hpp-constraints 7.0.0
Definition of basic geometric constraints for motion planning
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hpp::constraints::solver::lineSearch::ErrorNormBased Struct Reference

#include <hpp/constraints/solver/hierarchical-iterative.hh>

Public Member Functions

 ErrorNormBased (value_type alphaMin, value_type _a, value_type _b)
 ErrorNormBased (value_type alphaMin=0.2)
template<typename SolverType>
bool operator() (const SolverType &solver, vectorOut_t arg, vectorOut_t darg)

Public Attributes

value_type C
value_type K
value_type a
value_type b

Detailed Description

The step size is computed using the formula $ \alpha_{i} = C - K \times \text{tanh}(a \frac{\|f(\mathbf{q}_i)\|}{\epsilon^2} + b) $, where

  • $\epsilon$ is the error threshold: if $\|f(\mathbf{q}_i)\|<\epsilon$, $\mathbf{q}_i$ is considered to satisfy the constraint.

Constructor & Destructor Documentation

◆ ErrorNormBased() [1/2]

hpp::constraints::solver::lineSearch::ErrorNormBased::ErrorNormBased(value_typealphaMin,
value_type_a,
value_type_b )

◆ ErrorNormBased() [2/2]

hpp::constraints::solver::lineSearch::ErrorNormBased::ErrorNormBased(value_typealphaMin = 0.2)

Member Function Documentation

◆ operator()()

template<typename SolverType>
bool hpp::constraints::solver::lineSearch::ErrorNormBased::operator()(const SolverType &solver,
vectorOut_targ,
vectorOut_tdarg )
inline

Member Data Documentation

◆ a

value_type hpp::constraints::solver::lineSearch::ErrorNormBased::a

◆ b

value_type hpp::constraints::solver::lineSearch::ErrorNormBased::b

◆ C

value_type hpp::constraints::solver::lineSearch::ErrorNormBased::C

◆ K

value_type hpp::constraints::solver::lineSearch::ErrorNormBased::K
The documentation for this struct was generated from the following files: