traj_opt Namespace Reference

Classes
class	AxbConstraint
class	BallConstraint
class	Basis
class	BasisBundle
class	BasisBundlePro
class	BasisTransformer
class	BezierBasis
class	ChebyshevBasis
class	Conversions
class	CostFunction
class	EndPointBasis
class	EqConstraint
class	GurobiSolver
class	IneqConstraint
class	LegendreBasis
class	LegendreTrajectory
class	MsgTrajectory
class	NonlinearSolver
class	NonlinearTrajectory
class	PolyCalculus
class	PolyCalculusPro
class	PolyCost
struct	PolynomialData
class	PosTimeConstraint
class	ScopedTimer
struct	SolverInfo
struct	SplineData
class	StandardBasis
class	SymbolicPoly
class	TimeBound
class	Timer
struct	TrajData
class	Trajectory
class	TrajectoryDisplay
class	TrajectorySolver
class	TrajectoryVisual
class	TrajSection1D
class	TrajSection4D
class	Variable
struct	Waypoint

Typedefs
typedef boost::math::tools::polynomial< decimal_t >	Poly
typedef double	decimal_t
typedef Eigen::Matrix< decimal_t, 3, 1 >	Vec3
typedef Eigen::Matrix< decimal_t, 4, 1 >	Vec4
typedef Eigen::Matrix< decimal_t, 3, 3 >	Mat3
typedef Eigen::Matrix< decimal_t, 4, 4 >	Mat4
typedef std::vector< Vec4, Eigen::aligned_allocator< Vec4 > >	Vec4Vec
typedef std::vector< Vec3, Eigen::aligned_allocator< Vec3 > >	Vec3Vec
typedef std::vector< Mat4, Eigen::aligned_allocator< Mat4 > >	Mat4Vec
typedef Eigen::Matrix< decimal_t, Eigen::Dynamic, 1 >	VecD
typedef Eigen::Matrix< decimal_t, Eigen::Dynamic, 3 >	MatD3
typedef Eigen::Matrix< decimal_t, Eigen::Dynamic, Eigen::Dynamic >	MatD
typedef std::vector< VecD >	VecDVec
typedef std::vector< MatD >	MatDVec
typedef Eigen::Quaternion< decimal_t >	Quat
typedef Eigen::Triplet< decimal_t >	ET
typedef std::vector< ET >	ETV
typedef Eigen::SparseMatrix< decimal_t >	SpMat
typedef std::vector< Variable * >	NLTimes
typedef std::vector< Variable * >	NLPoly
typedef std::vector< NLPoly >	NLSpline
typedef std::vector< NLSpline >	NLTraj
typedef std::vector< Variable * >	NLChain
typedef std::vector< NLChain >	NLBeads

Enumerations
enum	PolyType {   STANDARD, LEGENDRE, WATTERSON, BEZIER,   ENDPOINT, LIU, CHEBYSHEV }
enum	{ TRAJ_X = 0, TRAJ_Y = 1, TRAJ_Z = 2, TRAJ_PSI = 3 }
enum	ConstraintMode { CONTROL, SAMPLE, CHEBY, ELLIPSE }
enum	Style { Mike, Sikang, CJ, SE3 }

Functions
std::ostream &	operator<< (std::ostream &os, const StandardBasis &lb)
SymbolicPoly	operator+ (SymbolicPoly lhs, const SymbolicPoly &rhs)
SymbolicPoly	operator* (decimal_t lhs, const SymbolicPoly &rhs)
std::ostream &	operator<< (std::ostream &os, const Variable &var)
std::ostream &	operator<< (std::ostream &os, const EqConstraint &var)
std::ostream &	operator<< (std::ostream &os, const ET &trip)
std::ostream &	operator<< (std::ostream &os, const ETV &trip)
bool	contains (const std::map< int, int > &map, int key)
std::ostream &	operator<< (std::ostream &os, const SymbolicPoly &poly)

Typedef Documentation

decimal_t

typedef double traj_opt::decimal_t

ET

typedef Eigen::Triplet<decimal_t> traj_opt::ET

ETV

typedef std::vector<ET> traj_opt::ETV

Mat3

typedef Eigen::Matrix<decimal_t, 3, 3> traj_opt::Mat3

Mat4

typedef Eigen::Matrix<decimal_t, 4, 4> traj_opt::Mat4

Mat4Vec

typedef std::vector<Mat4, Eigen::aligned_allocator<Mat4> > traj_opt::Mat4Vec

MatD

typedef Eigen::Matrix<decimal_t, Eigen::Dynamic, Eigen::Dynamic> traj_opt::MatD

MatD3

typedef Eigen::Matrix<decimal_t, Eigen::Dynamic, 3> traj_opt::MatD3

MatDVec

typedef std::vector<MatD> traj_opt::MatDVec

NLBeads

typedef std::vector<NLChain> traj_opt::NLBeads

NLChain

typedef std::vector<Variable *> traj_opt::NLChain

NLPoly

typedef std::vector<Variable *> traj_opt::NLPoly

NLSpline

typedef std::vector<NLPoly> traj_opt::NLSpline

NLTimes

typedef std::vector<Variable *> traj_opt::NLTimes

NLTraj

typedef std::vector<NLSpline> traj_opt::NLTraj

Poly

typedef boost::math::tools::polynomial<decimal_t> traj_opt::Poly

Quat

typedef Eigen::Quaternion<decimal_t> traj_opt::Quat

SpMat

typedef Eigen::SparseMatrix<decimal_t> traj_opt::SpMat

Vec3

typedef Eigen::Matrix<decimal_t, 3, 1> traj_opt::Vec3

Vec3Vec

typedef std::vector<Vec3, Eigen::aligned_allocator<Vec3> > traj_opt::Vec3Vec

Vec4

typedef Eigen::Matrix<decimal_t, 4, 1> traj_opt::Vec4

Vec4Vec

typedef std::vector<Vec4, Eigen::aligned_allocator<Vec4> > traj_opt::Vec4Vec

VecD

typedef Eigen::Matrix<decimal_t, Eigen::Dynamic, 1> traj_opt::VecD

VecDVec

typedef std::vector<VecD> traj_opt::VecDVec

Enumeration Type Documentation

anonymous enum

anonymous enum

Enumerator
TRAJ_X
TRAJ_Y
TRAJ_Z
TRAJ_PSI

ConstraintMode

enum traj_opt::ConstraintMode

Enumerator
CONTROL
SAMPLE
CHEBY
ELLIPSE

PolyType

enum traj_opt::PolyType

Enumerator
STANDARD
LEGENDRE
WATTERSON
BEZIER
ENDPOINT
LIU
CHEBYSHEV

Style

enum traj_opt::Style

Enumerator
Mike
Sikang
CJ
SE3

Function Documentation

contains()

bool traj_opt::contains ( const std::map< int, int > &  map, int  key  )

inline

operator*()

SymbolicPoly traj_opt::operator*	(	decimal_t	lhs,
		const SymbolicPoly &	rhs
	)

operator+()

SymbolicPoly traj_opt::operator+	(	SymbolicPoly	lhs,
		const SymbolicPoly &	rhs
	)

operator<<() [1/6]

std::ostream& traj_opt::operator<<	(	std::ostream &	os,
		const EqConstraint &	var
	)

operator<<() [2/6]

std::ostream& traj_opt::operator<<	(	std::ostream &	os,
		const ET &	trip
	)

operator<<() [3/6]

std::ostream& traj_opt::operator<<	(	std::ostream &	os,
		const ETV &	trip
	)

operator<<() [4/6]

std::ostream& traj_opt::operator<<	(	std::ostream &	os,
		const StandardBasis &	lb
	)

operator<<() [5/6]

std::ostream& traj_opt::operator<<	(	std::ostream &	os,
		const SymbolicPoly &	poly
	)

operator<<() [6/6]

std::ostream& traj_opt::operator<<	(	std::ostream &	os,
		const Variable &	var
	)