traj_opt::GurobiSolver Class Reference

#include <gurobi_solver.h>

Inheritance diagram for traj_opt::GurobiSolver:

Public Member Functions
	GurobiSolver ()
bool	solveTrajectory (const std::vector< Waypoint > &waypnts, const std::vector< MatD > &A, const std::vector< VecD > &b, const std::vector< decimal_t > &ds, decimal_t epsilon=0, boost::shared_ptr< Vec3Vec > points=boost::shared_ptr< Vec3Vec >(), decimal_t upsilon=0)
boost::shared_ptr< Trajectory >	getTrajectory ()
void	addPathCost (const std::vector< MatD > &A, const std::vector< VecD > &b, double epsilon)
bool	solveConvexifyed (const std::vector< Waypoint > &waypnts, const MatD &Aobs, const VecD &bobs, const MatD &Aenv, const VecD &benv, const std::vector< decimal_t > &ds)
void	seedDs (boost::shared_ptr< Vec3Vec > points, std::vector< decimal_t > *dsp)
void	sikangSeed (boost::shared_ptr< Vec3Vec > points, std::vector< decimal_t > *dsp, decimal_t v0, decimal_t ratio=1.0)
void	setPolyParams (int degree, PolyType type, int order)
void	setConParam (ConstraintMode mode, int num)
decimal_t	getCost ()
bool	checkMax (decimal_t r)
Public Member Functions inherited from traj_opt::TrajectorySolver
	TrajectorySolver ()
virtual bool	trajectoryStatus ()
virtual bool	adjustTimes (decimal_t epsilon)
virtual void	setParams (decimal_t v_max, decimal_t a_max, decimal_t j_max, int time_its, decimal_t time_eps)

Public Attributes
bool	use_lp_ {false}

Additional Inherited Members
Protected Attributes inherited from traj_opt::TrajectorySolver
std::vector< Waypoint >	waypoints_
bool	trajectory_solved_
boost::shared_ptr< Trajectory >	traj_
decimal_t	v_max_
decimal_t	a_max_
decimal_t	j_max_
decimal_t	time_eps_
int	time_its_

Constructor & Destructor Documentation

GurobiSolver()

traj_opt::GurobiSolver::GurobiSolver

(

)

Member Function Documentation

addPathCost()

void traj_opt::GurobiSolver::addPathCost	(	const std::vector< MatD > &	A,
		const std::vector< VecD > &	b,
		double	epsilon
	)

checkMax()

bool traj_opt::GurobiSolver::checkMax ( decimal_t  r )

virtual

Reimplemented from traj_opt::TrajectorySolver.

getCost()

decimal_t traj_opt::GurobiSolver::getCost ( )

inline

getTrajectory()

boost::shared_ptr<Trajectory> traj_opt::GurobiSolver::getTrajectory ( )

virtual

Reimplemented from traj_opt::TrajectorySolver.

seedDs()

void traj_opt::GurobiSolver::seedDs	(	boost::shared_ptr< Vec3Vec >	points,
		std::vector< decimal_t > *	dsp
	)

setConParam()

void traj_opt::GurobiSolver::setConParam ( ConstraintMode  mode, int  num  )

inline

setPolyParams()

void traj_opt::GurobiSolver::setPolyParams	(	int	degree,
		PolyType	type,
		int	order
	)

sikangSeed()

void traj_opt::GurobiSolver::sikangSeed	(	boost::shared_ptr< Vec3Vec >	points,
		std::vector< decimal_t > *	dsp,
		decimal_t	v0,
		decimal_t	ratio = 1.0
	)

solveConvexifyed()

bool traj_opt::GurobiSolver::solveConvexifyed	(	const std::vector< Waypoint > &	waypnts,
		const MatD &	Aobs,
		const VecD &	bobs,
		const MatD &	Aenv,
		const VecD &	benv,
		const std::vector< decimal_t > &	ds
	)

solveTrajectory()

bool traj_opt::GurobiSolver::solveTrajectory ( const std::vector< Waypoint > &  waypnts, const std::vector< MatD > &  A, const std::vector< VecD > &  b, const std::vector< decimal_t > &  ds, decimal_t  epsilon = 0, boost::shared_ptr< Vec3Vec >  points = boost::shared_ptr< Vec3Vec >(), decimal_t  upsilon = 0  )

virtual

Reimplemented from traj_opt::TrajectorySolver.

Member Data Documentation

use_lp_

bool traj_opt::GurobiSolver::use_lp_ {false}

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

• mobility/planner_qp/traj_opt_pro/include/traj_opt_pro/gurobi_solver.h