exotica::LevenbergMarquardtSolver Class Reference

#include <levenberg_marquardt_solver.h>

Inheritance diagram for exotica::LevenbergMarquardtSolver:

Collaboration diagram for exotica::LevenbergMarquardtSolver:

Public Member Functions
void	Solve (Eigen::MatrixXd &solution) override
void	SpecifyProblem (PlanningProblemPtr pointer) override
Public Member Functions inherited from exotica::MotionSolver
	MotionSolver ()=default
virtual	~MotionSolver ()=default
void	InstantiateBase (const Initializer &init) override
PlanningProblemPtr	GetProblem () const
std::string	Print (const std::string &prepend) const override
void	SetNumberOfMaxIterations (int max_iter)
int	GetNumberOfMaxIterations ()
double	GetPlanningTime ()
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< LevenbergMarquardtSolverInitializer >
void	InstantiateInternal (const Initializer &init) override
Initializer	GetInitializerTemplate () override
std::vector< Initializer >	GetAllTemplates () const override
virtual void	Instantiate (const LevenbergMarquardtSolverInitializer &init)
const LevenbergMarquardtSolverInitializer &	GetParameters () const

Private Attributes
UnconstrainedEndPoseProblemPtr	prob_
	Shared pointer to the planning problem. More...
double	lambda_ = 0
	Damping factor. More...
Eigen::MatrixXd	M_
	Scaling matrix, used for regularisation. More...
Eigen::MatrixXd	JT_times_J_
	Gauss-Newton Hessian approximation (J^T * J) More...
Eigen::VectorXd	q_
	Joint configuration vector, used during optimisation. More...
Eigen::VectorXd	qd_
	Change in joint configuration, used during optimisation. More...
Eigen::VectorXd	yd_
	Task space difference/error, used during optimisation. More...
Eigen::MatrixXd	cost_jacobian_
	Jacobian, used during optimisation. More...
double	error_
	Error, used during optimisation. More...
double	error_prev_
	Previous iteration error, used during optimisation. More...
Eigen::LLT< Eigen::MatrixXd >	llt_
	Cholesky decomposition for J^T*J. More...

Additional Inherited Members
Public Attributes inherited from exotica::Object
std::string	ns_
std::string	object_name_
bool	debug_
Protected Attributes inherited from exotica::MotionSolver
PlanningProblemPtr	problem_
double	planning_time_ = -1
int	max_iterations_ = 100
Protected Attributes inherited from exotica::Instantiable< LevenbergMarquardtSolverInitializer >
LevenbergMarquardtSolverInitializer	parameters_

Member Function Documentation

Solve()

void exotica::LevenbergMarquardtSolver::Solve ( Eigen::MatrixXd &  solution )

overridevirtual

Implements exotica::MotionSolver.

SpecifyProblem()

void exotica::LevenbergMarquardtSolver::SpecifyProblem ( PlanningProblemPtr  pointer )

overridevirtual

Reimplemented from exotica::MotionSolver.

Member Data Documentation

cost_jacobian_

Eigen::MatrixXd exotica::LevenbergMarquardtSolver::cost_jacobian_

private

Jacobian, used during optimisation.

error_

double exotica::LevenbergMarquardtSolver::error_

private

Error, used during optimisation.

error_prev_

double exotica::LevenbergMarquardtSolver::error_prev_

private

Previous iteration error, used during optimisation.

JT_times_J_

Eigen::MatrixXd exotica::LevenbergMarquardtSolver::JT_times_J_

private

Gauss-Newton Hessian approximation (J^T * J)

lambda_

double exotica::LevenbergMarquardtSolver::lambda_ = 0

private

Damping factor.

llt_

Eigen::LLT<Eigen::MatrixXd> exotica::LevenbergMarquardtSolver::llt_

private

Cholesky decomposition for J^T*J.

M_

Eigen::MatrixXd exotica::LevenbergMarquardtSolver::M_

private

Scaling matrix, used for regularisation.

prob_

UnconstrainedEndPoseProblemPtr exotica::LevenbergMarquardtSolver::prob_

private

Shared pointer to the planning problem.

q_

Eigen::VectorXd exotica::LevenbergMarquardtSolver::q_

private

Joint configuration vector, used during optimisation.

qd_

Eigen::VectorXd exotica::LevenbergMarquardtSolver::qd_

private

Change in joint configuration, used during optimisation.

yd_

Eigen::VectorXd exotica::LevenbergMarquardtSolver::yd_

private

Task space difference/error, used during optimisation.

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

• /tmp/exotica/exotations/solvers/exotica_levenberg_marquardt_solver/include/exotica_levenberg_marquardt_solver/levenberg_marquardt_solver.h