drake::planning::trajectory_optimization Namespace Reference

Classes
class	DirectCollocation
	DirectCollocation implements the approach to trajectory optimization as described in C. More...
class	DirectCollocationConstraint
	Implements the direct collocation constraints for a first-order hold on the input and a cubic polynomial representation of the state trajectories. More...
class	DirectTranscription
	DirectTranscription is perhaps the simplest implementation of a multiple shooting method, where we have decision variables representing the control and input at every sample time in the trajectory, and one-step of numerical integration provides the dynamic constraints between those decision variables. More...
class	GcsTrajectoryOptimization
	GcsTrajectoryOptimization implements a simplified motion planning optimization problem introduced in the paper "Motion Planning around Obstacles with Convex Optimization" by Tobia Marcucci, Mark Petersen, David von Wrangel, Russ Tedrake. More...
class	KinematicTrajectoryOptimization
	Optimizes a trajectory, q(t) subject to costs and constraints on the trajectory and its derivatives. More...
class	MidPointIntegrationConstraint
	Implements the midpoint integration. More...
class	MultipleShooting
	MultipleShooting is an abstract class for trajectory optimization that creates decision variables for inputs, states, and (optionally) sample times along the trajectory, then provides a number of methods for working with those decision variables. More...
struct	TimeStep

Functions
solvers::Binding< solvers::Constraint >	AddDirectCollocationConstraint (std::shared_ptr< DirectCollocationConstraint > constraint, const Eigen::Ref< const solvers::VectorXDecisionVariable > &time_step, const Eigen::Ref< const solvers::VectorXDecisionVariable > &state, const Eigen::Ref< const solvers::VectorXDecisionVariable > &next_state, const Eigen::Ref< const solvers::VectorXDecisionVariable > &input, const Eigen::Ref< const solvers::VectorXDecisionVariable > &next_input, solvers::MathematicalProgram *prog)
	Helper method to add a DirectCollocationConstraint to the prog, ensuring that the order of variables in the binding matches the order expected by the constraint.
std::vector< int >	GetContinuousRevoluteJointIndices (const multibody::MultibodyPlant< double > &plant)
	Returns a list of indices in the plant's generalized positions which correspond to a continuous revolute joint (a revolute joint with no joint limits).

Function Documentation

AddDirectCollocationConstraint()

solvers::Binding< solvers::Constraint > AddDirectCollocationConstraint	(	std::shared_ptr< DirectCollocationConstraint >	constraint,
		const Eigen::Ref< const solvers::VectorXDecisionVariable > &	time_step,
		const Eigen::Ref< const solvers::VectorXDecisionVariable > &	state,
		const Eigen::Ref< const solvers::VectorXDecisionVariable > &	next_state,
		const Eigen::Ref< const solvers::VectorXDecisionVariable > &	input,
		const Eigen::Ref< const solvers::VectorXDecisionVariable > &	next_input,
		solvers::MathematicalProgram *	prog )

Helper method to add a DirectCollocationConstraint to the prog, ensuring that the order of variables in the binding matches the order expected by the constraint.

GetContinuousRevoluteJointIndices()

std::vector< int > GetContinuousRevoluteJointIndices

(

const multibody::MultibodyPlant< double > &

plant

)

Returns a list of indices in the plant's generalized positions which correspond to a continuous revolute joint (a revolute joint with no joint limits).

This includes UniversalJoint, and the revolute component of PlanarJoint and RpyFloatingJoint.