residuals.h File Reference

#include <algorithm>
#include <cmath>
#include <vector>
#include <ArmarXCore/core/logging/Logging.h>
#include <armarx/navigation/algorithms/spfa/smoothing/Costmap2DWrapper.h>
#include <armarx/navigation/algorithms/spfa/smoothing/io.h>
#include <ceres/ceres.h>
#include <ceres/local_parameterization.h>

Classes
struct	BoundedTrackingResidual
	Bounded tracking residual. More...
struct	CenterPoint
struct	MidpointObstacleResidual2D
struct	ObstacleResidual2D
struct	PositionSmoothResidual
struct	SegmentObstacleResidual2D
struct	SoftTrackingResidual
struct	SpacingResidual

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

Macros
#define	SET_CONSTRAINT(problem, param, constraint)

Functions
double	normalizeAngle (double a)
template<typename T>
T	obstacleBarrier (const T &d_raw, const double weight, const double max_dist, const double clearance)
	Obstacle cost: a single parabola in the distance to the nearest obstacle.
double	smoothstep (double edge0, double edge1, double x)
	Hermite smoothstep: 0 below edge0, 1 above edge1, C1 at both ends.
double	trackingScaleFromClearance (double clearance, double fadeStartClearance, double fadeEndClearance)
	Scale for the tracking weight, from the clearance at a waypoint's reference position.

Macro Definition Documentation

SET_CONSTRAINT

#define SET_CONSTRAINT	(		problem,
			param,
			constraint )

Value:

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