Arbitrarily constrained end-pose problem implementation. More...
#include <end_pose_problem.h>
Inheritance diagram for exotica::EndPoseProblem:
Collaboration diagram for exotica::EndPoseProblem:
Public Member Functions | |
| EndPoseProblem () | |
| virtual | ~EndPoseProblem () |
| void | Instantiate (const EndPoseProblemInitializer &init) override |
| void | Update (Eigen::VectorXdRefConst x) |
| bool | IsValid () override |
| Evaluates whether the problem is valid. More... | |
| 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 | SetGoalEQ (const std::string &task_name, Eigen::VectorXdRefConst goal) |
| void | SetRhoEQ (const std::string &task_name, const double &rho) |
| 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) |
| void | SetRhoNEQ (const std::string &task_name, const double &rho) |
| Eigen::VectorXd | GetGoalNEQ (const std::string &task_name) |
| double | GetRhoNEQ (const std::string &task_name) |
| void | PreUpdate () override |
| Eigen::MatrixXd | GetBounds () const |
| double | GetScalarCost () |
| Eigen::RowVectorXd | GetScalarJacobian () |
| double | GetScalarTaskCost (const std::string &task_name) const |
| Eigen::VectorXd | GetEquality () |
| Eigen::MatrixXd | GetEqualityJacobian () |
| Eigen::VectorXd | GetInequality () |
| Eigen::MatrixXd | GetInequalityJacobian () |
 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< EndPoseProblemInitializer > | |
| void | InstantiateInternal (const Initializer &init) override |
| Initializer | GetInitializerTemplate () override |
| std::vector< Initializer > | GetAllTemplates () const override |
| const EndPoseProblemInitializer & | GetParameters () const |
Public Attributes | |
| EndPoseTask | cost |
| EndPoseTask | inequality |
| EndPoseTask | equality |
| Eigen::MatrixXd | W |
| TaskSpaceVector | Phi |
| Eigen::MatrixXd | jacobian |
| Hessian | hessian |
| int | length_Phi |
| int | length_jacobian |
| int | num_tasks |
| bool | use_bounds |
| 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< EndPoseProblemInitializer > | |
| EndPoseProblemInitializer | parameters_ |
Detailed Description
Arbitrarily constrained end-pose problem implementation.
Constructor & Destructor Documentation
◆ EndPoseProblem()
| exotica::EndPoseProblem::EndPoseProblem | ( | ) |
◆ ~EndPoseProblem()
|
virtual |
Member Function Documentation
◆ GetBounds()
| Eigen::MatrixXd exotica::EndPoseProblem::GetBounds | ( | ) | const |
◆ GetEquality()
| Eigen::VectorXd exotica::EndPoseProblem::GetEquality | ( | ) |
◆ GetEqualityJacobian()
| Eigen::MatrixXd exotica::EndPoseProblem::GetEqualityJacobian | ( | ) |
◆ GetGoal()
| Eigen::VectorXd exotica::EndPoseProblem::GetGoal | ( | const std::string & | task_name | ) |
◆ GetGoalEQ()
| Eigen::VectorXd exotica::EndPoseProblem::GetGoalEQ | ( | const std::string & | task_name | ) |
◆ GetGoalNEQ()
| Eigen::VectorXd exotica::EndPoseProblem::GetGoalNEQ | ( | const std::string & | task_name | ) |
◆ GetInequality()
| Eigen::VectorXd exotica::EndPoseProblem::GetInequality | ( | ) |
◆ GetInequalityJacobian()
| Eigen::MatrixXd exotica::EndPoseProblem::GetInequalityJacobian | ( | ) |
◆ GetRho()
| double exotica::EndPoseProblem::GetRho | ( | const std::string & | task_name | ) |
◆ GetRhoEQ()
| double exotica::EndPoseProblem::GetRhoEQ | ( | const std::string & | task_name | ) |
◆ GetRhoNEQ()
| double exotica::EndPoseProblem::GetRhoNEQ | ( | const std::string & | task_name | ) |
◆ GetScalarCost()
| double exotica::EndPoseProblem::GetScalarCost | ( | ) |
◆ GetScalarJacobian()
| Eigen::RowVectorXd exotica::EndPoseProblem::GetScalarJacobian | ( | ) |
◆ GetScalarTaskCost()
| double exotica::EndPoseProblem::GetScalarTaskCost | ( | const std::string & | task_name | ) | const |
◆ Instantiate()
|
overridevirtual |
Reimplemented from exotica::Instantiable< EndPoseProblemInitializer >.
◆ IsValid()
|
overridevirtual |
Evaluates whether the problem is valid.
Reimplemented from exotica::PlanningProblem.
◆ PreUpdate()
|
overridevirtual |
Reimplemented from exotica::PlanningProblem.
◆ SetGoal()
| void exotica::EndPoseProblem::SetGoal | ( | const std::string & | task_name, |
| Eigen::VectorXdRefConst | goal | ||
| ) |
◆ SetGoalEQ()
| void exotica::EndPoseProblem::SetGoalEQ | ( | const std::string & | task_name, |
| Eigen::VectorXdRefConst | goal | ||
| ) |
◆ SetGoalNEQ()
| void exotica::EndPoseProblem::SetGoalNEQ | ( | const std::string & | task_name, |
| Eigen::VectorXdRefConst | goal | ||
| ) |
◆ SetRho()
| void exotica::EndPoseProblem::SetRho | ( | const std::string & | task_name, |
| const double & | rho | ||
| ) |
◆ SetRhoEQ()
| void exotica::EndPoseProblem::SetRhoEQ | ( | const std::string & | task_name, |
| const double & | rho | ||
| ) |
◆ SetRhoNEQ()
| void exotica::EndPoseProblem::SetRhoNEQ | ( | const std::string & | task_name, |
| const double & | rho | ||
| ) |
◆ Update()
| void exotica::EndPoseProblem::Update | ( | Eigen::VectorXdRefConst | x | ) |
Member Data Documentation
◆ cost
| EndPoseTask exotica::EndPoseProblem::cost |
◆ equality
| EndPoseTask exotica::EndPoseProblem::equality |
◆ hessian
| Hessian exotica::EndPoseProblem::hessian |
◆ inequality
| EndPoseTask exotica::EndPoseProblem::inequality |
◆ jacobian
| Eigen::MatrixXd exotica::EndPoseProblem::jacobian |
◆ length_jacobian
| int exotica::EndPoseProblem::length_jacobian |
◆ length_Phi
| int exotica::EndPoseProblem::length_Phi |
◆ num_tasks
| int exotica::EndPoseProblem::num_tasks |
◆ Phi
| TaskSpaceVector exotica::EndPoseProblem::Phi |
◆ use_bounds
| bool exotica::EndPoseProblem::use_bounds |
◆ W
| Eigen::MatrixXd exotica::EndPoseProblem::W |
The documentation for this class was generated from the following file:
- /tmp/exotica/exotica_core/include/exotica_core/problems/end_pose_problem.h
