Constraint.h
125 virtual void jacobian(const Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::MatrixXd> out) const;
258 ConstraintIntersection(const unsigned int ambientDim, std::initializer_list<ConstraintPtr> constraints)
265 void function(const Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::VectorXd> out) const override
275 void jacobian(const Eigen::Ref<const Eigen::VectorXd> &x, Eigen::Ref<Eigen::MatrixXd> out) const override
Definition of a constraint composed of multiple constraints that all must be satisfied simultaneously...
Definition: Constraint.h:245
ConstraintIntersection(const unsigned int ambientDim, std::initializer_list< ConstraintPtr > constraints)
Constructor. If constraints is empty assume it will be filled later.
Definition: Constraint.h:258
ConstraintIntersection(const unsigned int ambientDim, std::vector< ConstraintPtr > constraints)
Constructor. If constraints is empty assume it will be filled later.
Definition: Constraint.h:249
void jacobian(const Eigen::Ref< const Eigen::VectorXd > &x, Eigen::Ref< Eigen::MatrixXd > out) const override
Compute the Jacobian of the constraint function at x. Result is returned in out, which should be allo...
Definition: Constraint.h:275
Wrapper around ompl::base::Constraint to use as an optimization objective.
Definition: Constraint.h:303
Cost stateCost(const State *s) const override
Evaluate a cost map defined on the state space at a state s. Cost map is defined as the distance from...
Definition: Constraint.h:313
ConstraintObjective(ConstraintPtr constraint, SpaceInformationPtr si)
Constructor.
Definition: Constraint.h:306
A shared pointer wrapper for ompl::base::Constraint.
Definition of a differentiable holonomic constraint on a configuration space. See Constrained Plannin...
Definition: Constraint.h:76
virtual bool isSatisfied(const State *state) const
Check whether a state state satisfies the constraints.
Definition: Constraint.cpp:126
double getTolerance() const
Returns the tolerance of the projection routine.
Definition: Constraint.h:188
unsigned int getManifoldDimension() const
Returns the dimension of the manifold.
Definition: Constraint.h:167
unsigned int getAmbientDimension() const
Returns the dimension of the ambient space.
Definition: Constraint.h:161
unsigned int getCoDimension() const
Returns the dimension of the manifold.
Definition: Constraint.h:173
double tolerance_
Tolerance for Newton method used in projection onto manifold.
Definition: Constraint.h:230
virtual void jacobian(const State *state, Eigen::Ref< Eigen::MatrixXd > out) const
Compute the Jacobian of the constraint function at state. Result is returned in out,...
Definition: Constraint.cpp:45
virtual bool project(State *state) const
Project a state state given the constraints. If a valid projection cannot be found,...
Definition: Constraint.cpp:88
Constraint(const unsigned int ambientDim, const unsigned int coDim, double tolerance=magic::CONSTRAINT_PROJECTION_TOLERANCE)
Constructor. The dimension of the ambient configuration space as well as the dimension of the functio...
Definition: Constraint.h:87
virtual double distance(const State *state) const
Returns the distance of state to the constraint manifold.
Definition: Constraint.cpp:114
void setMaxIterations(const unsigned int iterations)
Sets the maximum number of iterations in the projection routine.
Definition: Constraint.h:211
void setManifoldDimension(unsigned int k)
Sets the underlying manifold dimension.
Definition: Constraint.h:179
unsigned int maxIterations_
Maximum number of iterations for Newton method used in projection onto manifold.
Definition: Constraint.h:234
unsigned int getMaxIterations() const
Returns the maximum number of allowed iterations in the projection routine.
Definition: Constraint.h:195
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
Abstract definition of optimization objectives.
Definition: OptimizationObjective.h:71
A shared pointer wrapper for ompl::base::SpaceInformation.
static const double CONSTRAINT_PROJECTION_TOLERANCE
Default projection tolerance of a constraint unless otherwise specified.
Definition: Constraint.h:55
static const unsigned int CONSTRAINT_PROJECTION_MAX_ITERATIONS
Maximum number of iterations in projection routine until giving up.
Definition: Constraint.h:59
Main namespace. Contains everything in this library.
Definition: ConstrainedSpaceInformation.h:53