A base class for a time scaling with colocation point constraints. Subclasses should fill in dsmax, ds2ddsConstraintNormals, and ds2ddsConstraintOffsets before Optimize is called. More...
#include <ContactTimeScaling.h>
Public Member Functions | |
| CustomTimeScaling (RobotModel &robot) | |
| void | SetPath (const GeneralizedCubicBezierSpline &path, const vector< Real > &colocationParams) |
| Sets up the path. | |
| void | SetPath (const MultiPath &path, const vector< Real > &colocationParams) |
| Sets up the path – multipath version. | |
| void | SetStartStop () |
| Sets up the path to start and stop at zero velocity. | |
| void | SetDefaultBounds () |
| Sets up velocity and acceleration bounds. | |
| bool | Optimize () |
| Runs the optimizer with the custom constraints. | |
| bool | IsFeasible (const vector< Real > &ds) const |
| Returns true if the time scaling derivatives are feasible under the current constraints. | |
| void | PrintActiveConstraints (ostream &out) |
| After running Optimize, prints out all the active constraints. | |
Public Attributes | |
| RobotCSpace | cspace |
| TimeScaledBezierCurve | traj |
| Output trajectory. | |
| vector< Real > | paramDivs |
| colocation grid | |
| vector< int > | paramSections |
| index from grid to section of multipath, if multipath is given | |
| vector< Vector > | xs |
| colocation points | |
| vector< Vector > | dxs |
| vector< Vector > | ddxs |
| vector< Real > | dsmax |
| time scaling maxima. Defaults to Inf | |
| vector< vector< Vector2 > > | ds2ddsConstraintNormals |
| vector< vector< Real > > | ds2ddsConstraintOffsets |
| bool | saveConstraintNames |
| Names of each constraint plane. | |
| vector< vector< string > > | ds2ddsConstraintNames |
| bool | computeLagrangeMultipliers |
| Whether the lagrange multipliers of a solution are requested. | |
| vector< Real > | variableLagrangeMultipliers |
| vector< vector< Real > > | constraintLagrangeMultipliers |
Detailed Description
A base class for a time scaling with colocation point constraints. Subclasses should fill in dsmax, ds2ddsConstraintNormals, and ds2ddsConstraintOffsets before Optimize is called.
Output is given in traj.
Member Data Documentation
| vector<vector<Real> > Klampt::CustomTimeScaling::constraintLagrangeMultipliers |
Lagrange multipliers for each constraint plane. Gives the amount by which the execution time would be reduced if the constraint plane is shifted outward.
| vector<vector<Vector2> > Klampt::CustomTimeScaling::ds2ddsConstraintNormals |
Constraint planes a^T (ds^2,dds) <= b in the (squared-rate, acceleration) plane
| vector<Real> Klampt::CustomTimeScaling::variableLagrangeMultipliers |
Lagrange multipliers for each velocity^2 variable's velocity^2 limit. Gives the amount by which the execution time would be reduced if the velocity^2 limit is increased.
The documentation for this class was generated from the following file:
