exotica::MotionSolver Class Reference

#include <motion_solver.h>

Inheritance diagram for exotica::MotionSolver:

Collaboration diagram for exotica::MotionSolver:

Public Member Functions
	MotionSolver ()=default
virtual	~MotionSolver ()=default
void	InstantiateBase (const Initializer &init) override
virtual void	SpecifyProblem (PlanningProblemPtr pointer)
virtual void	Solve (Eigen::MatrixXd &solution)=0
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 Initializer	GetInitializerTemplate ()=0
virtual void	InstantiateInternal (const Initializer &init)=0
virtual std::vector< Initializer >	GetAllTemplates () const =0

Protected Attributes
PlanningProblemPtr	problem_
double	planning_time_ = -1
int	max_iterations_ = 100

Additional Inherited Members
Public Attributes inherited from exotica::Object
std::string	ns_
std::string	object_name_
bool	debug_
Private Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default
	~Uncopyable ()=default

Constructor & Destructor Documentation

MotionSolver()

exotica::MotionSolver::MotionSolver ( )

default

~MotionSolver()

virtual exotica::MotionSolver::~MotionSolver ( )

virtualdefault

Member Function Documentation

GetNumberOfMaxIterations()

int exotica::MotionSolver::GetNumberOfMaxIterations ( )

inline

GetPlanningTime()

double exotica::MotionSolver::GetPlanningTime ( )

inline

GetProblem()

PlanningProblemPtr exotica::MotionSolver::GetProblem ( ) const

inline

InstantiateBase()

void exotica::MotionSolver::InstantiateBase ( const Initializer &  init )

overridevirtual

Reimplemented from exotica::InstantiableBase.

Print()

std::string exotica::MotionSolver::Print ( const std::string &  prepend ) const

overridevirtual

Reimplemented from exotica::Object.

SetNumberOfMaxIterations()

void exotica::MotionSolver::SetNumberOfMaxIterations ( int  max_iter )

inline

Solve()

virtual void exotica::MotionSolver::Solve ( Eigen::MatrixXd &  solution )

pure virtual

Implemented in exotica::OMPLControlSolver, exotica::TimeIndexedRRTConnectSolver, exotica::AICOSolver, exotica::OMPLSolver< ProblemType >, exotica::OMPLSolver< SamplingProblem >, exotica::BayesianIKSolver, exotica::ILQGSolver, exotica::ILQRSolver, exotica::AbstractDDPSolver, exotica::IKSolver, exotica::AbstractFeasibilityDrivenDDPSolver, and exotica::LevenbergMarquardtSolver.

SpecifyProblem()

virtual void exotica::MotionSolver::SpecifyProblem ( PlanningProblemPtr  pointer )

virtual

Reimplemented in exotica::OMPLControlSolver, exotica::TimeIndexedRRTConnectSolver, exotica::AICOSolver, exotica::OMPLSolver< ProblemType >, exotica::OMPLSolver< SamplingProblem >, exotica::BayesianIKSolver, exotica::ILQGSolver, exotica::ILQRSolver, exotica::AbstractDDPSolver, exotica::IKSolver, exotica::AbstractFeasibilityDrivenDDPSolver, and exotica::LevenbergMarquardtSolver.

Member Data Documentation

max_iterations_

int exotica::MotionSolver::max_iterations_ = 100

protected

planning_time_

double exotica::MotionSolver::planning_time_ = -1

protected

problem_

PlanningProblemPtr exotica::MotionSolver::problem_

protected

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

• /tmp/exotica/exotica_core/include/exotica_core/motion_solver.h