#include <gurobi_trajectory.h>

Public Member Functions
	TrajSection4D (GRBModel *model, uint n_p_, uint k_r_, decimal_t dt_, boost::shared_ptr< BasisBundlePro > basis_, boost::shared_ptr< BasisTransformer > basisT_, boost::shared_ptr< BasisTransformer > basisD_)

	~TrajSection4D ()

void	evaluate (decimal_t t, uint derr, VecD &out) const

void	getContr (decimal_t x, uint derr, uint dim, GRBLinExpr &expr)

void	getCost (GRBQuadExpr &cost)

decimal_t	getCostDerr ()

void	recoverVars (decimal_t ratio=1.0)

void	recoverVarsF (decimal_t ratio=1.0)

void	setDt (decimal_t dt)

void	addPathCost (const MatD &A, const VecD &b, double epsilon)

void	addLineCost (const Vec3 &p0, const Vec3 &p1, double upsilon)

void	getControl (uint point_id, uint dim, GRBLinExpr &expr, bool derr)

void	addVisionCost (const MatD &norm_pnts, decimal_t weight_loss, VecD &grad)

Public Attributes
std::vector< boost::shared_ptr< TrajSection1D > >	secs

std::vector< GRBVar >	const_var

GRBModel *	model_

boost::shared_ptr< BasisTransformer >	basisT

boost::shared_ptr< BasisTransformer >	basisD

boost::shared_ptr< BasisBundlePro >	basis_

int	dim {4}

int	n_p

decimal_t	dt_

Constructor & Destructor Documentation

◆ TrajSection4D()

traj_opt::TrajSection4D::TrajSection4D	(	GRBModel *	model,
		uint	n_p_,
		uint	k_r_,
		decimal_t	dt_,
		boost::shared_ptr< BasisBundlePro >	basis_,
		boost::shared_ptr< BasisTransformer >	basisT_,
		boost::shared_ptr< BasisTransformer >	basisD_
	)

◆ ~TrajSection4D()

traj_opt::TrajSection4D::~TrajSection4D ( )

Member Function Documentation

◆ addLineCost()

void traj_opt::TrajSection4D::addLineCost	(	const Vec3 &	p0,
		const Vec3 &	p1,
		double	upsilon
	)

◆ addPathCost()

void traj_opt::TrajSection4D::addPathCost	(	const MatD &	A,
		const VecD &	b,
		double	epsilon
	)

◆ addVisionCost()

void traj_opt::TrajSection4D::addVisionCost	(	const MatD &	norm_pnts,
		decimal_t	weight_loss,
		VecD &	grad
	)

◆ evaluate()

void traj_opt::TrajSection4D::evaluate	(	decimal_t	t,
		uint	derr,
		VecD &	out
	)		const

◆ getContr()

void traj_opt::TrajSection4D::getContr	(	decimal_t	x,
		uint	derr,
		uint	dim,
		GRBLinExpr &	expr
	)

◆ getControl()

void traj_opt::TrajSection4D::getControl	(	uint	point_id,
		uint	dim,
		GRBLinExpr &	expr,
		bool	derr
	)

◆ getCost()

void traj_opt::TrajSection4D::getCost ( GRBQuadExpr & cost )

◆ getCostDerr()

decimal_t traj_opt::TrajSection4D::getCostDerr ( )

◆ recoverVars()

void traj_opt::TrajSection4D::recoverVars ( decimal_t ratio = 1.0 )

◆ recoverVarsF()

void traj_opt::TrajSection4D::recoverVarsF ( decimal_t ratio = 1.0 )

◆ setDt()

void traj_opt::TrajSection4D::setDt ( decimal_t dt )

Member Data Documentation

◆ basis_

boost::shared_ptr<BasisBundlePro> traj_opt::TrajSection4D::basis_

◆ basisD

boost::shared_ptr<BasisTransformer> traj_opt::TrajSection4D::basisD

◆ basisT

boost::shared_ptr<BasisTransformer> traj_opt::TrajSection4D::basisT

◆ const_var

std::vector<GRBVar> traj_opt::TrajSection4D::const_var

◆ dim

int traj_opt::TrajSection4D::dim {4}

◆ dt_

decimal_t traj_opt::TrajSection4D::dt_

◆ model_

GRBModel* traj_opt::TrajSection4D::model_

◆ n_p

int traj_opt::TrajSection4D::n_p

◆ secs

std::vector<boost::shared_ptr<TrajSection1D> > traj_opt::TrajSection4D::secs

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

mobility/planner_qp/traj_opt_pro/include/traj_opt_pro/gurobi_trajectory.h

Public Member Functions

Public Attributes