trajopt Namespace Reference

Simple quadratic costs on trajectory. More...

Classes
struct	ZMPConstraint
struct	StaticTorqueCost
struct	PECost
struct	FootHeightConstraint
class	CompositeConfig
struct	IncrementalRB
struct	O3Helper
struct	AngVelCost
struct	StaticObject
struct	Collision
class	CollisionChecker
	Each CollisionChecker object has a copy of the world, so for performance, don't make too many copies. More...
struct	CollisionEvaluator
struct	SingleTimestepCollisionEvaluator
struct	CastCollisionEvaluator
class	CollisionCost
class	CollisionConstraint
class	Configuration
class	RobotAndDOF
	Stores an OpenRAVE robot and the active degrees of freedom. More...
struct	CartPoseErrCalculator
struct	CartPoseErrorPlotter
struct	CartVelJacCalculator
struct	CartVelCalculator
class	TrajOptProb
	Holds all the data for a trajectory optimization problem so you can modify it programmatically, e.g. More...
struct	TrajOptResult
struct	BasicInfo
struct	InitInfo
	Initialization info read from json. More...
struct	MakesCost
struct	MakesConstraint
struct	TermInfo
	When cost or constraint element of JSON doc is read, one of these guys gets constructed to hold the parameters. More...
struct	ProblemConstructionInfo
	This object holds all the data that's read from the JSON document. More...
struct	PoseCostInfo
	pose error More...
struct	JointPosCostInfo
	Joint space position cost. More...
struct	CartVelCntInfo
	Motion constraint on link. More...
struct	JointVelCostInfo
	Joint-space velocity squared. More...
struct	JointVelConstraintInfo
struct	CollisionCostInfo
	Collision penalty More...
struct	JointConstraintInfo
	joint-space position constraint More...
struct	TrajPlotter
class	JointPosCost
class	JointVelCost
class	JointAccCost
class	Plotter
	Interface for objects that know how to plot themselves given solution vector x. More...

Typedefs
typedef std::map < OpenRAVE::KinBody::LinkPtr, unsigned >	Link2ID
typedef boost::shared_ptr < IncrementalRB >	IncrementalRBPtr
typedef boost::shared_ptr < StaticObject >	StaticObjectPtr
typedef boost::shared_ptr < CollisionChecker >	CollisionCheckerPtr
typedef std::map< const OR::KinBody::Link *, int >	Link2Int
typedef boost::shared_ptr < CollisionEvaluator >	CollisionEvaluatorPtr
typedef boost::shared_ptr < Configuration >	ConfigurationPtr
typedef boost::shared_ptr < RobotAndDOF >	RobotAndDOFPtr
typedef BasicArray< Var >	VarArray
typedef Json::Value	TrajOptRequest
typedef Json::Value	TrajOptResponse
typedef boost::shared_ptr < TermInfo >	TermInfoPtr
typedef boost::shared_ptr < TrajOptProb >	TrajOptProbPtr
typedef boost::shared_ptr < TrajOptResult >	TrajOptResultPtr
typedef boost::shared_ptr < TrajPlotter >	TrajPlotterPtr
typedef BasicArray< AffExpr >	AffArray
typedef BasicArray< Cnt >	CntArray
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	DblMatrix
typedef vector< double >	DblVec
typedef vector< int >	IntVec
typedef Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor >	TrajArray
typedef boost::shared_ptr < Plotter >	PlotterPtr

Enumerations
enum	CastCollisionType { CCType_None, CCType_Time0, CCType_Time1, CCType_Between }
enum	CollisionFilterGroups { RobotFilter = 1, KinBodyFilter = 2 }
enum	TermType { TT_COST, TT_CNT }

Functions
TRAJOPT_API Eigen::Matrix3d	toMatrix3d (const OpenRAVE::TransformMatrix &tm)
TRAJOPT_API rbdmath::SpatialTransform	toSpatialTransform (const OpenRAVE::Transform &T)
OpenRAVE::Vector	toRave (const Eigen::Vector3d &v)
TRAJOPT_API OpenRAVE::Transform	toRave (const rbdmath::SpatialTransform &T)
TRAJOPT_API boost::shared_ptr < rbd::Model >	MakeRBDLModel (OpenRAVE::RobotBasePtr robot, bool floating_base, Link2ID &link2id)
template<typename T >
OpenRAVE::UserDataPtr	GetUserData (const T &env, const std::string &key)
template<typename T >
void	SetUserData (T &env, const std::string &key, OpenRAVE::UserDataPtr val)
template<typename T >
void	RemoveUserData (T &body, const std::string &key)
template<typename T >
void	FiniteDifferences (const BasicArray< T > &x, AffArray &dx, double dt)
OpenRAVE::Vector	toRaveQuat (const Vector4d &v)
OpenRAVE::Vector	toRaveVector (const Vector3d &v)
template<typename T >
void	extend (vector< T > &a, const vector< T > &b)
template<typename T >
vector< T >	concat (const vector< T > &a, const vector< T > &b, const vector< T > &c)
template<typename T >
vector< T >	concat (const vector< T > &a, const vector< T > &b, const vector< T > &c, const vector< T > &d)
template<typename T >
vector< T >	concat (const vector< T > &a, const vector< T > &b, const vector< T > &c, const vector< T > &d, const vector< T > &e)
template<typename S , typename T , typename U >
vector< U >	cross1 (const vector< S > &a, const vector< T > &b)
void	exprInc (AffExprVector &a, const AffExprVector &b)
void	exprDec (AffExprVector &a, const AffExprVector &b)
AffExprVector	linearizedCrossProduct (const DblVec &x, const AffExprVector &a, const AffExprVector &b)
AffExprVector	transformExpr (const OR::Transform &T, const AffExprVector &v)
AffExprVector	rotateExpr (const OR::Vector &rot, const AffExprVector &v)
MatrixXd	getW (const MatrixXd &qs, double dt)
TRAJOPT_API std::ostream &	operator<< (std::ostream &, const Collision &)
CollisionCheckerPtr TRAJOPT_API	CreateCollisionChecker (OR::EnvironmentBaseConstPtr env)
TRAJOPT_API void	PlotCollisions (const std::vector< Collision > &collisions, OR::EnvironmentBase &env, vector< OR::GraphHandlePtr > &handles, double safe_dist)
Optimizer::Callback TRAJOPT_API	PlotCallback (TrajOptProb &prob)
	Returns a callback function suitable for an Optimizer.
TrajOptProbPtr TRAJOPT_API	ConstructProblem (const ProblemConstructionInfo &)
TrajOptProbPtr TRAJOPT_API	ConstructProblem (const Json::Value &, OpenRAVE::EnvironmentBasePtr env)
TrajOptResultPtr TRAJOPT_API	OptimizeProblem (TrajOptProbPtr, bool plot)
void TRAJOPT_API	SetupPlotting (TrajOptProb &prob, Optimizer &opt)
OpenRAVE::KinBody::LinkPtr TRAJOPT_API	GetLinkMaybeAttached (OpenRAVE::RobotBasePtr robot, const std::string &name)
OpenRAVE::RobotBase::ManipulatorPtr TRAJOPT_API	GetManipulatorByName (OpenRAVE::RobotBase &robot, const std::string &name)
OpenRAVE::RobotBasePtr TRAJOPT_API	GetRobotByName (OpenRAVE::EnvironmentBase &env, const std::string &name)
OpenRAVE::KinBodyPtr TRAJOPT_API	GetBodyByName (OpenRAVE::EnvironmentBase &env, const std::string &name)
OpenRAVE::RobotBasePtr TRAJOPT_API	GetRobot (OpenRAVE::EnvironmentBase &env)
int	GetRobotLinkIndex (const OR::RobotBase &robot, const OR::KinBody::Link &link)
bool	DoesAffect (const OR::RobotBase &robot, const std::vector< int > &dof_inds, int link_ind)
void	PlotAxes (OR::EnvironmentBase &env, const OR::Transform &T, float size, std::vector< OR::GraphHandlePtr > &handles)
TrajArray TRAJOPT_API	getTraj (const DblVec &x, const VarArray &vars)
	Extract trajectory array from solution vector x using indices in array vars.
TrajArray TRAJOPT_API	getTraj (const DblVec &x, const AffArray &arr)
Vector3d	toVector3d (const OR::Vector &v)
Vector4d	toVector4d (const OR::Vector &v)
Eigen::Matrix3d	toRot (const OR::Vector &rq)
OR::Transform	toRaveTransform (const Vector4d &q, const Vector3d &p)
DblVec	trajToDblVec (const TrajArray &x)
VectorXd	concat (const VectorXd &a, const VectorXd &b)
template<typename T >
vector< T >	concat (const vector< T > &a, const vector< T > &b)
template<typename T >
vector< T >	singleton (const T &x)
void TRAJOPT_API	AddVarArrays (OptProb &prob, int rows, const vector< int > &cols, const vector< string > &name_prefix, const vector< VarArray * > &newvars)
void TRAJOPT_API	AddVarArray (OptProb &prob, int rows, int cols, const string &name_prefix, VarArray &newvars)

Detailed Description

Simple quadratic costs on trajectory.

Function Documentation

Optimizer::Callback TRAJOPT_API trajopt::PlotCallback

(

TrajOptProb &

prob

)

Returns a callback function suitable for an Optimizer.

This callback will plot the trajectory (with translucent copies of the robot) as well as all of the Cost and Constraint functions with plot methods