trajopt
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![]() ![]() | Simple wrapper around pcl's openni interface, allowing you to query for a point cloud (rather than using a callback) |
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![]() ![]() | Non-convex vector-valued constraint function, which knows how to calculate its convex approximation |
![]() ![]() | Stores convex inequality constraints and affine equality constraints |
![]() ![]() | Stores convex terms in a objective For non-quadratic terms like hinge(x) and abs(x), it needs to add auxilliary variables and linear constraints to the model Note: When this object is deleted, the constraints and variables it added to the model are removed |
![]() ![]() | Non-convex cost function, which knows how to calculate its convex approximation (convexify() method) |
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![]() ![]() | Initialization info read from json |
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![]() ![]() | Convex optimization problem |
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![]() ![]() | Non-convex optimization problem |
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![]() ![]() | Interface for objects that know how to plot themselves given solution vector x |
![]() ![]() | This object holds all the data that's read from the JSON document |
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![]() ![]() | When cost or constraint element of JSON doc is read, one of these guys gets constructed to hold the parameters |
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