#include <algorithm>
#include <cmath>
#include <iomanip>
#include <iostream>
#include <istream>
#include <vector>
#include <ArmarXCore/core/logging/Logging.h>
#include <armarx/navigation/algorithms/orientation_aware/smoothing/Costmap3DWrapper.h>
#include <armarx/navigation/algorithms/orientation_aware/smoothing/io.h>
#include <ceres/ceres.h>
#include <ceres/local_parameterization.h>

Include dependency graph for residuals.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	AccelDecelLimitResidual

struct	CenterPoint

struct	MidpointObstacleResidual

struct	NominalVelocityResidual

struct	ObstacleResidual

struct	PoseJerkResidual

struct	PoseSmoothResidual

struct	RobotPoseProximityResidual

struct	RobotSmoothResidual

struct	SoftSpacingResidual

struct	SpacingResidual

struct	StartRotationResidual

struct	ThetaTrackingResidual

struct	TrackingResidual

struct	VelLimitResidual

struct	VelocityProximityResidual

Namespaces
namespace	armarx
	This file offers overloads of toIce() and fromIce() functions for STL container types.

namespace	armarx::navigation
	This file is part of ArmarX.

namespace	armarx::navigation::algorithms
	This file is part of ArmarX.

namespace	armarx::navigation::algorithms::orientation_aware
	This file is part of ArmarX.

namespace	armarx::navigation::algorithms::orientation_aware::smoothing
	This file is part of ArmarX.

namespace	armarx::navigation::algorithms::orientation_aware::smoothing::detail

Macros
#define	SET_CONSTRAINT(problem, param, constraint)

Typedefs
using	SubsetConstraint = ceres::SubsetParameterization
	This file is part of ArmarX.

Functions
template<typename T>
T	angleDiff (const T &a, const T &b)

template<typename T>
T	expForSmoothMin (const T &x)

template<typename T>
T	logForSmoothMin (const T &x)

double	normalizeAngle (double a)

void	optimizeTrajectoryCeres (std::vector< CenterPoint > &traj, const Costmap3DWrapper &costmap_wrapper, const std::vector< CenterPoint > &traj_targets, const io::SmoothingParams &opts)

template<typename T>
T	smoothMin (const std::vector< T > &values, double alpha)

double	smoothstep (double edge0, double edge1, double x)

double	trackingScaleFromClearance (double clearance, double fade_start_clearance, double fade_end_clearance)

Macro Definition Documentation

◆ SET_CONSTRAINT

#define SET_CONSTRAINT	(	problem,
		param,
		constraint )

Value:

(problem).SetParameterization((param), (constraint))

Definition at line 23 of file residuals.h.

Typedef Documentation

◆ SubsetConstraint

using SubsetConstraint = ceres::SubsetParameterization

This file is part of ArmarX.

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Definition at line 22 of file residuals.h.

Classes

Namespaces

Macros

Typedefs

Functions

Macro Definition Documentation

◆ SET_CONSTRAINT

Typedef Documentation

◆ SubsetConstraint