Inheritance diagram for API::CostOptimization:

Public Member Functions
	CostOptimization ()
	Constructors and Destructors of the class.

	CostOptimization (const Trajectory &T)

	CostOptimization (Robot R, p3d_traj t)

void	printDebugInfo ()
	Prints debug information.

bool	deformInCollision ()
	Returns true if the new trajectory is in collision.

void	setCheat ()
	Set the cheat.

double	getMinCost ()
	Get the minimal cost.

bool	oneLoopDeform ()
	One loop of the deformation strategy. More...

bool	oneLoopDeformRecompute ()
	One loop of the deformation strategy with recomputing of the trajectory portion cost as it might change. More...

bool	connectConfiguration (confPtr_t q, double step)
	Adds a configuration to the trajectory by starting from the end of the trajectory. More...

void	runDeformation (int nbIteration, int idRun=0)
	This is the main function to deform a trajectory it iterativly modifies the current trajectory, with random perturbations this function consisiton of n deformation rounds which sample a configuration to create a deviation from the initial path, check its cost and keep the best trajectory out of the current and newly created trajectory. More...

Public Member Functions inherited from API::Smoothing
	Smoothing ()
	Class constructors and destructors.

	Smoothing (const Trajectory &T)

	Smoothing (Robot R, traj t)

int	getRunId ()
	Get the run Id.

void	setRunId (int id)
	Set the run Id.

void	setStep (double step)
	Set a fixed deformation step.

void	resetStep ()
	Use automatic step computation.

double	getTime ()
	Get the time spent in optimization.

int	getIteration ()
	Get iteration.

void	setContextName (std::string name)
	Set Context name.

void	saveOptimToFile (std::string str)
	Save the optimization to a file. More...

void	removeRedundantNodes ()
	Go through all nodes in a deterministic manner.

void	setSortedIndex ()
	Set the sorted indexes by cost.

confPtr_t	getRandConfAlongTraj (double &randDist, bool use_bias)
	Get a random confiruation along the trajectroy that can be biased.

bool	oneLoopShortCut ()
	One loop of the random shortcut. More...

bool	oneLoopShortCutRecompute ()
	One loop of the random shortcut with recomputation of the trajectory cost. More...

void	runShortCut (int nbIteration, int idRun=0)
	Runs the shortcut method for a certain number of iterations. More...

int	removeUselessNodes ()
	Deterministic shortcut.

Public Member Functions inherited from API::Trajectory
	Trajectory (Robot *R)

	Trajectory (Robot R, traj t)

	Trajectory (std::vector< confPtr_t > &C)

	Trajectory (const Trajectory &T)

Trajectory &	operator= (const Trajectory &t)

bool	operator== (const Trajectory &t) const

bool	operator!= (const Trajectory &t) const

void	copyPaths (std::vector< LocalPath * > &vect)

std::vector < std::tr1::shared_ptr < Configuration > >	getTowConfigurationAtParam (double param1, double param2, uint &lp1, uint &lp2)

std::pair< bool, std::vector < LocalPath * > >	extractSubPortion (double param1, double param2, unsigned int &first, unsigned int &last, bool check_for_coll=true)

Trajectory	extractSubTrajectoryOfLocalPaths (unsigned int id_start, unsigned int id_end)
	Extract sub trajectory. More...

Trajectory	extractSubTrajectory (double param1, double param2, bool check_for_coll=true)

bool	concat (const Trajectory &traj)

bool	replacePortionOfLocalPaths (unsigned int id1, unsigned int id2, std::vector< LocalPath * > paths, bool freeMemory=true)

bool	replacePortion (double param1, double param2, std::vector< LocalPath * > paths, bool freeMemory=true)

bool	replaceBegin (double param, const std::vector< LocalPath * > &paths)

bool	replaceEnd (double param, const std::vector< LocalPath * > &paths)

bool	cutTrajInSmallLP (unsigned int nLP)

bool	cutTrajInSmallLPSimple (unsigned int nLP)

uint	cutPortionInSmallLP (std::vector< LocalPath * > &portion, uint nLP)

void	push_back (confPtr_t q)

bool	push_back (std::tr1::shared_ptr< LocalPath > path)

double	collisionCost ()

std::vector< std::pair< double, double > >	getCostProfile ()

double	computeSubPortionIntergralCost (std::vector< LocalPath * > &portion)

double	computeSubPortionCost (std::vector< LocalPath * > &portion)

double	computeSubPortionCost (std::vector< LocalPath * >::iterator first, std::vector< LocalPath * >::iterator last)

double	computeSubPortionMaxCost (std::vector< LocalPath * > &portion)

double	ReComputeSubPortionCost (std::vector< LocalPath * > &portion, int &nb_cost_tests)

double	computeSubPortionCostVisib (std::vector< LocalPath * > &portion)

double	costOfPortion (double param1, double param2)

double	extractCostPortion (double param1, double param2)

double	cost ()

double	computeCostComplete ()

double	costComplete ()

double	costNoRecompute ()

double	costRecomputed ()

double	costStatistics (TrajectoryStatistics &stat)

double	costDeltaAlongTraj ()

double	costNPoints (const int n_points)

double	costSum ()

std::vector< double >	getCostAlongTrajectory (int nbSample)

void	resetCostComputed ()

bool	isEmpty ()

void	clear ()

confPtr_t	operator[] (const int &i) const

confPtr_t	configAtParam (double param, unsigned int *id_localpath=NULL) const

double	paramAtConfig (confPtr_t config, double step=-1) const

LocalPath *	getLocalPathPtrOf (confPtr_t conf) const

double	distanceToTraj (confPtr_t config, double step=-1)

std::vector< confPtr_t >	getNConfAtParam (double delta)

std::vector< confPtr_t >	getVectorOfConfiguration ()

uint	getIdOfPathAt (double param)

LocalPath *	getLocalPathPtrAt (unsigned int id) const

int	getNbOfPaths () const

int	getNbOfViaPoints () const

bool	isValid ()

void	resetIsValid ()

void	updateRange ()

double	computeSubPortionRange (const std::vector< LocalPath * > &portion) const

bool	replaceP3dTraj ()

p3d_traj *	replaceP3dTraj (p3d_traj *trajPt)

p3d_traj *	replaceHumanP3dTraj (Robot rob, p3d_traj trajPt)

void	printAllLocalpathCost ()

void	draw (int nbKeyFrame)

void	print ()

int	meanCollTest ()

bool	makeBSplineTrajectory ()

void	setColor (int col)

unsigned int	getHighestCostId () const

Robot *	getRobot () const

int	size () const

confPtr_t	getBegin () const

confPtr_t	getEnd () const

std::vector< LocalPath * >	getCourbe () const

std::vector< LocalPath * > &	getCourbe ()

double	getRangeMax () const

Static Public Member Functions
static double	getLastDescendingConfParam (LocalPath &directionPath)
	Stops at the last descending configuration on the cost map. More...

static confPtr_t	perturbCurrent (confPtr_t qCurrPt, confPtr_t qRandPt, double step, bool descent)
	Expand the configuration to a ne. More...

Protected Member Functions
confPtr_t	cheat ()
	Cheat for Justin. More...

void	debugShowTraj (double lPrev, double lNext, confPtr_t qNew, int color)
	Create new trajectories to show in debug mode also calls the g3d_draw function to plot in the OpenGl display.

std::vector< confPtr_t >	get3RandSuccesConfAlongTraj (double &prevDistPt, double &randDistPt, double &nextDistPt, double step)
	Returns 3 random configurations along the trajtectory. More...

std::vector< confPtr_t >	getClosestConfOnTraj (double &prevDistPt, double &randDistPt, double &nextDistPt, confPtr_t ptrConf, double step)
	Returns the 3 configurations that are the closest to the input configuration. More...

Protected Member Functions inherited from API::Smoothing
bool	checkStopConditions (unsigned int iter)
	stops the trajectory optimization More...

std::vector< confPtr_t >	get2RandomConf (double step, double &secondDist, double &firstDist)
	gets randomly two random configurations

std::vector< confPtr_t >	getConfAtStepAlongTraj (double step, double firstDist, double secondDist)
	gets randomly n configurations on the traj between firstDist and secondDist

bool	partialShortcut ()
	PatialShortCut : intependently shortcut each DoFs. More...

bool	isLowerCostLargePortion (double lFirst, double lSecond, std::vector< LocalPath * > &paths)
	Compute the subportion of with entire outer localpaths. More...

double	interpolateOneDoF (unsigned int ithActiveDoF, double init, double goal, double alpha)
	Interpolates a Configuration. More...

void	changeIthActiveDofValueOnConf (Configuration &q, unsigned int ithActiveDoF, double value)
	Change the Ith Active Dof on Conf. More...

void	debugShowTraj (double lPrev, double lNext)
	Show the trajectory while being deformed.

double	getBiasedParamOnTraj ()
	Get a parameter on the trajectory which is biased to the high cost parts of the trajectory.

double	closestResolutionToStep (double length, double step)
	Compute the resolution of a path. More...

double	gainOfLastIterations (unsigned int n)
	Compute the gain of the last n succueded iterations. More...

void	computeStats ()
	compute the stats

void	storeCostAndGain (double NewCost, double CurCost)
	Store the cost and gain of the iteration in double vectors.

Additional Inherited Members
Protected Attributes inherited from API::Smoothing
int	m_runId

std::string	m_ContextName

std::vector< double >	m_Selected

int	m_nbBiased

int	m_nbReallyBiased

double	m_currentCost

double	m_time

bool	m_useAutoStep

double	m_step

std::vector< std::pair< double, std::vector< confPtr_t > > >	m_convergence_trajs

std::vector< std::pair< double, TrajectoryStatistics > >	m_convergence_rate

std::vector< double >	m_OptimCost

std::vector< double >	m_GainCost

int	m_Iteration

bool	m_IterationSucceded

std::vector< double >	m_GainOfIterations

unsigned int	m_MaxNumberOfIterations

Protected Attributes inherited from API::Trajectory
Robot *	m_Robot

unsigned int	HighestCostId

bool	isHighestCostIdSet

Member Function Documentation

shared_ptr< Configuration > CostOptimization::cheat ( )

protected

Cheat for Justin.

Bias to one specific configuration.

bool CostOptimization::connectConfiguration	(	confPtr_t	q,
		double	step
	)

Adds a configuration to the trajectory by starting from the end of the trajectory.

Connects a configuration to the trajectory it starts at the end of the trajectory.

vector< confPtr_t > CostOptimization::get3RandSuccesConfAlongTraj	(	double &	prevDistPt,
		double &	randDistPt,
		double &	nextDistPt,
		double	step
	)

protected

Returns 3 random configurations along the trajtectory.

Gets 3 random configurations on the trajectory the selection is biased depending on an internal parameter The process is as follows, first a configuration is sampled (the one in the middle) then the two others are selected at a parameter prevDist, and nextDist away from the sampled configuration.

Parameters

the	step between the 3 configuration

Returns: vector of configuration

vector< confPtr_t > CostOptimization::getClosestConfOnTraj	(	double &	prevDistPt,
		double &	randDistPt,
		double &	nextDistPt,
		confPtr_t	ptrConf,
		double	step
	)

protected

Returns the 3 configurations that are the closest to the input configuration.

Parameters

double CostOptimization::getLastDescendingConfParam ( LocalPath & directionPath )

static

Stops at the last descending configuration on the cost map.

Compute descent on cost map.

bool CostOptimization::oneLoopDeform ( )

One loop of the deformation strategy.

Parameters

step	is the distance between 2 configurations

bool CostOptimization::oneLoopDeformRecompute ( )

One loop of the deformation strategy with recomputing of the trajectory portion cost as it might change.

Parameters

step	is the distance between 2 configurations

confPtr_t CostOptimization::perturbCurrent	(	confPtr_t	qCurrPt,
		confPtr_t	qRandPt,
		double	step,
		bool	descent
	)

static

Expand the configuration to a ne.

Perturb the current configuration Finds a conf between current and random that satifies the joint limits.

void CostOptimization::runDeformation	(	int	nbIteration,
		int	idRun = `0`
	)

This is the main function to deform a trajectory it iterativly modifies the current trajectory, with random perturbations this function consisiton of n deformation rounds which sample a configuration to create a deviation from the initial path, check its cost and keep the best trajectory out of the current and newly created trajectory.

Parameters

nbIteration	the number of iteration to go for
idRun	the id of the run

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

src/planner/TrajectoryOptim/Classic/costOptimization.hpp
src/planner/TrajectoryOptim/Classic/costOptimization.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Function Documentation