#include <problem_description.h>

Inheritance diagram for trajopt_interface::JointVelTermInfo:

Collaboration diagram for trajopt_interface::JointVelTermInfo:

Public Member Functions
	JointVelTermInfo ()
	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 velocity targets. This is a required value. Size should be the DOF of the system. More...

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

trajopt::DblVec	lower_tols
	Vector of velocity 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

Definition at line 337 of file problem_description.h.

Constructor & Destructor Documentation

◆ JointVelTermInfo()

trajopt_interface::JointVelTermInfo::JointVelTermInfo ( )

inline

Initialize term with it's supported types.

Definition at line 353 of file problem_description.h.

Member Function Documentation

◆ addObjectiveTerms()

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

overridevirtual

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

Implements trajopt_interface::TermInfo.

Definition at line 399 of file problem_description.cpp.

Here is the call graph for this function:

◆ create()

static TermInfoPtr trajopt_interface::JointVelTermInfo::create ( )

inlinestatic

Definition at line 360 of file problem_description.h.

Member Data Documentation

◆ coeffs

trajopt::DblVec trajopt_interface::JointVelTermInfo::coeffs

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

Definition at line 340 of file problem_description.h.

◆ first_step

int trajopt_interface::JointVelTermInfo::first_step = 0

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

Definition at line 348 of file problem_description.h.

◆ last_step

int trajopt_interface::JointVelTermInfo::last_step = -1

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

Definition at line 350 of file problem_description.h.

◆ lower_tols

trajopt::DblVec trajopt_interface::JointVelTermInfo::lower_tols

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

Definition at line 346 of file problem_description.h.

◆ targets

trajopt::DblVec trajopt_interface::JointVelTermInfo::targets

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

Definition at line 342 of file problem_description.h.

◆ upper_tols

trajopt::DblVec trajopt_interface::JointVelTermInfo::upper_tols

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

Definition at line 344 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