Inheritance diagram for API::Smoothing:

Public Member Functions
	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

Protected Member Functions
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.

Protected Attributes
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

void Smoothing::changeIthActiveDofValueOnConf	(	Configuration &	q,
		unsigned int	ithActiveDoF,
		double	value
	)

protected

Change the Ith Active Dof on Conf.

returns a configuration with the interpoated DoF

bool Smoothing::checkStopConditions ( unsigned int iter )

protected

stops the trajectory optimization

Checks out if the plannification problem has reach its goals.

double Smoothing::closestResolutionToStep	(	double	length,
		double	step
	)

protected

Compute the resolution of a path.

Parameters

resolution

double Smoothing::gainOfLastIterations ( unsigned int n )

protected

Compute the gain of the last n succueded iterations.

This function computes the gain that have made the last iteration of the smoothing process.

Parameters

last	n taken into account iterations

double Smoothing::interpolateOneDoF	(	unsigned int	ithActiveDoF,
		double	init,
		double	goal,
		double	alpha
	)

protected

Interpolates a Configuration.

Interpolates the ith active DoF of the robot.

bool Smoothing::isLowerCostLargePortion	(	double	lFirst,
		double	lSecond,
		std::vector< LocalPath * > &	paths
	)

protected

Compute the subportion of with entire outer localpaths.

Compare the cost of two portions.

bool Smoothing::oneLoopShortCut ( )

One loop of the random shortcut.

One loop of the short cut method.

Replace

bool Smoothing::oneLoopShortCutRecompute ( )

One loop of the random shortcut with recomputation of the trajectory cost.

Replaces by a shortcut if of lower cost but recomputes the entire trajectory.

bool Smoothing::partialShortcut ( )

protected

PatialShortCut : intependently shortcut each DoFs.

One loop of the short cut method.

void Smoothing::runShortCut	(	int	nbIteration,
		int	idRun = `0`
	)

Runs the shortcut method for a certain number of iterations.

This is the main function iterating the smoothing methods.

Parameters

iterations

void Smoothing::saveOptimToFile ( std::string str )

Save the optimization to a file.

This function saves the trajectory cost to a file along the smoothing process.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Member Function Documentation