aikido::constraint::NewtonsMethodProjectable Class Reference

Uses Newton's method to project state. More...

#include <aikido/constraint/NewtonsMethodProjectable.hpp>

Inheritance diagram for aikido::constraint::NewtonsMethodProjectable:

Public Member Functions
	NewtonsMethodProjectable (DifferentiablePtr _differentiable, std::vector< double > _tolerance, int _maxIteration=1000, double _minStepSize=1e-5)
	Constructor. More...
bool	project (const statespace::StateSpace::State *_s, statespace::StateSpace::State *_out) const override
	Projection _s to _out. More...
statespace::ConstStateSpacePtr	getStateSpace () const override
	Gets the StateSpace that this constraint operates on. More...
Public Member Functions inherited from aikido::constraint::Projectable
virtual	~Projectable ()=default
virtual bool	project (statespace::StateSpace::State *_s) const
	Performs an in-place projection. More...

Private Member Functions
bool	contains (const statespace::StateSpace::State *_s) const

Private Attributes
DifferentiablePtr	mDifferentiable
std::vector< double >	mTolerance
int	mMaxIteration
double	mMinStepSize
statespace::ConstStateSpacePtr	mStateSpace

Detailed Description

Uses Newton's method to project state.

Constructor & Destructor Documentation

NewtonsMethodProjectable()

aikido::constraint::NewtonsMethodProjectable::NewtonsMethodProjectable	(	DifferentiablePtr	_differentiable,
		std::vector< double >	_tolerance,
		int	_maxIteration = 1000,
		double	_minStepSize = 1e-5
	)

Constructor.

Parameters

_differentiable	Differentiable constraint to be projected.
_tolerance	Tolerances for checking whether the constraints are been satisfied. e.g. For equality, |_differentiable->getValue(state)| <= tolerance The size of tolerances should match _differentiable's constraint dimension.
_maxIteration	Max iteration for Newton's method.
_minStepSize	Minimum step size to be taken in Newton's method.

Member Function Documentation

contains()

bool aikido::constraint::NewtonsMethodProjectable::contains ( const statespace::StateSpace::State *  _s ) const

private

getStateSpace()

statespace::ConstStateSpacePtr aikido::constraint::NewtonsMethodProjectable::getStateSpace ( ) const

overridevirtual

Gets the StateSpace that this constraint operates on.

Implements aikido::constraint::Projectable.

project()

bool aikido::constraint::NewtonsMethodProjectable::project ( const statespace::StateSpace::State *  _s, statespace::StateSpace::State *  _out  ) const

overridevirtual

Projection _s to _out.

Returns false if projection cannot be done.

Parameters

_s	state to be projected.
_out	resulting projection.

Implements aikido::constraint::Projectable.

Member Data Documentation

mDifferentiable

DifferentiablePtr aikido::constraint::NewtonsMethodProjectable::mDifferentiable

private

mMaxIteration

int aikido::constraint::NewtonsMethodProjectable::mMaxIteration

private

mMinStepSize

double aikido::constraint::NewtonsMethodProjectable::mMinStepSize

private

mStateSpace

statespace::ConstStateSpacePtr aikido::constraint::NewtonsMethodProjectable::mStateSpace

private

mTolerance

std::vector<double> aikido::constraint::NewtonsMethodProjectable::mTolerance

private