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MotionPlanningProblem Class Reference

Defines a feasible motion planning problem using Constraint class objects. More...

Inheritance diagram for MotionPlanningProblem:
Collaboration diagram for MotionPlanningProblem:

Public Member Functions

function MotionPlanningProblem (num_vars, var_names)
 takes x(obj.x_inds{i}) as its input More...
 
function addConstraint (obj, constraint, x_inds)
 
function checkConstraints (obj, x, varargin)
 

Public Attributes

Property num_vars
 
Property var_names
 
Property constraints
 a cell array of Constraint objects More...
 
Property x_inds
 todo: add differential constraints? control affine only? todo: add objectives? More...
 

Detailed Description

Defines a feasible motion planning problem using Constraint class objects.

Note: a motion planning problem is not a NonlinearProgram because, for instance, it is not described by a fixed number of decision variables. Instead, we require each point in a solution to be feasible given all of the constraints, and therefore have a NonlinearProgram which tests that feasibility as a member variable.

Constructor & Destructor Documentation

function MotionPlanningProblem ( num_vars  ,
var_names   
)

takes x(obj.x_inds{i}) as its input

the dimension of the search space (e.g. state or configuration space) optional variable names

Return values
obj

Member Function Documentation

function addConstraint ( obj  ,
constraint  ,
x_inds   
)
Return values
obj
function checkConstraints ( obj  ,
,
varargin   
)
Return values
valid

Member Data Documentation

Property constraints

a cell array of Constraint objects

Property num_vars
Property var_names
Property x_inds

todo: add differential constraints? control affine only? todo: add objectives?

a cell array of indices into the search space. obj.constraints{i}


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