ndcurves::optimization Namespace Reference

Classes
struct	problem_data
struct	problem_definition
struct	quadratic_problem

Enumerations
enum	constraint_flag {   INIT_POS = 0x001 , INIT_VEL = 0x002 , INIT_ACC = 0x004 , INIT_JERK = 0x008 ,   END_POS = 0x010 , END_VEL = 0x020 , END_ACC = 0x040 , END_JERK = 0x080 ,   ALL = 0x0ff , NONE = 0x100 }
enum	integral_cost_flag {   DISTANCE = 0x000 , VELOCITY = 0x001 , ACCELERATION = 0x002 , JERK = 0x003 ,   FOURTH = 0x004 , FIFTH = 0x005 }

Functions
std::size_t	num_active_constraints (const constraint_flag &flag)
template<typename Numeric, typename LinearVar>
LinearVar	fill_with_zeros (const LinearVar &var, const std::size_t i, const std::size_t startVariableIndex, const std::size_t numVariables, const std::size_t Dim)
template<typename Point, typename Numeric, typename Bezier, typename LinearVar>
Bezier *	compute_linear_control_points (const problem_data< Point, Numeric > &pData, const std::vector< LinearVar > &linearVars, const Numeric totalTime)
template<typename Point, typename Numeric, bool Safe>
problem_data< Point, Numeric, Safe >	setup_control_points (const problem_definition< Point, Numeric > &pDef)
template<typename Point, typename Numeric>
long	compute_num_ineq_control_points (const problem_definition< Point, Numeric > &pDef, const problem_data< Point, Numeric > &pData)
template<typename Point, typename Numeric>
std::vector< bezier_curve< Numeric, Numeric, true, linear_variable< Numeric > > >	split (const problem_definition< Point, Numeric > &pDef, problem_data< Point, Numeric > &pData)
template<typename Point, typename Numeric>
void	initInequalityMatrix (const problem_definition< Point, Numeric > &pDef, problem_data< Point, Numeric > &pData, quadratic_problem< Point, Numeric > &prob)
template<typename Point, typename Numeric, typename In>
quadratic_variable< Numeric >	bezier_product (In PointsBegin1, In PointsEnd1, In PointsBegin2, In PointsEnd2, const std::size_t)
constraint_flag	operator~ (constraint_flag a)
constraint_flag	operator| (constraint_flag a, constraint_flag b)
constraint_flag	operator& (constraint_flag a, constraint_flag b)
constraint_flag	operator^ (constraint_flag a, constraint_flag b)
constraint_flag &	operator|= (constraint_flag &a, constraint_flag b)
constraint_flag &	operator&= (constraint_flag &a, constraint_flag b)
constraint_flag &	operator^= (constraint_flag &a, constraint_flag b)
template<typename Point, typename Numeric>
quadratic_variable< Numeric >	compute_integral_cost_internal (const problem_data< Point, Numeric > &pData, const std::size_t num_derivate)
template<typename Point, typename Numeric>
quadratic_variable< Numeric >	compute_integral_cost (const problem_data< Point, Numeric > &pData, const integral_cost_flag flag)
template<typename Point, typename Numeric, bool Safe>
quadratic_problem< Point, Numeric >	generate_problem (const problem_definition< Point, Numeric > &pDef, const quadratic_variable< Numeric > &cost)
template<typename Point, typename Numeric, bool Safe>
quadratic_problem< Point, Numeric >	generate_problem (const problem_definition< Point, Numeric > &pDef, const integral_cost_flag costFlag)

Enumeration Type Documentation

constraint_flag

enum ndcurves::optimization::constraint_flag

Enumerator
INIT_POS
INIT_VEL
INIT_ACC
INIT_JERK
END_POS
END_VEL
END_ACC
END_JERK
ALL
NONE

integral_cost_flag

enum ndcurves::optimization::integral_cost_flag

Enumerator
DISTANCE
VELOCITY
ACCELERATION
JERK
FOURTH
FIFTH

Function Documentation

bezier_product()

template<typename Point, typename Numeric, typename In>

quadratic_variable< Numeric > ndcurves::optimization::bezier_product	(	In	PointsBegin1,
		In	PointsEnd1,
		In	PointsBegin2,
		In	PointsEnd2,
		const std::size_t	)

compute_integral_cost()

template<typename Point, typename Numeric>

quadratic_variable< Numeric > ndcurves::optimization::compute_integral_cost	(	const problem_data< Point, Numeric > &	pData,
		const integral_cost_flag	flag )

compute_integral_cost_internal()

template<typename Point, typename Numeric>

quadratic_variable< Numeric > ndcurves::optimization::compute_integral_cost_internal	(	const problem_data< Point, Numeric > &	pData,
		const std::size_t	num_derivate )

compute_linear_control_points()

template<typename Point, typename Numeric, typename Bezier, typename LinearVar>

Bezier * ndcurves::optimization::compute_linear_control_points	(	const problem_data< Point, Numeric > &	pData,
		const std::vector< LinearVar > &	linearVars,
		const Numeric	totalTime )

compute_num_ineq_control_points()

template<typename Point, typename Numeric>

long ndcurves::optimization::compute_num_ineq_control_points	(	const problem_definition< Point, Numeric > &	pDef,
		const problem_data< Point, Numeric > &	pData )

fill_with_zeros()

template<typename Numeric, typename LinearVar>

LinearVar ndcurves::optimization::fill_with_zeros	(	const LinearVar &	var,
		const std::size_t	i,
		const std::size_t	startVariableIndex,
		const std::size_t	numVariables,
		const std::size_t	Dim )

generate_problem() [1/2]

template<typename Point, typename Numeric, bool Safe>

quadratic_problem< Point, Numeric > ndcurves::optimization::generate_problem	(	const problem_definition< Point, Numeric > &	pDef,
		const integral_cost_flag	costFlag )

generate_problem() [2/2]

template<typename Point, typename Numeric, bool Safe>

quadratic_problem< Point, Numeric > ndcurves::optimization::generate_problem	(	const problem_definition< Point, Numeric > &	pDef,
		const quadratic_variable< Numeric > &	cost )

initInequalityMatrix()

template<typename Point, typename Numeric>

void ndcurves::optimization::initInequalityMatrix	(	const problem_definition< Point, Numeric > &	pDef,
		problem_data< Point, Numeric > &	pData,
		quadratic_problem< Point, Numeric > &	prob )

num_active_constraints()

std::size_t ndcurves::optimization::num_active_constraints ( const constraint_flag & flag )

inline

operator&()

constraint_flag ndcurves::optimization::operator& ( constraint_flag a, constraint_flag b )

inline

operator&=()

constraint_flag & ndcurves::optimization::operator&= ( constraint_flag & a, constraint_flag b )

inline

operator^()

constraint_flag ndcurves::optimization::operator^ ( constraint_flag a, constraint_flag b )

inline

operator^=()

constraint_flag & ndcurves::optimization::operator^= ( constraint_flag & a, constraint_flag b )

inline

operator|()

constraint_flag ndcurves::optimization::operator| ( constraint_flag a, constraint_flag b )

inline

operator|=()

constraint_flag & ndcurves::optimization::operator|= ( constraint_flag & a, constraint_flag b )

inline

operator~()

constraint_flag ndcurves::optimization::operator~ ( constraint_flag a )

inline

setup_control_points()

template<typename Point, typename Numeric, bool Safe>

problem_data< Point, Numeric, Safe > ndcurves::optimization::setup_control_points

(

const problem_definition< Point, Numeric > &

pDef

)

split()

template<typename Point, typename Numeric>

std::vector< bezier_curve< Numeric, Numeric, true, linear_variable< Numeric > > > ndcurves::optimization::split	(	const problem_definition< Point, Numeric > &	pDef,
		problem_data< Point, Numeric > &	pData )