GcsTrajectoryOptimization::EdgesBetweenSubgraphs Class Reference

Detailed Description

EdgesBetweenSubgraphs are defined as the connecting edges between two given subgraphs.

These edges are a subset of the many other edges in the larger graph. From an API standpoint, EdgesBetweenSubgraphs enable transitions between Subgraphs, which can enable transitions between modes. Further, it allows different constraints to be added in the transition between subgraphs. Note that the EdgesBetweenSubgraphs can't be separated from the actual edges in the GraphOfConvexSets framework, thus mixing it with other instances of GCSTrajetoryOptimization is not supported.

#include <drake/planning/trajectory_optimization/gcs_trajectory_optimization.h>

Public Member Functions
	~EdgesBetweenSubgraphs ()
void	AddVelocityBounds (const Eigen::Ref< const Eigen::VectorXd > &lb, const Eigen::Ref< const Eigen::VectorXd > &ub)
	Adds a linear velocity constraint to the control point connecting the subgraphs lb ≤ q̇(t) ≤ ub. More...
void	AddZeroDerivativeConstraints (int derivative_order)
	Enforces zero derivatives on the control point connecting the subgraphs. More...
void	AddPathContinuityConstraints (int continuity_order)
	Enforces derivative continuity constraints on the edges between the subgraphs. More...
Does not allow copy, move, or assignment
	EdgesBetweenSubgraphs (const EdgesBetweenSubgraphs &)=delete
EdgesBetweenSubgraphs &	operator= (const EdgesBetweenSubgraphs &)=delete
	EdgesBetweenSubgraphs (EdgesBetweenSubgraphs &&)=delete
EdgesBetweenSubgraphs &	operator= (EdgesBetweenSubgraphs &&)=delete

Friends
class	GcsTrajectoryOptimization

Constructor & Destructor Documentation

EdgesBetweenSubgraphs() [1/2]

EdgesBetweenSubgraphs ( const EdgesBetweenSubgraphs &  )

delete

EdgesBetweenSubgraphs() [2/2]

EdgesBetweenSubgraphs ( EdgesBetweenSubgraphs &&  )

delete

~EdgesBetweenSubgraphs()

~EdgesBetweenSubgraphs

(

)

Member Function Documentation

AddPathContinuityConstraints()

void AddPathContinuityConstraints

(

int

continuity_order

)

Enforces derivative continuity constraints on the edges between the subgraphs.

Parameters

continuity_order

is the order of the continuity constraint.

Note that the constraints are on the control points of the derivatives of r(s) and not q(t). This may result in discontinuities of the trajectory return by SolvePath() since the r(s) will get rescaled by the duration h to yield q(t). NormalizeSegmentTimes() will return r(s) with valid continuity.

Exceptions

std::exception	if the continuity order is not equal or less than the order of both subgraphs.
std::exception	if the continuity order is less than one since path continuity is enforced by default.

AddVelocityBounds()

void AddVelocityBounds	(	const Eigen::Ref< const Eigen::VectorXd > &	lb,
		const Eigen::Ref< const Eigen::VectorXd > &	ub
	)

Adds a linear velocity constraint to the control point connecting the subgraphs lb ≤ q̇(t) ≤ ub.

Parameters

lb	is the lower bound of the velocity.
ub	is the upper bound of the velocity.

Exceptions

std::exception	if both subgraphs order is zero, since the velocity is defined as the derivative of the Bézier curve. At least one of the subgraphs must have an order of at least 1.
std::exception	if lb or ub are not of size num_positions().

AddZeroDerivativeConstraints()

void AddZeroDerivativeConstraints

(

int

derivative_order

)

Enforces zero derivatives on the control point connecting the subgraphs.

For velocity, acceleration, jerk, etc. enforcing zero-derivative on the trajectory q(t) is equivalent to enforcing zero-derivative on the trajectory r(s). Hence this constraint is convex.

Parameters

derivative_order

is the order of the derivative to be constrained.

Exceptions

std::exception	if the derivative order < 1.
std::exception	if both subgraphs order is less than the desired derivative order.

operator=() [1/2]

EdgesBetweenSubgraphs& operator= ( const EdgesBetweenSubgraphs &  )

delete

operator=() [2/2]

EdgesBetweenSubgraphs& operator= ( EdgesBetweenSubgraphs &&  )

delete

Friends And Related Function Documentation

GcsTrajectoryOptimization

friend class GcsTrajectoryOptimization

friend

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

• drake/planning/trajectory_optimization/gcs_trajectory_optimization.h