Bound constrained end-pose problem implementation. More...

#include <bounded_end_pose_problem.h>

Inheritance diagram for exotica::BoundedEndPoseProblem:

Collaboration diagram for exotica::BoundedEndPoseProblem:

Public Member Functions
	BoundedEndPoseProblem ()

virtual	~BoundedEndPoseProblem ()

void	Instantiate (const BoundedEndPoseProblemInitializer &init) override

void	Update (Eigen::VectorXdRefConst x)

void	SetGoal (const std::string &task_name, Eigen::VectorXdRefConst goal)

void	SetRho (const std::string &task_name, const double &rho)

Eigen::VectorXd	GetGoal (const std::string &task_name)

double	GetRho (const std::string &task_name)

void	PreUpdate () override

Eigen::MatrixXd	GetBounds () const

bool	IsValid () override
	Evaluates whether the problem is valid. More...

double	GetScalarCost () const

Eigen::RowVectorXd	GetScalarJacobian () const

double	GetScalarTaskCost (const std::string &task_name) const

Public Member Functions inherited from exotica::PlanningProblem
	PlanningProblem ()

virtual	~PlanningProblem ()

void	InstantiateBase (const Initializer &init) override

TaskMapMap &	GetTaskMaps ()

TaskMapVec &	GetTasks ()

ScenePtr	GetScene () const

std::string	Print (const std::string &prepend) const override

void	SetStartState (Eigen::VectorXdRefConst x)

Eigen::VectorXd	GetStartState () const

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

void	SetStartTime (double t)

double	GetStartTime () const

unsigned int	GetNumberOfProblemUpdates () const

void	ResetNumberOfProblemUpdates ()

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

int	GetNumberOfIterations () const

double	GetCostEvolution (int index) const

void	ResetCostEvolution (size_t size)

void	SetCostEvolution (int index, double value)

KinematicRequestFlags	GetFlags () 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

int	get_num_controls () const

Public Member Functions inherited from exotica::Object
	Object ()

virtual	~Object ()

virtual std::string	type () const
	Type Information wrapper: must be virtual so that it is polymorphic... More...

std::string	GetObjectName ()

void	InstantiateObject (const Initializer &init)

Public Member Functions inherited from exotica::InstantiableBase
	InstantiableBase ()=default

virtual	~InstantiableBase ()=default

virtual std::vector< Initializer >	GetAllTemplates () const =0

Public Member Functions inherited from exotica::Instantiable< BoundedEndPoseProblemInitializer >
void	InstantiateInternal (const Initializer &init) override

Initializer	GetInitializerTemplate () override

std::vector< Initializer >	GetAllTemplates () const override

const BoundedEndPoseProblemInitializer &	GetParameters () const

Public Attributes
EndPoseTask	cost

Eigen::MatrixXd	W

TaskSpaceVector	Phi

Hessian	hessian

Eigen::MatrixXd	jacobian

int	length_Phi

int	length_jacobian

int	num_tasks

Public Attributes inherited from exotica::PlanningProblem
double	t_start

TerminationCriterion	termination_criterion

int	N = 0

Public Attributes inherited from exotica::Object
std::string	ns_

std::string	object_name_

bool	debug_

Additional Inherited Members
Protected Member Functions inherited from exotica::PlanningProblem
void	UpdateTaskKinematics (std::shared_ptr< KinematicResponse > response)

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

Protected Attributes inherited from exotica::PlanningProblem
ScenePtr	scene_

TaskMapMap	task_maps_

TaskMapVec	tasks_

KinematicRequestFlags	flags_ = KinematicRequestFlags::KIN_FK

Eigen::VectorXd	start_state_

unsigned int	number_of_problem_updates_ = 0

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

Protected Attributes inherited from exotica::Instantiable< BoundedEndPoseProblemInitializer >
BoundedEndPoseProblemInitializer	parameters_

Detailed Description

Bound constrained end-pose problem implementation.

Constructor & Destructor Documentation

◆ BoundedEndPoseProblem()

exotica::BoundedEndPoseProblem::BoundedEndPoseProblem ( )

◆ ~BoundedEndPoseProblem()

virtual exotica::BoundedEndPoseProblem::~BoundedEndPoseProblem ( )

virtual

Member Function Documentation

◆ GetBounds()

Eigen::MatrixXd exotica::BoundedEndPoseProblem::GetBounds ( ) const

◆ GetGoal()

Eigen::VectorXd exotica::BoundedEndPoseProblem::GetGoal ( const std::string & task_name )

◆ GetRho()

double exotica::BoundedEndPoseProblem::GetRho ( const std::string & task_name )

◆ GetScalarCost()

double exotica::BoundedEndPoseProblem::GetScalarCost ( ) const

◆ GetScalarJacobian()

Eigen::RowVectorXd exotica::BoundedEndPoseProblem::GetScalarJacobian ( ) const

◆ GetScalarTaskCost()

double exotica::BoundedEndPoseProblem::GetScalarTaskCost ( const std::string & task_name ) const

◆ Instantiate()

void exotica::BoundedEndPoseProblem::Instantiate ( const BoundedEndPoseProblemInitializer & init )

overridevirtual

Reimplemented from exotica::Instantiable< BoundedEndPoseProblemInitializer >.

◆ IsValid()

bool exotica::BoundedEndPoseProblem::IsValid ( )

overridevirtual

Evaluates whether the problem is valid.

Reimplemented from exotica::PlanningProblem.

◆ PreUpdate()

void exotica::BoundedEndPoseProblem::PreUpdate ( )

overridevirtual

Reimplemented from exotica::PlanningProblem.

◆ SetGoal()

void exotica::BoundedEndPoseProblem::SetGoal	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal
	)

◆ SetRho()

void exotica::BoundedEndPoseProblem::SetRho	(	const std::string &	task_name,
		const double &	rho
	)

◆ Update()

void exotica::BoundedEndPoseProblem::Update ( Eigen::VectorXdRefConst x )

Member Data Documentation

◆ cost

EndPoseTask exotica::BoundedEndPoseProblem::cost

◆ hessian

Hessian exotica::BoundedEndPoseProblem::hessian

◆ jacobian

Eigen::MatrixXd exotica::BoundedEndPoseProblem::jacobian

◆ length_jacobian

int exotica::BoundedEndPoseProblem::length_jacobian

◆ length_Phi

int exotica::BoundedEndPoseProblem::length_Phi

◆ num_tasks

int exotica::BoundedEndPoseProblem::num_tasks

◆ Phi

TaskSpaceVector exotica::BoundedEndPoseProblem::Phi

◆ W

Eigen::MatrixXd exotica::BoundedEndPoseProblem::W

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

/tmp/exotica/exotica_core/include/exotica_core/problems/bounded_end_pose_problem.h

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BoundedEndPoseProblem()

◆ ~BoundedEndPoseProblem()

Member Function Documentation

◆ GetBounds()

◆ GetGoal()

◆ GetRho()

◆ GetScalarCost()

◆ GetScalarJacobian()

◆ GetScalarTaskCost()

◆ Instantiate()

◆ IsValid()

◆ PreUpdate()

◆ SetGoal()

◆ SetRho()

◆ Update()

Member Data Documentation

◆ cost

◆ hessian

◆ jacobian

◆ length_jacobian

◆ length_Phi

◆ num_tasks

◆ Phi

◆ W