#include "OrientationOptimizer.h"
#include <math.h>
#include <algorithm>
#include <cmath>
#include <cstddef>
#include <vector>
#include <range/v3/algorithm/for_each.hpp>
#include <range/v3/range/conversion.hpp>
#include <range/v3/view/transform.hpp>
#include <range/v3/view/zip.hpp>
#include <SimoxUtility/math/convert/mat4f_to_xyyaw.h>
#include <SimoxUtility/math/convert/rpy_to_mat3f.h>
#include <SimoxUtility/math/periodic/periodic_clamp.h>
#include <VirtualRobot/Random.h>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/util/StringHelpers.h>
#include <armarx/navigation/core/Trajectory.h>
#include <armarx/navigation/global_planning/optimization/cost_functions.h>
#include <ceres/ceres.h>
#include <ceres/cost_function.h>

Include dependency graph for OrientationOptimizer.cpp:

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::global_planning
	This file is part of ArmarX.

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

Functions
double	angleDiff (const double a, const double b)

Variable Documentation

◆ degenerate

std::size_t degenerate {0}

How many segments were excluded as too short to carry a direction.

Definition at line 106 of file OrientationOptimizer.cpp.

◆ degenerateThreshold

double degenerateThreshold {0.0}

What "too short" meant for this trajectory. [mm].

Definition at line 112 of file OrientationOptimizer.cpp.

◆ firstDegenerateIndex

std::size_t firstDegenerateIndex {0}

The first of them, for the report.

Definition at line 109 of file OrientationOptimizer.cpp.

◆ worst

double worst {0.0}

Largest |dyaw| per millimetre over the segments that were asked. [rad/mm].

Definition at line 100 of file OrientationOptimizer.cpp.

◆ worstIndex

std::size_t worstIndex {0}

Segment worst came from.

Definition at line 103 of file OrientationOptimizer.cpp.