trajopt_interface::TermInfo Struct Reference

#include <problem_description.h>

Inheritance diagram for trajopt_interface::TermInfo:

Public Types
using	MakerFunc = TermInfoPtr(*)(void)

Public Member Functions
int	getSupportedTypes ()
virtual void	addObjectiveTerms (TrajOptProblem &prob)=0
	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	fromName (const std::string &type)
static void	RegisterMaker (const std::string &type, MakerFunc)

Public Attributes
std::string	name
int	term_type

Protected Member Functions
	TermInfo (int supported_term_types)

Detailed Description

When cost or constraint element of JSON doc is read, one of these guys gets constructed to hold the parameters. Then it later gets converted to a Cost object by the addObjectiveTerms method

Definition at line 127 of file problem_description.h.

Member Typedef Documentation

MakerFunc

using trajopt_interface::TermInfo::MakerFunc = TermInfoPtr (*)(void)

Registers a user-defined TermInfo so you can use your own cost see function RegisterMakers.cpp

Definition at line 144 of file problem_description.h.

Constructor & Destructor Documentation

TermInfo() [1/4]

trajopt_interface::TermInfo::TermInfo ( )

default

TermInfo() [2/4]

trajopt_interface::TermInfo::TermInfo ( const TermInfo &  )

default

TermInfo() [3/4]

trajopt_interface::TermInfo::TermInfo ( TermInfo &&  )

default

~TermInfo()

virtual trajopt_interface::TermInfo::~TermInfo ( )

virtualdefault

TermInfo() [4/4]

trajopt_interface::TermInfo::TermInfo ( int  supported_term_types )

inlineprotected

Definition at line 155 of file problem_description.h.

Member Function Documentation

addObjectiveTerms()

virtual void trajopt_interface::TermInfo::addObjectiveTerms ( TrajOptProblem &  prob )

pure virtual

Implemented in trajopt_interface::JointVelTermInfo, trajopt_interface::JointPoseTermInfo, and trajopt_interface::CartPoseTermInfo.

fromName()

static TermInfoPtr trajopt_interface::TermInfo::fromName ( const std::string &  type )

static

getSupportedTypes()

int trajopt_interface::TermInfo::getSupportedTypes ( )

inline

Definition at line 131 of file problem_description.h.

operator=() [1/2]

TermInfo& trajopt_interface::TermInfo::operator= ( const TermInfo &  )

default

operator=() [2/2]

TermInfo& trajopt_interface::TermInfo::operator= ( TermInfo &&  )

default

RegisterMaker()

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

static

Member Data Documentation

name

std::string trajopt_interface::TermInfo::name

Definition at line 129 of file problem_description.h.

term_type

int trajopt_interface::TermInfo::term_type

Definition at line 130 of file problem_description.h.

---

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

• moveit_planners/trajopt/include/trajopt_interface/problem_description.h