Joint space position cost Position operates on a single point (unlike velocity, etc). This is b/c the primary usecase is joint-space position waypoints. More...

#include <problem_description.h>

Inheritance diagram for trajopt_interface::JointPoseTermInfo:

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Collaboration diagram for trajopt_interface::JointPoseTermInfo:

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Public Member Functions
	JointPoseTermInfo ()
	Initialize term with it's supported types. More...

void	addObjectiveTerms (TrajOptProblem &prob) override
	Converts term info into cost/constraint and adds it to trajopt problem. More...

Public Member Functions inherited from trajopt_interface::TermInfo
int	getSupportedTypes ()

	TermInfo ()=default

	TermInfo (const TermInfo &)=default

	TermInfo (TermInfo &&)=default

TermInfo &	operator= (const TermInfo &)=default

TermInfo &	operator= (TermInfo &&)=default

virtual	~TermInfo ()=default

Static Public Member Functions
static TermInfoPtr	create ()

Static Public Member Functions inherited from trajopt_interface::TermInfo
static TermInfoPtr	fromName (const std::string &type)

static void	RegisterMaker (const std::string &type, MakerFunc)

Public Attributes
trajopt::DblVec	coeffs
	Vector of coefficients that scale the cost. Size should be the DOF of the system. Default: vector of 0's. More...

trajopt::DblVec	targets
	Vector of position targets. This is a required value. Size should be the DOF of the system. More...

trajopt::DblVec	upper_tols
	Vector of position upper limits. Size should be the DOF of the system. Default: vector of 0's. More...

trajopt::DblVec	lower_tols
	Vector of position lower limits. Size should be the DOF of the system. Default: vector of 0's. More...

int	first_step = 0
	First time step to which the term is applied. Default: 0. More...

int	last_step = -1
	Last time step to which the term is applied. Default: prob.GetNumSteps() - 1. More...

Public Attributes inherited from trajopt_interface::TermInfo
std::string	name

int	term_type

Additional Inherited Members
Public Types inherited from trajopt_interface::TermInfo
using	MakerFunc = TermInfoPtr(*)(void)

Protected Member Functions inherited from trajopt_interface::TermInfo
	TermInfo (int supported_term_types)

Detailed Description

Joint space position cost Position operates on a single point (unlike velocity, etc). This is b/c the primary usecase is joint-space position waypoints.

$\begin{align*} \sum_i c_i (x_i - xtarg_i)^2 \end{align*}$

where $i$ indexes over dof and $c_i$ are coeffs

Definition at line 308 of file problem_description.h.

Constructor & Destructor Documentation

◆ JointPoseTermInfo()

trajopt_interface::JointPoseTermInfo::JointPoseTermInfo ( )

inline

Initialize term with it's supported types.

Definition at line 324 of file problem_description.h.

Member Function Documentation

◆ addObjectiveTerms()

void trajopt_interface::JointPoseTermInfo::addObjectiveTerms ( TrajOptProblem & prob )

overridevirtual

Converts term info into cost/constraint and adds it to trajopt problem.

Implements trajopt_interface::TermInfo.

Definition at line 310 of file problem_description.cpp.

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◆ create()

static TermInfoPtr trajopt_interface::JointPoseTermInfo::create ( )

inlinestatic

Definition at line 331 of file problem_description.h.

Member Data Documentation

◆ coeffs

trajopt::DblVec trajopt_interface::JointPoseTermInfo::coeffs

Vector of coefficients that scale the cost. Size should be the DOF of the system. Default: vector of 0's.

Definition at line 311 of file problem_description.h.

◆ first_step

int trajopt_interface::JointPoseTermInfo::first_step = 0

First time step to which the term is applied. Default: 0.

Definition at line 319 of file problem_description.h.

◆ last_step

int trajopt_interface::JointPoseTermInfo::last_step = -1

Last time step to which the term is applied. Default: prob.GetNumSteps() - 1.

Definition at line 321 of file problem_description.h.

◆ lower_tols

trajopt::DblVec trajopt_interface::JointPoseTermInfo::lower_tols

Vector of position lower limits. Size should be the DOF of the system. Default: vector of 0's.

Definition at line 317 of file problem_description.h.

◆ targets

trajopt::DblVec trajopt_interface::JointPoseTermInfo::targets

Vector of position targets. This is a required value. Size should be the DOF of the system.

Definition at line 313 of file problem_description.h.

◆ upper_tols

trajopt::DblVec trajopt_interface::JointPoseTermInfo::upper_tols

Vector of position upper limits. Size should be the DOF of the system. Default: vector of 0's.

Definition at line 315 of file problem_description.h.

The documentation for this struct was generated from the following files:

moveit_planners/trajopt/include/trajopt_interface/problem_description.h
moveit_planners/trajopt/src/problem_description.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members