exotica::PlanningProblem Class Reference

#include <planning_problem.h>

Inheritance diagram for exotica::PlanningProblem:

Collaboration diagram for exotica::PlanningProblem:

Public Member Functions
	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
virtual void	PreUpdate ()
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
virtual bool	IsValid ()
	Evaluates whether the problem is valid. More...
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 Initializer	GetInitializerTemplate ()=0
virtual void	InstantiateInternal (const Initializer &init)=0
virtual std::vector< Initializer >	GetAllTemplates () const =0

Public Attributes
double	t_start
TerminationCriterion	termination_criterion
int	N = 0
Public Attributes inherited from exotica::Object
std::string	ns_
std::string	object_name_
bool	debug_

Protected Member Functions
void	UpdateTaskKinematics (std::shared_ptr< KinematicResponse > response)
void	UpdateMultipleTaskKinematics (std::vector< std::shared_ptr< KinematicResponse >> responses)

Protected Attributes
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_

Additional Inherited Members
Private Member Functions inherited from exotica::Uncopyable
	Uncopyable ()=default
	~Uncopyable ()=default

Constructor & Destructor Documentation

PlanningProblem()

exotica::PlanningProblem::PlanningProblem

(

)

~PlanningProblem()

virtual exotica::PlanningProblem::~PlanningProblem ( )

virtual

Member Function Documentation

ApplyStartState()

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

virtual

Reimplemented in exotica::DynamicTimeIndexedShootingProblem.

get_num_controls()

int exotica::PlanningProblem::get_num_controls

(

)

const

get_num_positions()

int exotica::PlanningProblem::get_num_positions

(

)

const

! Dimension of planning problem. TODO: Update from positions/velocities/controls and make private.

get_num_velocities()

int exotica::PlanningProblem::get_num_velocities

(

)

const

GetCostEvolution() [1/2]

std::pair<std::vector<double>, std::vector<double> > exotica::PlanningProblem::GetCostEvolution

(

)

const

GetCostEvolution() [2/2]

double exotica::PlanningProblem::GetCostEvolution

(

int

index

)

const

GetFlags()

KinematicRequestFlags exotica::PlanningProblem::GetFlags ( ) const

inline

GetNumberOfIterations()

int exotica::PlanningProblem::GetNumberOfIterations

(

)

const

GetNumberOfProblemUpdates()

unsigned int exotica::PlanningProblem::GetNumberOfProblemUpdates ( ) const

inline

GetScene()

ScenePtr exotica::PlanningProblem::GetScene

(

)

const

GetStartState()

Eigen::VectorXd exotica::PlanningProblem::GetStartState

(

)

const

GetStartTime()

double exotica::PlanningProblem::GetStartTime

(

)

const

GetTaskMaps()

TaskMapMap& exotica::PlanningProblem::GetTaskMaps

(

)

GetTasks()

TaskMapVec& exotica::PlanningProblem::GetTasks

(

)

InstantiateBase()

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

overridevirtual

Reimplemented from exotica::InstantiableBase.

IsValid()

virtual bool exotica::PlanningProblem::IsValid ( )

inlinevirtual

Evaluates whether the problem is valid.

Reimplemented in exotica::UnconstrainedTimeIndexedProblem, exotica::BoundedTimeIndexedProblem, exotica::BoundedEndPoseProblem, exotica::SamplingProblem, exotica::EndPoseProblem, exotica::TimeIndexedProblem, and exotica::UnconstrainedEndPoseProblem.

PreUpdate()

virtual void exotica::PlanningProblem::PreUpdate ( )

virtual

Reimplemented in exotica::EndPoseProblem, exotica::DynamicTimeIndexedShootingProblem, exotica::UnconstrainedEndPoseProblem, exotica::BoundedEndPoseProblem, exotica::UnconstrainedTimeIndexedProblem, exotica::BoundedTimeIndexedProblem, exotica::SamplingProblem, exotica::TimeIndexedSamplingProblem, and exotica::AbstractTimeIndexedProblem.

Print()

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

overridevirtual

Reimplemented from exotica::Object.

ResetCostEvolution()

void exotica::PlanningProblem::ResetCostEvolution

(

size_t

size

)

ResetNumberOfProblemUpdates()

void exotica::PlanningProblem::ResetNumberOfProblemUpdates ( )

inline

SetCostEvolution()

void exotica::PlanningProblem::SetCostEvolution	(	int	index,
		double	value
	)

SetStartState()

void exotica::PlanningProblem::SetStartState

(

Eigen::VectorXdRefConst

x

)

SetStartTime()

void exotica::PlanningProblem::SetStartTime

(

double

t

)

UpdateMultipleTaskKinematics()

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

protected

UpdateTaskKinematics()

void exotica::PlanningProblem::UpdateTaskKinematics ( std::shared_ptr< KinematicResponse >  response )

protected

Member Data Documentation

cost_evolution_

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

protected

flags_

KinematicRequestFlags exotica::PlanningProblem::flags_ = KinematicRequestFlags::KIN_FK

protected

N

int exotica::PlanningProblem::N = 0

number_of_problem_updates_

unsigned int exotica::PlanningProblem::number_of_problem_updates_ = 0

protected

scene_

ScenePtr exotica::PlanningProblem::scene_

protected

start_state_

Eigen::VectorXd exotica::PlanningProblem::start_state_

protected

t_start

double exotica::PlanningProblem::t_start

task_maps_

TaskMapMap exotica::PlanningProblem::task_maps_

protected

tasks_

TaskMapVec exotica::PlanningProblem::tasks_

protected

termination_criterion

TerminationCriterion exotica::PlanningProblem::termination_criterion

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

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