr &	_stateSim,
		std::unique_ptr< TrajectorySimulator::CostsEvaluatorClass >	_costsEvaluator,
		OptimizationStateSPtr	_optState
	)

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::~TrajectoryOptimizer ( )

default

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::TrajectoryOptimizer ( const TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap > & )

default

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::TrajectoryOptimizer ( TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap > && )

default

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::TrajectoryOptimizer ( )

inline

Definition at line 257 of file trajectory_optimizer.hpp.

Member Function Documentation

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

void TrajectoryOptimizer::computeJacobian ( )

Definition at line 59 of file trajectory_optimizer.cpp.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

void TrajectoryOptimizer::computeJacobian1Entry ( size_t _idx )

Definition at line 84 of file trajectory_optimizer.cpp.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

void tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::initParamStruct ( std::shared_ptr< TMyParamType > & _paramStructPtr )

inline

Definition at line 284 of file trajectory_optimizer.hpp.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

void TrajectoryOptimizer::initState0ParamFuncsHValid ( const size_t & _optFailCount )

virtual

Definition at line 106 of file trajectory_optimizer.cpp.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

TrajectoryOptimizer& tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::operator= ( const TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap > & )

default

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

TrajectoryOptimizer& tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::operator= ( TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap > && )

default

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

void TrajectoryOptimizer::optimize ( )

virtual

Definition at line 50 of file trajectory_optimizer.cpp.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

double & TrajectoryOptimizer::stepSize ( )

Definition at line 55 of file trajectory_optimizer.cpp.

Member Data Documentation

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

double tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::fCache

Definition at line 156 of file trajectory_optimizer.h.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

std::vector<double> tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::gCache

Definition at line 162 of file trajectory_optimizer.h.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

std::vector<double> tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::hCache

Definition at line 159 of file trajectory_optimizer.h.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

OptimizationStateSPtr tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::optState_

Definition at line 153 of file trajectory_optimizer.h.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

std::shared_ptr<TMyParamType> tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::paramStructPtr

Definition at line 292 of file trajectory_optimizer.hpp.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

TrajectorySimulator::LatticeVecSPtrVec tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::partLattices

private

Definition at line 168 of file trajectory_optimizer.h.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

std::vector<TrajectorySimulator::LatticePointType> tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::simulationLattice

private

Definition at line 165 of file trajectory_optimizer.h.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

double tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::stepSize_

private

Definition at line 171 of file trajectory_optimizer.h.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

CostsEvaluatorCached<TNumType, TTrajSimG, TMyParamType, TOptVarMap> tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::trajSimG

Definition at line 281 of file trajectory_optimizer.hpp.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

CostsEvaluatorCached<TNumType, TTrajSimH, TMyParamType, TOptVarMap> tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::trajSimH

Definition at line 282 of file trajectory_optimizer.hpp.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

CostsEvaluatorCached<TNumType, TTrajSimJ, TMyParamType, TOptVarMap> tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::trajSimJ

Definition at line 280 of file trajectory_optimizer.hpp.

template<class TNumType , class TTrajSimJGH , class TTrajSimJ , class TTrajSimG , class TTrajSimH , class TMyParamType , template< class, class > class TOptVarMap>

CostsEvaluatorCached<TNumType, TTrajSimJGH, TMyParamType, TOptVarMap> tuw::TrajectoryOptimizer< TNumType, TTrajSimJGH, TTrajSimJ, TTrajSimG, TTrajSimH, TMyParamType, TOptVarMap >::trajSimJGH

Definition at line 283 of file trajectory_optimizer.hpp.

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

tuw_control
Author(s): George Todoran
autogenerated on Mon Jun 10 2019 15:27:23