Klamp't
0.8.1

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 (Robot &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 
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.
vector<vector<Real> > 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> > CustomTimeScaling::ds2ddsConstraintNormals 
Constraint planes a^T (ds^2,dds) <= b in the (squaredrate, acceleration) plane
vector<Real> 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.