traj_opt::NonlinearTrajectory Class Reference

#include <nonlinear_trajectory.h>

Inheritance diagram for traj_opt::NonlinearTrajectory:

Public Member Functions
	NonlinearTrajectory (const std::vector< Waypoint > &waypoints, const std::vector< std::pair< MatD, VecD > > &cons, int deg=7, int min_dim=3, boost::shared_ptr< std::vector< decimal_t > > ds=boost::shared_ptr< std::vector< decimal_t > >(), boost::shared_ptr< VecDVec > path=boost::shared_ptr< VecDVec >(), bool time_opt=false, decimal_t gap=1e-8, int max_it=200)
	NonlinearTrajectory (const std::vector< Waypoint > &waypoints, const Vec3Vec &points, int segs, decimal_t dt)
virtual	~NonlinearTrajectory ()
decimal_t	getTotalTime () const
bool	evaluate (decimal_t t, uint derr, VecD &out) const
decimal_t	getCost ()
TrajData	serialize ()
bool	isSolved ()
Vec4Vec	getBeads ()
void	scaleTime (decimal_t ratio)
SolverInfo	getInfo (std::vector< TrajData > *history=NULL)
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)

Protected Member Functions
void	allocate_poly (boost::shared_ptr< std::vector< decimal_t > > ds=boost::shared_ptr< std::vector< decimal_t > >(), boost::shared_ptr< VecDVec > path=boost::shared_ptr< VecDVec >())
void	allocate_beads ()
void	link_sections ()
void	add_boundary (const std::vector< Waypoint > &waypoints)
void	add_Axb (const std::vector< std::pair< MatD, VecD > > &cons)
void	addCloudConstraint (const Vec3Vec &points)
void	addPosTime ()
void	addTimeBound (boost::shared_ptr< std::vector< decimal_t > > ds=boost::shared_ptr< std::vector< decimal_t > >())
void	make_convex (boost::shared_ptr< std::vector< decimal_t > > ds)

Protected Attributes
NonlinearSolver	solver {10000}
NLTraj	traj
NLTimes	times
NLBeads	beads
boost::shared_ptr< PolyCost >	cost
boost::shared_ptr< BasisTransformer >	basisT
int	seg_
int	deg_
BasisBundlePro	basis
bool	solved_ {false}
Protected Attributes inherited from traj_opt::Trajectory
decimal_t	exec_t {-1.0}
int	dim_ {0}

Friends
class	AxbConstraint
class	BallConstraint

Constructor & Destructor Documentation

NonlinearTrajectory() [1/2]

traj_opt::NonlinearTrajectory::NonlinearTrajectory	(	const std::vector< Waypoint > &	waypoints,
		const std::vector< std::pair< MatD, VecD > > &	cons,
		int	deg = 7,
		int	min_dim = 3,
		boost::shared_ptr< std::vector< decimal_t > >	ds = boost::shared_ptr< std::vector< decimal_t > >(),
		boost::shared_ptr< VecDVec >	path = boost::shared_ptr< VecDVec >(),
		bool	time_opt = false,
		decimal_t	gap = 1e-8,
		int	max_it = 200
	)

NonlinearTrajectory() [2/2]

traj_opt::NonlinearTrajectory::NonlinearTrajectory	(	const std::vector< Waypoint > &	waypoints,
		const Vec3Vec &	points,
		int	segs,
		decimal_t	dt
	)

~NonlinearTrajectory()

virtual traj_opt::NonlinearTrajectory::~NonlinearTrajectory ( )

inlinevirtual

Member Function Documentation

add_Axb()

void traj_opt::NonlinearTrajectory::add_Axb ( const std::vector< std::pair< MatD, VecD > > &  cons )

protected

add_boundary()

void traj_opt::NonlinearTrajectory::add_boundary ( const std::vector< Waypoint > &  waypoints )

protected

addCloudConstraint()

void traj_opt::NonlinearTrajectory::addCloudConstraint ( const Vec3Vec &  points )

protected

addPosTime()

void traj_opt::NonlinearTrajectory::addPosTime ( )

protected

addTimeBound()

void traj_opt::NonlinearTrajectory::addTimeBound ( boost::shared_ptr< std::vector< decimal_t > >  ds = boost::shared_ptr<std::vector<decimal_t> >() )

protected

allocate_beads()

void traj_opt::NonlinearTrajectory::allocate_beads ( )

protected

allocate_poly()

void traj_opt::NonlinearTrajectory::allocate_poly ( boost::shared_ptr< std::vector< decimal_t > >  ds = boost::shared_ptr<std::vector<decimal_t> >(), boost::shared_ptr< VecDVec >  path = boost::shared_ptr<VecDVec>()  )

protected

evaluate()

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

virtual

Implements traj_opt::Trajectory.

getBeads()

Vec4Vec traj_opt::NonlinearTrajectory::getBeads

(

)

getCost()

decimal_t traj_opt::NonlinearTrajectory::getCost ( )

virtual

Implements traj_opt::Trajectory.

getInfo()

SolverInfo traj_opt::NonlinearTrajectory::getInfo

(

std::vector< TrajData > *

history = NULL

)

getTotalTime()

decimal_t traj_opt::NonlinearTrajectory::getTotalTime ( ) const

virtual

Implements traj_opt::Trajectory.

isSolved()

bool traj_opt::NonlinearTrajectory::isSolved ( )

inline

link_sections()

void traj_opt::NonlinearTrajectory::link_sections ( )

protected

make_convex()

void traj_opt::NonlinearTrajectory::make_convex ( boost::shared_ptr< std::vector< decimal_t > >  ds )

protected

scaleTime()

void traj_opt::NonlinearTrajectory::scaleTime

(

decimal_t

ratio

)

serialize()

TrajData traj_opt::NonlinearTrajectory::serialize ( )

virtual

Implements traj_opt::Trajectory.

Friends And Related Function Documentation

AxbConstraint

friend class AxbConstraint

friend

BallConstraint

friend class BallConstraint

friend

Member Data Documentation

basis

BasisBundlePro traj_opt::NonlinearTrajectory::basis

protected

basisT

boost::shared_ptr<BasisTransformer> traj_opt::NonlinearTrajectory::basisT

protected

beads

NLBeads traj_opt::NonlinearTrajectory::beads

protected

cost

boost::shared_ptr<PolyCost> traj_opt::NonlinearTrajectory::cost

protected

deg_

int traj_opt::NonlinearTrajectory::deg_

protected

seg_

int traj_opt::NonlinearTrajectory::seg_

protected

solved_

bool traj_opt::NonlinearTrajectory::solved_ {false}

protected

solver

NonlinearSolver traj_opt::NonlinearTrajectory::solver {10000}

protected

times

NLTimes traj_opt::NonlinearTrajectory::times

protected

traj

NLTraj traj_opt::NonlinearTrajectory::traj

protected

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

• mobility/planner_qp/traj_opt_pro/include/traj_opt_pro/nonlinear_trajectory.h
• mobility/planner_qp/traj_opt_pro/src/nonlinear_trajectory.cpp