#include <time_indexed_sampling_problem.h>

Inheritance diagram for exotica::TimeIndexedSamplingProblem:

Collaboration diagram for exotica::TimeIndexedSamplingProblem:

Public Member Functions
	TimeIndexedSamplingProblem ()

virtual	~TimeIndexedSamplingProblem ()

void	Instantiate (const TimeIndexedSamplingProblemInitializer &init) override

void	Update (Eigen::VectorXdRefConst x, const double &t)

bool	IsValid (Eigen::VectorXdRefConst x, const double &t)

void	PreUpdate () override

int	GetSpaceDim ()

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

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

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

double	GetRhoEQ (const std::string &task_name)

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

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

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

double	GetRhoNEQ (const std::string &task_name)

std::vector< double >	GetBounds ()

Eigen::VectorXd	GetGoalState () const

void	SetGoalState (Eigen::VectorXdRefConst qT)

double	GetGoalTime () const

void	SetGoalTime (const double &t)

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

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

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

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

Initializer	GetInitializerTemplate () override

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

const TimeIndexedSamplingProblemInitializer &	GetParameters () const

Public Attributes
Eigen::VectorXd	vel_limits

TaskSpaceVector	Phi

SamplingTask	inequality

SamplingTask	equality

TimeIndexedSamplingProblemInitializer	parameters

TaskSpaceVector	constraint_phi

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_

Private Attributes
double	t_goal_
	Goal time: The time at which goal_ should be reached and the upper bound for the time-dimension. More...

Eigen::VectorXd	goal_
	Goal state to reach (spatial) at temporal goal (t_goal_) More...

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< TimeIndexedSamplingProblemInitializer >
TimeIndexedSamplingProblemInitializer	parameters_

Constructor & Destructor Documentation

◆ TimeIndexedSamplingProblem()

exotica::TimeIndexedSamplingProblem::TimeIndexedSamplingProblem ( )

◆ ~TimeIndexedSamplingProblem()

virtual exotica::TimeIndexedSamplingProblem::~TimeIndexedSamplingProblem ( )

virtual

Member Function Documentation

◆ GetBounds()

std::vector<double> exotica::TimeIndexedSamplingProblem::GetBounds ( )

◆ GetGoalEQ()

Eigen::VectorXd exotica::TimeIndexedSamplingProblem::GetGoalEQ ( const std::string & task_name )

◆ GetGoalNEQ()

Eigen::VectorXd exotica::TimeIndexedSamplingProblem::GetGoalNEQ ( const std::string & task_name )

◆ GetGoalState()

Eigen::VectorXd exotica::TimeIndexedSamplingProblem::GetGoalState ( ) const

◆ GetGoalTime()

double exotica::TimeIndexedSamplingProblem::GetGoalTime ( ) const

◆ GetRhoEQ()

double exotica::TimeIndexedSamplingProblem::GetRhoEQ ( const std::string & task_name )

◆ GetRhoNEQ()

double exotica::TimeIndexedSamplingProblem::GetRhoNEQ ( const std::string & task_name )

◆ GetSpaceDim()

int exotica::TimeIndexedSamplingProblem::GetSpaceDim ( )

◆ Instantiate()

void exotica::TimeIndexedSamplingProblem::Instantiate ( const TimeIndexedSamplingProblemInitializer & init )

overridevirtual

Reimplemented from exotica::Instantiable< TimeIndexedSamplingProblemInitializer >.

◆ IsValid() [1/2]

virtual bool exotica::PlanningProblem::IsValid

inline

Evaluates whether the problem is valid.

◆ IsValid() [2/2]

bool exotica::TimeIndexedSamplingProblem::IsValid	(	Eigen::VectorXdRefConst	x,
		const double &	t
	)

◆ PreUpdate()

void exotica::TimeIndexedSamplingProblem::PreUpdate ( )

overridevirtual

Reimplemented from exotica::PlanningProblem.

◆ SetGoalEQ()

void exotica::TimeIndexedSamplingProblem::SetGoalEQ	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal
	)

◆ SetGoalNEQ()

void exotica::TimeIndexedSamplingProblem::SetGoalNEQ	(	const std::string &	task_name,
		Eigen::VectorXdRefConst	goal
	)

◆ SetGoalState()

void exotica::TimeIndexedSamplingProblem::SetGoalState ( Eigen::VectorXdRefConst qT )

◆ SetGoalTime()

void exotica::TimeIndexedSamplingProblem::SetGoalTime ( const double & t )

◆ SetRhoEQ()

void exotica::TimeIndexedSamplingProblem::SetRhoEQ	(	const std::string &	task_name,
		const double &	rho
	)

◆ SetRhoNEQ()

void exotica::TimeIndexedSamplingProblem::SetRhoNEQ	(	const std::string &	task_name,
		const double &	rho
	)

◆ Update()

void exotica::TimeIndexedSamplingProblem::Update	(	Eigen::VectorXdRefConst	x,
		const double &	t
	)

Member Data Documentation

◆ constraint_phi

TaskSpaceVector exotica::TimeIndexedSamplingProblem::constraint_phi

◆ equality

SamplingTask exotica::TimeIndexedSamplingProblem::equality

◆ goal_

Eigen::VectorXd exotica::TimeIndexedSamplingProblem::goal_

private

Goal state to reach (spatial) at temporal goal (t_goal_)

◆ inequality

SamplingTask exotica::TimeIndexedSamplingProblem::inequality

◆ length_jacobian

int exotica::TimeIndexedSamplingProblem::length_jacobian

◆ length_Phi

int exotica::TimeIndexedSamplingProblem::length_Phi

◆ num_tasks

int exotica::TimeIndexedSamplingProblem::num_tasks

◆ parameters

TimeIndexedSamplingProblemInitializer exotica::TimeIndexedSamplingProblem::parameters

◆ Phi

TaskSpaceVector exotica::TimeIndexedSamplingProblem::Phi

◆ t_goal_

double exotica::TimeIndexedSamplingProblem::t_goal_