traj_opt::LegendreTrajectory Class Reference

#include <gurobi_trajectory.h>

Inheritance diagram for traj_opt::LegendreTrajectory:

Public Member Functions
	LegendreTrajectory (GRBModel *model_, const std::vector< decimal_t > dts_, int degree, PolyType polytype, int order=3)
	~LegendreTrajectory ()
void	addMaximumBound (decimal_t bound, uint derr)
bool	recoverVars (decimal_t ratio=1.0)
bool	recoverVarsF (decimal_t ratio=1.0)
bool	evaluate (decimal_t t, uint derr, VecD &out) const
decimal_t	getTotalTime () const
void	addVolumeContraints (const Mat4Vec &constr)
void	addAxbConstraints (const std::vector< MatD > &A, const std::vector< VecD > &b, const std::vector< decimal_t > &ds)
void	addWayPointConstrains (const std::vector< Waypoint > &waypnts, bool use_v0)
decimal_t	getCost ()
bool	adjustTimes (decimal_t epsilon)
void	adjustTimeToMaxs (decimal_t max_vel, decimal_t max_acc, decimal_t max_jrk, bool use_v0, decimal_t v0)
VecD	check_max_violation (decimal_t max_vel, decimal_t max_acc, decimal_t max_jrk)
void	resetConstr (bool lp=false)
void	setQuadraticCost ()
void	setLinearCost ()
void	setCost (bool lp)
virtual TrajData	serialize ()
void	addConvexificationConstraints (const MatD &Aobs, const VecD &bobs, const MatD &Aenv, const VecD &benv)
void	setSlackCost ()
void	setConParam (ConstraintMode mode, int num)
void	resetConstrVision (const MatD &points, decimal_t weight)
void	getJacobian (const MatD &norm_pnts, decimal_t weight_loss, VecD &J)
decimal_t	getCostV (const MatD &points, decimal_t weight)
bool	check_max (decimal_t max_vel, decimal_t max_acc, decimal_t max_jrk)
Public Member Functions inherited from traj_opt::Trajectory
virtual	~Trajectory ()
decimal_t	getExecuteTime () const
bool	getCommand (decimal_t t, uint num_derivatives, MatD &data)
void	setDim (uint ndim)
void	setExecuteTime (decimal_t t)

Public Attributes
std::vector< boost::shared_ptr< TrajSection4D > >	individual_sections

Additional Inherited Members
Protected Attributes inherited from traj_opt::Trajectory
decimal_t	exec_t {-1.0}
int	dim_ {0}

Constructor & Destructor Documentation

LegendreTrajectory()

traj_opt::LegendreTrajectory::LegendreTrajectory	(	GRBModel *	model_,
		const std::vector< decimal_t >	dts_,
		int	degree,
		PolyType	polytype,
		int	order = 3
	)

~LegendreTrajectory()

traj_opt::LegendreTrajectory::~LegendreTrajectory

(

)

Member Function Documentation

addAxbConstraints()

void traj_opt::LegendreTrajectory::addAxbConstraints	(	const std::vector< MatD > &	A,
		const std::vector< VecD > &	b,
		const std::vector< decimal_t > &	ds
	)

addConvexificationConstraints()

void traj_opt::LegendreTrajectory::addConvexificationConstraints	(	const MatD &	Aobs,
		const VecD &	bobs,
		const MatD &	Aenv,
		const VecD &	benv
	)

addMaximumBound()

void traj_opt::LegendreTrajectory::addMaximumBound	(	decimal_t	bound,
		uint	derr
	)

addVolumeContraints()

void traj_opt::LegendreTrajectory::addVolumeContraints

(

const Mat4Vec &

constr

)

addWayPointConstrains()

void traj_opt::LegendreTrajectory::addWayPointConstrains	(	const std::vector< Waypoint > &	waypnts,
		bool	use_v0
	)

adjustTimes()

bool traj_opt::LegendreTrajectory::adjustTimes

(

decimal_t

epsilon

)

adjustTimeToMaxs()

void traj_opt::LegendreTrajectory::adjustTimeToMaxs	(	decimal_t	max_vel,
		decimal_t	max_acc,
		decimal_t	max_jrk,
		bool	use_v0,
		decimal_t	v0
	)

check_max()

bool traj_opt::LegendreTrajectory::check_max	(	decimal_t	max_vel,
		decimal_t	max_acc,
		decimal_t	max_jrk
	)

check_max_violation()

VecD traj_opt::LegendreTrajectory::check_max_violation	(	decimal_t	max_vel,
		decimal_t	max_acc,
		decimal_t	max_jrk
	)

evaluate()

bool traj_opt::LegendreTrajectory::evaluate ( decimal_t  t, uint  derr, VecD &  out  ) const

virtual

Implements traj_opt::Trajectory.

getCost()

decimal_t traj_opt::LegendreTrajectory::getCost ( )

virtual

Implements traj_opt::Trajectory.

getCostV()

decimal_t traj_opt::LegendreTrajectory::getCostV	(	const MatD &	points,
		decimal_t	weight
	)

getJacobian()

void traj_opt::LegendreTrajectory::getJacobian	(	const MatD &	norm_pnts,
		decimal_t	weight_loss,
		VecD &	J
	)

getTotalTime()

decimal_t traj_opt::LegendreTrajectory::getTotalTime ( ) const

virtual

Implements traj_opt::Trajectory.

recoverVars()

bool traj_opt::LegendreTrajectory::recoverVars

(

decimal_t

ratio = 1.0

)

recoverVarsF()

bool traj_opt::LegendreTrajectory::recoverVarsF

(

decimal_t

ratio = 1.0

)

resetConstr()

void traj_opt::LegendreTrajectory::resetConstr

(

bool

lp = false

)

resetConstrVision()

void traj_opt::LegendreTrajectory::resetConstrVision	(	const MatD &	points,
		decimal_t	weight
	)

serialize()

virtual TrajData traj_opt::LegendreTrajectory::serialize ( )

virtual

Implements traj_opt::Trajectory.

setConParam()

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

inline

setCost()

void traj_opt::LegendreTrajectory::setCost

(

bool

lp

)

setLinearCost()

void traj_opt::LegendreTrajectory::setLinearCost

(

)

setQuadraticCost()

void traj_opt::LegendreTrajectory::setQuadraticCost

(

)

setSlackCost()

void traj_opt::LegendreTrajectory::setSlackCost

(

)

Member Data Documentation

individual_sections

std::vector<boost::shared_ptr<TrajSection4D> > traj_opt::LegendreTrajectory::individual_sections

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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_trajectory.h