aico_solver.cpp
/tmp/ws/src/exotica/exotations/solvers/exotica_aico_solver/src/
aico__solver_8cpp
exotica_aico_solver/aico_solver.h
exotica
aico_solver.h
/tmp/ws/src/exotica/exotations/solvers/exotica_aico_solver/include/exotica_aico_solver/
aico__solver_8h
exotica_aico_solver/incremental_gaussian.h
exotica_aico_solver/math_operations.h
exotica::AICOSolver
exotica
bayesian_ik_solver.cpp
/tmp/ws/src/exotica/exotations/solvers/exotica_aico_solver/src/
bayesian__ik__solver_8cpp
exotica_aico_solver/bayesian_ik_solver.h
exotica
bayesian_ik_solver.h
/tmp/ws/src/exotica/exotations/solvers/exotica_aico_solver/include/exotica_aico_solver/
bayesian__ik__solver_8h
exotica_aico_solver/incremental_gaussian.h
exotica_aico_solver/math_operations.h
exotica::BayesianIKSolver
exotica
incremental_gaussian.h
/tmp/ws/src/exotica/exotations/solvers/exotica_aico_solver/include/exotica_aico_solver/
incremental__gaussian_8h
exotica::SinglePassMeanCovariance
exotica
math_operations.h
/tmp/ws/src/exotica/exotations/solvers/exotica_aico_solver/include/exotica_aico_solver/
math__operations_8h
exotica
static void
AinvBSymPosDef
namespaceexotica.html
a2f3a5e4b825e5edd850020652414f606
(T1 &x, const T2 &A, const T3 &b)
static void
inverseSymPosDef
namespaceexotica.html
a2d6450eb517e0ced37a0a83741cc4d9a
(T1 &Ainv, const T2 &A)
exotica::AICOSolver
classexotica_1_1AICOSolver.html
exotica::MotionSolver
Instantiable< AICOSolverInitializer >
AICOSolver
classexotica_1_1AICOSolver.html
a27d4e306127a5fed3d0255aafed9c097
()
void
Instantiate
classexotica_1_1AICOSolver.html
a8cffe5a4923182cc4aa0c6e1f5a3400c
(const AICOSolverInitializer &init) override
void
Solve
classexotica_1_1AICOSolver.html
a8dc07313bc048fc023949a67882cfb22
(Eigen::MatrixXd &solution) override
void
SpecifyProblem
classexotica_1_1AICOSolver.html
a395ffb19b42f5d7e1685b95414ebf106
(PlanningProblemPtr pointer) override
virtual
~AICOSolver
classexotica_1_1AICOSolver.html
acc4b6147af6af83aae9391b5208d4f03
()
void
InitMessages
classexotica_1_1AICOSolver.html
a2786cc83c1ac2476c44395cf9189448a
()
void
InitTrajectory
classexotica_1_1AICOSolver.html
a8d423645432f1e79148806d74b4c4cad
(const std::vector< Eigen::VectorXd > &q_init)
FORWARD
classexotica_1_1AICOSolver.html
acf9c283571ec13211293b1c72cf429dca8a5d294beb4582e23e9d87b09f3f2402
LOCAL_GAUSS_NEWTON
classexotica_1_1AICOSolver.html
acf9c283571ec13211293b1c72cf429dca62569f3a0987bc8af7f72a19a711e766
LOCAL_GAUSS_NEWTON_DAMPED
classexotica_1_1AICOSolver.html
acf9c283571ec13211293b1c72cf429dca861482c95cdb6c962ddeb4e0cf1297f6
SweepMode
classexotica_1_1AICOSolver.html
acf9c283571ec13211293b1c72cf429dc
FORWARD
classexotica_1_1AICOSolver.html
acf9c283571ec13211293b1c72cf429dca8a5d294beb4582e23e9d87b09f3f2402
SYMMETRIC
classexotica_1_1AICOSolver.html
acf9c283571ec13211293b1c72cf429dcabd27f35ccaca40b44dad4226afefde75
LOCAL_GAUSS_NEWTON
classexotica_1_1AICOSolver.html
acf9c283571ec13211293b1c72cf429dca62569f3a0987bc8af7f72a19a711e766
LOCAL_GAUSS_NEWTON_DAMPED
classexotica_1_1AICOSolver.html
acf9c283571ec13211293b1c72cf429dca861482c95cdb6c962ddeb4e0cf1297f6
SYMMETRIC
classexotica_1_1AICOSolver.html
acf9c283571ec13211293b1c72cf429dcabd27f35ccaca40b44dad4226afefde75
double
EvaluateTrajectory
classexotica_1_1AICOSolver.html
acee1a9a80cb12c3b2395ceda52a8f014
(const std::vector< Eigen::VectorXd > &x, bool skip_update=false)
double
GetTaskCosts
classexotica_1_1AICOSolver.html
aae7f69cbd016256d5d881b4c7537b49c
(int t)
void
PerhapsUndoStep
classexotica_1_1AICOSolver.html
abe822ff4ecbf348c679160c885b5a171
()
void
RememberOldState
classexotica_1_1AICOSolver.html
a8674c94fd2c1b8327b5bf236986c75b9
()
double
Step
classexotica_1_1AICOSolver.html
a3488f37d28c8f777a5aa68c2ecc243d9
()
void
UpdateBwdMessage
classexotica_1_1AICOSolver.html
a803ceb4ecc34110bf216aec9d45594ad
(int t)
void
UpdateFwdMessage
classexotica_1_1AICOSolver.html
a54abc9e056040183f66886ad1ca2379e
(int t)
void
UpdateTaskMessage
classexotica_1_1AICOSolver.html
ac99e2eae983c7fae6d5eb5d2113f8549
(int t, const Eigen::Ref< const Eigen::VectorXd > &qhat_t, double tolerance, double max_step_size=-1.)
void
UpdateTimestep
classexotica_1_1AICOSolver.html
ab54af1bdfad7414995b70ce99397e636
(int t, bool update_fwd, bool update_bwd, int max_relocation_iterations, double tolerance, bool force_relocation, double max_step_size=-1.)
void
UpdateTimestepGaussNewton
classexotica_1_1AICOSolver.html
a205830f44d2cb9770b820b6cdc9885d5
(int t, bool update_fwd, bool update_bwd, int max_relocation_iterations, double tolerance, double max_step_size=-1.)
std::vector< Eigen::VectorXd >
b
classexotica_1_1AICOSolver.html
a1ffb94225a76c0e8da1106dc63d9d7ff
std::vector< Eigen::VectorXd >
b_old
classexotica_1_1AICOSolver.html
a84f688563174babd9f4e7c4a8fc4fc30
double
b_step_
classexotica_1_1AICOSolver.html
ab65f913db1718279235c10e8d867732b
double
b_step_old_
classexotica_1_1AICOSolver.html
a485d2dde6818a59618c84f92709caf9e
int
best_sweep_
classexotica_1_1AICOSolver.html
adfc29eec77c1cb71b193391c3c817443
int
best_sweep_old_
classexotica_1_1AICOSolver.html
a427b6dc73999ea940feb7f084c7e6840
std::vector< Eigen::MatrixXd >
Binv
classexotica_1_1AICOSolver.html
a0b93e4a27f5931a7fad768c96e578789
std::vector< Eigen::MatrixXd >
Binv_old
classexotica_1_1AICOSolver.html
afb3acb2866e28cb829971609a9cdbae2
Eigen::VectorXd
bwd_msg_v_
classexotica_1_1AICOSolver.html
ab55ffb02c094ab5b40fd0c3b03f5c314
Eigen::MatrixXd
bwd_msg_Vinv_
classexotica_1_1AICOSolver.html
a396aab9664e8874dd386c3f769843f29
double
cost_
classexotica_1_1AICOSolver.html
a6aec3e177b528c5dd7d5ec3d169c886f
Eigen::VectorXd
cost_control_
classexotica_1_1AICOSolver.html
ab4f6e649dadbce4672513ba20213eaa4
Eigen::VectorXd
cost_control_old_
classexotica_1_1AICOSolver.html
aac6b87e2684ff17399616e3738c5dda9
double
cost_old_
classexotica_1_1AICOSolver.html
aa09beaff57ea30b1a4e9877d1daccfc9
double
cost_prev_
classexotica_1_1AICOSolver.html
aba3ca69923c5ce811aa01927d31c1752
Eigen::VectorXd
cost_task_
classexotica_1_1AICOSolver.html
af272b4c1e1c681ebdefaa81670285b94
Eigen::MatrixXd
cost_task_old_
classexotica_1_1AICOSolver.html
a2a780963b2054a1b4db902174b837579
double
damping
classexotica_1_1AICOSolver.html
a8a29145508fd99d133055f0e2be1364d
double
damping_init_
classexotica_1_1AICOSolver.html
aab7efde9d4ef75aadb030706e78a143f
std::vector< Eigen::VectorXd >
damping_reference_
classexotica_1_1AICOSolver.html
ab177b4004dfed0716bb5ee137654449d
double
function_tolerance_
classexotica_1_1AICOSolver.html
ad7c14cc732505a0f35bd5bc1b335878f
int
iteration_count_
classexotica_1_1AICOSolver.html
a13405203ba0533ae5f3095d1af5ecdf8
int
last_T_
classexotica_1_1AICOSolver.html
a7bb4457c5e68388fc3303414c9bebd76
int
max_backtrack_iterations_
classexotica_1_1AICOSolver.html
a776034644194bf60792cf0edd641af2b
double
minimum_step_tolerance_
classexotica_1_1AICOSolver.html
a59b8f6fc3d12142d46d1fa384d63f449
UnconstrainedTimeIndexedProblemPtr
prob_
classexotica_1_1AICOSolver.html
a5ca84dc740afeb32bd09eeacfd6d9e51
std::vector< Eigen::VectorXd >
q
classexotica_1_1AICOSolver.html
a635def905b748665f61b92799436cba8
std::vector< Eigen::VectorXd >
q_old
classexotica_1_1AICOSolver.html
a9de380c1f4c522e5044dab0323d8112a
std::vector< SinglePassMeanCovariance >
q_stat_
classexotica_1_1AICOSolver.html
aecb5be94f09adcfe09082aa4e8b374c0
std::vector< Eigen::VectorXd >
qhat
classexotica_1_1AICOSolver.html
a35086a89300da998119010ff5732fddb
std::vector< Eigen::VectorXd >
qhat_old
classexotica_1_1AICOSolver.html
a53c0c7d9722732809b89451c40821f23
std::vector< Eigen::VectorXd >
r
classexotica_1_1AICOSolver.html
abccc45f82a58d32a9fb82c7779d008a2
std::vector< Eigen::MatrixXd >
R
classexotica_1_1AICOSolver.html
a733553f9d286ee06b9d7a80ee4e618df
std::vector< Eigen::VectorXd >
r_old
classexotica_1_1AICOSolver.html
a1e8f69493668930857baefa55e3b5f12
std::vector< Eigen::MatrixXd >
R_old
classexotica_1_1AICOSolver.html
a2888e3799178091514333909399d77b6
Eigen::VectorXd
rhat
classexotica_1_1AICOSolver.html
ac1db29ef4a84d4302fd98dfd0134e92a
Eigen::VectorXd
rhat_old
classexotica_1_1AICOSolver.html
a466016d5b8cb9fa2eaf3c751e9c03b54
std::vector< Eigen::VectorXd >
s
classexotica_1_1AICOSolver.html
a352cd78dbc1ac377c58ba83fd43e99f2
std::vector< Eigen::VectorXd >
s_old
classexotica_1_1AICOSolver.html
a23e4194566073f1da227cd10368ea5cb
std::vector< Eigen::MatrixXd >
Sinv
classexotica_1_1AICOSolver.html
aec68d5b91023ecfe27b40f75edb717df
std::vector< Eigen::MatrixXd >
Sinv_old
classexotica_1_1AICOSolver.html
ab24410cdb37bb9a5a5f7ea7b1b62aad4
double
step_tolerance_
classexotica_1_1AICOSolver.html
afe0efc605c5b3f01b0aeddf4d0cb76ed
int
sweep_
classexotica_1_1AICOSolver.html
ad8601acb7a6efc9986f6841a7614dad9
bool
sweep_improved_cost_
classexotica_1_1AICOSolver.html
a027ab6f1a2b3080d4b6fa8368cba4ec3
int
sweep_mode_
classexotica_1_1AICOSolver.html
a37fab7895caf20ef1d6d7f9b2e64a61a
int
update_count_
classexotica_1_1AICOSolver.html
a5ff56f18debbb32d4ee6e45b90217466
bool
use_bwd_msg_
classexotica_1_1AICOSolver.html
a50db4c6c04dfafab1d9f943f9ad5ec60
std::vector< Eigen::VectorXd >
v
classexotica_1_1AICOSolver.html
adf162ac421fa050c0a3a314ae6924544
std::vector< Eigen::VectorXd >
v_old
classexotica_1_1AICOSolver.html
a5ec58c0bdd76fa293b055fd38a9f32e2
bool
verbose_
classexotica_1_1AICOSolver.html
af35bcbd231478af535eb27c89807b77f
std::vector< Eigen::MatrixXd >
Vinv
classexotica_1_1AICOSolver.html
a078b3b243e8517ad33780447787b7aaa
std::vector< Eigen::MatrixXd >
Vinv_old
classexotica_1_1AICOSolver.html
a6235af23b640d38d4d9521509d80e5f2
Eigen::MatrixXd
W
classexotica_1_1AICOSolver.html
ae50a195d68e2e9c787ec88cee7444ddd
Eigen::MatrixXd
Winv
classexotica_1_1AICOSolver.html
a47f0da9fef74c564e322935f68db64d4
exotica::BayesianIKSolver
classexotica_1_1BayesianIKSolver.html
exotica::MotionSolver
Instantiable< BayesianIKSolverInitializer >
void
Instantiate
classexotica_1_1BayesianIKSolver.html
a86c5dc3c093e9884fb791d66a64f2e2f
(const BayesianIKSolverInitializer &init) override
void
Solve
classexotica_1_1BayesianIKSolver.html
a0ddb7c7731f49f6c255ca3e4c8bbe84f
(Eigen::MatrixXd &solution) override
void
SpecifyProblem
classexotica_1_1BayesianIKSolver.html
a7e69b4e04c9057c4191bb810031324e7
(PlanningProblemPtr pointer) override
void
InitMessages
classexotica_1_1BayesianIKSolver.html
ac508fe9521ca94670f80269bb6e0f2c9
()
void
InitTrajectory
classexotica_1_1BayesianIKSolver.html
a41af4992b2c934c2f9f21c3cb66b83da
(const Eigen::VectorXd &q_init)
FORWARD
classexotica_1_1BayesianIKSolver.html
a1e7a57dd0565982b7632bed7110ddb58a45557c7229e3b5c15d969c6f847b1353
LOCAL_GAUSS_NEWTON
classexotica_1_1BayesianIKSolver.html
a1e7a57dd0565982b7632bed7110ddb58a9cb32f2961f8a4f4c82406bfb0adda65
LOCAL_GAUSS_NEWTON_DAMPED
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a1e7a57dd0565982b7632bed7110ddb58aa922656b7116ddd73372468e44a9d422
SweepMode
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a1e7a57dd0565982b7632bed7110ddb58
FORWARD
classexotica_1_1BayesianIKSolver.html
a1e7a57dd0565982b7632bed7110ddb58a45557c7229e3b5c15d969c6f847b1353
SYMMETRIC
classexotica_1_1BayesianIKSolver.html
a1e7a57dd0565982b7632bed7110ddb58aa1bcfcd19bad142b01cf5d2c29dc86f7
LOCAL_GAUSS_NEWTON
classexotica_1_1BayesianIKSolver.html
a1e7a57dd0565982b7632bed7110ddb58a9cb32f2961f8a4f4c82406bfb0adda65
LOCAL_GAUSS_NEWTON_DAMPED
classexotica_1_1BayesianIKSolver.html
a1e7a57dd0565982b7632bed7110ddb58aa922656b7116ddd73372468e44a9d422
SYMMETRIC
classexotica_1_1BayesianIKSolver.html
a1e7a57dd0565982b7632bed7110ddb58aa1bcfcd19bad142b01cf5d2c29dc86f7
double
EvaluateTrajectory
classexotica_1_1BayesianIKSolver.html
a9fd386279385c9ecc2a8759be5ba63ec
(const Eigen::VectorXd &x, bool skip_update=false)
void
GetTaskCosts
classexotica_1_1BayesianIKSolver.html
ac4d5868d51021b9193300677c7bb0a7f
()
void
PerhapsUndoStep
classexotica_1_1BayesianIKSolver.html
abaa589078389beba89425ec9fdf8e0d6
()
void
RememberOldState
classexotica_1_1BayesianIKSolver.html
a71db6f08df3b4130eaee269453b07e70
()
double
Step
classexotica_1_1BayesianIKSolver.html
abe6b12becb2c935173b48e49d43433f3
()
void
UpdateBwdMessage
classexotica_1_1BayesianIKSolver.html
aad39cd067762945fe79fcccdbc58d23c
()
void
UpdateFwdMessage
classexotica_1_1BayesianIKSolver.html
a1075cde462ed7868ba12cf9e5e4d880b
()
void
UpdateTaskMessage
classexotica_1_1BayesianIKSolver.html
a5bde1f1f6b8eac64374554da1ff53920
(const Eigen::Ref< const Eigen::VectorXd > &qhat_t, double tolerance, double max_step_size=-1.)
void
UpdateTimestep
classexotica_1_1BayesianIKSolver.html
a20d604d8a08de21643c9f6a2ef9123ef
(bool update_fwd, bool update_bwd, int max_relocation_iterations, double tolerance, bool force_relocation, double max_step_size=-1.)
void
UpdateTimestepGaussNewton
classexotica_1_1BayesianIKSolver.html
a8f810dcd59b01921f83a779fbc345802
(bool update_fwd, bool update_bwd, int max_relocation_iterations, double tolerance, double max_step_size=-1.)
Eigen::VectorXd
b
classexotica_1_1BayesianIKSolver.html
ae657ee7a5ef4dfc80a2ecf01e92df074
Eigen::VectorXd
b_old
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ad6767e0b1944f7adcd4f9ed0a7594f1d
double
b_step_
classexotica_1_1BayesianIKSolver.html
a8a8bbc24d61320907249d1d25ba532f7
double
b_step_old_
classexotica_1_1BayesianIKSolver.html
af516708957413d399edff7d26b71a472
int
best_sweep_
classexotica_1_1BayesianIKSolver.html
aa56b577ba9687d508290c3a676429db2
int
best_sweep_old_
classexotica_1_1BayesianIKSolver.html
afd218546f8685933c119c88873e9f754
Eigen::MatrixXd
Binv
classexotica_1_1BayesianIKSolver.html
a14765aa953715a0c560d9b8cbd2a26aa
Eigen::MatrixXd
Binv_old
classexotica_1_1BayesianIKSolver.html
ad16bc4a7662c52e8f4fc8b7c2bc54386
Eigen::VectorXd
bwd_msg_v_
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a5ce3025685831155898af1c215240d32
Eigen::MatrixXd
bwd_msg_Vinv_
classexotica_1_1BayesianIKSolver.html
a20022b736b6b164699ce8d6a69bab84e
double
cost_
classexotica_1_1BayesianIKSolver.html
a03d49e2c61bc9963ca75f84bc5278cfc
double
cost_old_
classexotica_1_1BayesianIKSolver.html
a05609c13479ffb762eefa0e6568e182f
double
cost_prev_
classexotica_1_1BayesianIKSolver.html
a5264f0f49d2a8ed8153b8cc32a02dd63
double
damping
classexotica_1_1BayesianIKSolver.html
a339379c435ef566a534c5feac17f0648
double
damping_init_
classexotica_1_1BayesianIKSolver.html
a38e28047057b6f66bc8151ea8c21fb68
Eigen::VectorXd
damping_reference_
classexotica_1_1BayesianIKSolver.html
a382efe05bbbabf9441282b97ce68344b
double
function_tolerance_
classexotica_1_1BayesianIKSolver.html
a39f51c11ba0fdf9ed014c424ca870406
int
iteration_count_
classexotica_1_1BayesianIKSolver.html
ab67a8fdd240f4c61ec6733ab20aac304
int
max_backtrack_iterations_
classexotica_1_1BayesianIKSolver.html
af4206fc9bfc9ff404276a03bdbd0c60b
double
minimum_step_tolerance_
classexotica_1_1BayesianIKSolver.html
abb62fb3f77f0a48556b0f3792e15a436
UnconstrainedEndPoseProblemPtr
prob_
classexotica_1_1BayesianIKSolver.html
a32175dcecf3321f50eb30c8d23f4c3ce
Eigen::VectorXd
q
classexotica_1_1BayesianIKSolver.html
abbbce45ded3423be3420229877df162e
Eigen::VectorXd
q_old
classexotica_1_1BayesianIKSolver.html
a79bd9921300b16177b622e1804acfc93
Eigen::VectorXd
qhat
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aa2771201a8bda4dcc7125aeb002c7c3f
Eigen::VectorXd
qhat_old
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a1b8ecef04ecc58c3bbd887779b4f6fbb
Eigen::VectorXd
r
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a3604c4b7b9bc1add80ee48272e3d69e3
Eigen::MatrixXd
R
classexotica_1_1BayesianIKSolver.html
aacd13688ab42eb244d45364961a26f39
Eigen::VectorXd
r_old
classexotica_1_1BayesianIKSolver.html
a1bf56debeede2b5d70a31410b601c282
Eigen::MatrixXd
R_old
classexotica_1_1BayesianIKSolver.html
ab475c8a6a544212c7459589bd94742b5
double
rhat
classexotica_1_1BayesianIKSolver.html
a1251b5d61149f08e55577b4a9a3adf40
double
rhat_old
classexotica_1_1BayesianIKSolver.html
a565981a6c61bbb541f6006387faa7bf5
Eigen::VectorXd
s
classexotica_1_1BayesianIKSolver.html
a724323e2d4d63fd9eab83a767c329c45
Eigen::VectorXd
s_old
classexotica_1_1BayesianIKSolver.html
a9f1c3b1e7b47750aa3639cdd38426c05
Eigen::MatrixXd
Sinv
classexotica_1_1BayesianIKSolver.html
a7989c523139dbce5139969d96577ca27
Eigen::MatrixXd
Sinv_old
classexotica_1_1BayesianIKSolver.html
a846f18a9ff614fae1b2c1a019bfd92e3
double
step_tolerance_
classexotica_1_1BayesianIKSolver.html
a160d512efe1f54e327ead5bd7b8bf88b
int
sweep_
classexotica_1_1BayesianIKSolver.html
a64d9a60a128a84534e73d5147266c821
bool
sweep_improved_cost_
classexotica_1_1BayesianIKSolver.html
a035fa1625fe9c17da219f60072a5a7ea
int
sweep_mode_
classexotica_1_1BayesianIKSolver.html
aaabeb979f0fe9faaffda587f52b7443f
int
update_count_
classexotica_1_1BayesianIKSolver.html
a2a3968315659ae1788c19a21f471fa9b
bool
use_bwd_msg_
classexotica_1_1BayesianIKSolver.html
a140dd004e13a69de2a01e8269f346f98
Eigen::VectorXd
v
classexotica_1_1BayesianIKSolver.html
a82e36f40566099c4c961f06099e3e15b
Eigen::VectorXd
v_old
classexotica_1_1BayesianIKSolver.html
a9f41917de6b6da0f89f4c028992fe9e5
bool
verbose_
classexotica_1_1BayesianIKSolver.html
a1097c7738e07e357db447277b92784db
Eigen::MatrixXd
Vinv
classexotica_1_1BayesianIKSolver.html
a04184c1f80dec80791e9edea87f30898
Eigen::MatrixXd
Vinv_old
classexotica_1_1BayesianIKSolver.html
a46fca9010951d8bd096416eb4a131247
Eigen::MatrixXd
W
classexotica_1_1BayesianIKSolver.html
ab05269a9c96a48804d36031aaedfe8e2
Eigen::MatrixXd
Winv
classexotica_1_1BayesianIKSolver.html
acd476b36ce5073df4b28ee11c366435c
exotica::SinglePassMeanCovariance
classexotica_1_1SinglePassMeanCovariance.html
void
add
classexotica_1_1SinglePassMeanCovariance.html
abcafa8907e177c6a22e08c9334996d8f
(const Eigen::Ref< const Eigen::VectorXd > &x)
void
add
classexotica_1_1SinglePassMeanCovariance.html
a2e3bccffa0bcb75dc97fe9217d3ecf6b
(SinglePassMeanCovariance &M)
void
add
classexotica_1_1SinglePassMeanCovariance.html
a300f5cdf1a3c38babbbcbd2c3c4a49f6
(double &W_, const Eigen::Ref< const Eigen::VectorXd > &T_, const Eigen::Ref< const Eigen::VectorXd > &S_)
void
addw
classexotica_1_1SinglePassMeanCovariance.html
a68f5478c46788d384e7b39a3033d0f87
(double w, const Eigen::Ref< const Eigen::VectorXd > &x)
void
clear
classexotica_1_1SinglePassMeanCovariance.html
a117233fb3682fa08a7d468a2bbfe50ff
()
void
cov
classexotica_1_1SinglePassMeanCovariance.html
a1d3338359011f8b9e53b85f2eb153f4a
(Eigen::MatrixXd &sig)
void
covp
classexotica_1_1SinglePassMeanCovariance.html
a543daaba0068943a22933a73284e0ae1
(Eigen::MatrixXd &sig)
void
mean
classexotica_1_1SinglePassMeanCovariance.html
a3ceafce8bf04d53c8bbc8b96f0ab3440
(Eigen::VectorXd &mu)
void
resize
classexotica_1_1SinglePassMeanCovariance.html
ac58980b8847f5ae8cabc081832ab5865
(int D_)
SinglePassMeanCovariance
classexotica_1_1SinglePassMeanCovariance.html
aaf1e879f3258d44a0effc1edecea5992
()=default
SinglePassMeanCovariance
classexotica_1_1SinglePassMeanCovariance.html
ae04ac3032fc28b6121f787fec5e1d754
(int D_)
int
D
classexotica_1_1SinglePassMeanCovariance.html
ac7bbea86b1eec77612736d72d0fccd75
Eigen::VectorXd
dX
classexotica_1_1SinglePassMeanCovariance.html
a3db4b681e26a1fbd54a3f44d2da890fd
Eigen::MatrixXd
S
classexotica_1_1SinglePassMeanCovariance.html
ae1a2025e8bd8f30e61282942001a9654
Eigen::VectorXd
T
classexotica_1_1SinglePassMeanCovariance.html
af2a36386205b818f71e2e79dfb887d90
double
W
classexotica_1_1SinglePassMeanCovariance.html
ae6ee1a95f7e88fe7613a09b6c05427fd
exotica
namespaceexotica.html
exotica::AICOSolver
exotica::BayesianIKSolver
exotica::SinglePassMeanCovariance
Eigen::Array< KDL::Frame, Eigen::Dynamic, 1 >
ArrayFrame
namespaceexotica.html
a9f3b8540da108e498bbe6107bd821cbb
Eigen::Ref< ArrayFrame >
ArrayFrameRef
namespaceexotica.html
a2a7d4230ee711e0a0e3e2f2fa505e5a4
Eigen::internal::ref_selector< ArrayFrame >::type
ArrayFrameRefConst
namespaceexotica.html
addad606b58ac07f29f4663e4625a958f
Eigen::Array< Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >, Eigen::Dynamic, 1 >
ArrayHessian
namespaceexotica.html
ac8761af8423506d01ca0cb0f7a884fa0
Eigen::Ref< ArrayHessian >
ArrayHessianRef
namespaceexotica.html
a97c931213a5c865a6b11e09d951071e8
Eigen::internal::ref_selector< ArrayHessian >::type
ArrayHessianRefConst
namespaceexotica.html
acd0e04ee15c1c6289ceff8c0417742d1
Eigen::Array< KDL::Jacobian, Eigen::Dynamic, 1 >
ArrayJacobian
namespaceexotica.html
a059512efd52b2bd813531000f776a872
Eigen::Ref< ArrayJacobian >
ArrayJacobianRef
namespaceexotica.html
a20e7300f667b351486294e6f22dd7107
Eigen::internal::ref_selector< ArrayJacobian >::type
ArrayJacobianRefConst
namespaceexotica.html
a12e7d2ac7153e291995669d37d431b0e
Eigen::Array< KDL::Twist, Eigen::Dynamic, 1 >
ArrayTwist
namespaceexotica.html
ab9a6c3664d18c148af992ef5ceb575bb
Eigen::Ref< ArrayTwist >
ArrayTwistRef
namespaceexotica.html
a4fdee9fdacaab38e089e50532cc5b5ec
Eigen::internal::ref_selector< ArrayTwist >::type
ArrayTwistRefConst
namespaceexotica.html
a6690d93a8a15050d3d8205cfeaee6e9a
std::shared_ptr< exotica::BoundedEndPoseProblem >
BoundedEndPoseProblemPtr
namespaceexotica.html
a5f4ba1308e35ddb070aca36f12432a2f
std::shared_ptr< exotica::BoundedTimeIndexedProblem >
BoundedTimeIndexedProblemPtr
namespaceexotica.html
ac2c8ffc5ae9777bdedbf8105b29e7cef
struct exotica::BoxQPSolution
BoxQPSolution
namespaceexotica.html
a606e30806258e41c568e538e2371c39e
std::shared_ptr< CollisionScene >
CollisionScenePtr
namespaceexotica.html
a0c6240ffc0f5c240e5d1e1c86178138b
AbstractDynamicsSolver< double, Eigen::Dynamic, Eigen::Dynamic >
DynamicsSolver
namespaceexotica.html
a64f0d74b24c66002f8e378dfd2c6c340
std::shared_ptr< exotica::DynamicsSolver >
DynamicsSolverPtr
namespaceexotica.html
a311ceabe57104d567f8f110043ba125e
std::shared_ptr< exotica::DynamicTimeIndexedShootingProblem >
DynamicTimeIndexedShootingProblemPtr
namespaceexotica.html
a8c9390cec0d606e2e9b6fd8277ac49b9
std::shared_ptr< exotica::EndPoseProblem >
EndPoseProblemPtr
namespaceexotica.html
a6562dc6fc53f6be14dc1b4157bf86bee
FunctorBase< double, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >
Functor
namespaceexotica.html
a41ce9821230067721a4ca7fcd5e86190
Eigen::Array< Eigen::MatrixXd, Eigen::Dynamic, 1 >
Hessian
namespaceexotica.html
a09d6aebee2e82adbe8c7d92f811d3950
Eigen::Ref< Hessian >
HessianRef
namespaceexotica.html
ad26483f51b70b5b38c09d5aa428d56a8
Eigen::internal::ref_selector< Hessian >::type
HessianRefConst
namespaceexotica.html
a478dad901753b5463b517578dc9accf8
std::shared_ptr< exotica::MotionSolver >
MotionSolverPtr
namespaceexotica.html
a95535966e624754067a0737dc4ed0a2a
std::shared_ptr< const PlanningProblem >
PlanningProblemConstPtr
namespaceexotica.html
aa300b2e8b69fb5ec4ed53c658b49a580
Factory< PlanningProblem >
PlanningProblemFac
namespaceexotica.html
a39ba0190ea0d4edfe84102bdf14a537c
std::shared_ptr< PlanningProblem >
PlanningProblemPtr
namespaceexotica.html
a4f3b927ad74a50193d0fb7bd2824f836
std::shared_ptr< exotica::SamplingProblem >
SamplingProblemPtr
namespaceexotica.html
a85dd0d6625e5be856bc5ad702fc80dcd
std::shared_ptr< Scene >
ScenePtr
namespaceexotica.html
a40b1efc13b2dddc8a9addac2dc0aa11d
std::shared_ptr< Server >
ServerPtr
namespaceexotica.html
a7c851f5dc6ebf38e83ca114fb2a14394
std::shared_ptr< Setup >
SetupPtr
namespaceexotica.html
a776c5e7721339c5eb37daf9bedf6e82e
std::map< std::string, TaskMapPtr >
TaskMapMap
namespaceexotica.html
a3d683636a7693b7ad32c8db09552855a
std::shared_ptr< TaskMap >
TaskMapPtr
namespaceexotica.html
ae1c26d85044c983becec5f8b426b490f
std::vector< TaskMapPtr >
TaskMapVec
namespaceexotica.html
aaba8d5a1e72797326ef6e2a9ecb967a5
std::shared_ptr< exotica::TimeIndexedProblem >
TimeIndexedProblemPtr
namespaceexotica.html
a39097e135cbe255a1fefe9b3426027ff
std::shared_ptr< exotica::TimeIndexedSamplingProblem >
TimeIndexedSamplingProblemPtr
namespaceexotica.html
ab1a8f5ad7816206e96551d636b1050be
std::shared_ptr< exotica::UnconstrainedEndPoseProblem >
UnconstrainedEndPoseProblemPtr
namespaceexotica.html
a30dbcb47575b3b3f1e748b830dfc3928
std::shared_ptr< exotica::UnconstrainedTimeIndexedProblem >
UnconstrainedTimeIndexedProblemPtr
namespaceexotica.html
ae9748447962bcd9f3b700d69a28893fc
ArgumentPosition
namespaceexotica.html
a2f2dd5de8edc626599b393aae8529350
BaseType
namespaceexotica.html
a5ca690cccfbbfdb24827333304ee338f
ControlCostLossTermType
namespaceexotica.html
aeaa7ab36dae8418de85dbd74ac49280a
Integrator
namespaceexotica.html
af655323905f37d8a279063f9d75d433e
JointLimitType
namespaceexotica.html
afe31e64784659e96082a606d09a75ecd
KinematicRequestFlags
namespaceexotica.html
a8879608908229eff06df2b94c63f1a99
RotationType
namespaceexotica.html
af9af5a7f278bef923dcaed27ce2ebca0
TerminationCriterion
namespaceexotica.html
a1d6f0f26eae0a485ee377655fc2aafd2
static void
AinvBSymPosDef
namespaceexotica.html
a2f3a5e4b825e5edd850020652414f606
(T1 &x, const T2 &A, const T3 &b)
void
appendChildXML
namespaceexotica.html
aa787e99cd6f61d4b8d529a53ca98fc28
(Initializer &parent, std::string &name, bool isAttribute, tinyxml2::XMLHandle &tag, const std::string &prefix)
void
AppendInitializer
namespaceexotica.html
a1a3fdf7377aaf8950f0cb4dd3e8581cc
(std::shared_ptr< InstantiableBase > it, std::vector< Initializer > &ret)
void
AppendMap
namespaceexotica.html
a16b309993af1720b021c68d9578d2f17
(std::map< Key, Val > &orig, const std::map< Key, Val > &extra)
void
AppendVector
namespaceexotica.html
aaf03ce54768ca73736db41e8fa8377bf
(std::vector< Val > &orig, const std::vector< Val > &extra)
BoxQPSolution
BoxQP
namespaceexotica.html
aafa534896dbe1dda860ef56b8209d62a
(const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init, const double th_acceptstep, const int max_iterations, const double th_gradient_tolerance, const double lambda, bool use_polynomial_linesearch=true, bool use_cholesky_factorization=true)
BoxQPSolution
BoxQP
namespaceexotica.html
a40965c5a9633b1823f43127749166531
(const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init)
BoxQPSolution
ExoticaBoxQP
namespaceexotica.html
a4f6d7f8cdba03e1b7411b4c5ed760477
(const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init)
BoxQPSolution
ExoticaBoxQP
namespaceexotica.html
adf3b5e779b631049df94cb99d42bf364
(const Eigen::MatrixXd &H, const Eigen::VectorXd &q, const Eigen::VectorXd &b_low, const Eigen::VectorXd &b_high, const Eigen::VectorXd &x_init, const double gamma, const int max_iterations, const double epsilon, const double lambda, bool use_polynomial_linesearch=false, bool use_cholesky_factorization=false)
std_msgs::ColorRGBA
GetColor
namespaceexotica.html
a14f31acad69dc9546c26d4418f1eeff6
(double r, double g, double b, double a=1.0)
std_msgs::ColorRGBA
GetColor
namespaceexotica.html
a8005394d041837edaca93094f1560c72
(const Eigen::Vector4d &rgba)
KDL::Frame
GetFrame
namespaceexotica.html
a44e74158f6bc96d9be9e3b5ba3d3f34b
(Eigen::VectorXdRefConst val)
Eigen::MatrixXd
GetFrame
namespaceexotica.html
a3ff424d0cc2f817844b679d8c7d048b1
(const KDL::Frame &val)
Eigen::VectorXd
GetFrameAsVector
namespaceexotica.html
a2d49c925955346266f79f8b47cfb5e52
(const KDL::Frame &val, RotationType type=RotationType::RPY)
KDL::Frame
GetFrameFromMatrix
namespaceexotica.html
a42eedc99ebecdd9745bf0f3c0dc4ca05
(Eigen::MatrixXdRefConst val)
std::vector< std::string >
GetKeys
namespaceexotica.html
af009f172cfb74af491e24dec8b07e581
(std::map< std::string, T > map)
std::vector< Key >
GetKeysFromMap
namespaceexotica.html
acab9263060ad0ff23923a1fdaa21dd25
(const std::map< Key, Val > &map)
KDL::Rotation
GetRotation
namespaceexotica.html
aac1322873c277864399bc0b09d29cde6
(Eigen::VectorXdRefConst data, RotationType type)
Eigen::VectorXd
GetRotationAsVector
namespaceexotica.html
aae93646f46418711fd0f9a3bf61cca17
(const KDL::Frame &val, RotationType type)
RotationType
GetRotationTypeFromString
namespaceexotica.html
ae885eb8bb1a3cfab63ccd4d05dd5ebd1
(const std::string &rotation_type)
int
GetRotationTypeLength
namespaceexotica.html
aec5ee6f8e967542e95bdaa4dac38e2c2
(const RotationType &type)
std::string
GetTypeName
namespaceexotica.html
a731e658fefc907368edcd4f5f7191852
(const std::type_info &type)
std::vector< Val >
GetValuesFromMap
namespaceexotica.html
a242165fb24efa2b970aff27fcb41b066
(const std::map< Key, Val > &map)
double
huber_cost
namespaceexotica.html
acba3cafde4c983db1d6727fb60834c24
(double x, double beta)
double
huber_hessian
namespaceexotica.html
ad0f4a48eb7997a2c73270f58b6c1e44e
(double x, double beta)
double
huber_jacobian
namespaceexotica.html
a35f85225dbcd2475eb5d8b5cc0ed8e4b
(double x, double beta)
static void
inverseSymPosDef
namespaceexotica.html
a2d6450eb517e0ced37a0a83741cc4d9a
(T1 &Ainv, const T2 &A)
bool
IsContainerType
namespaceexotica.html
ad16db64ffabcd59ea68b4fd45620bebf
(std::string type)
bool
IsRobotLink
namespaceexotica.html
a989eff32eec1ebd94d4f6e44ac8af2d4
(std::shared_ptr< KinematicElement > e)
bool
IsVectorContainerType
namespaceexotica.html
ae983d3872e262519f71fdb8db110f13b
(std::string type)
bool
IsVectorType
namespaceexotica.html
ac5547497587a132dcc1b5b94d04e6268
(std::string type)
std::string
LoadFile
namespaceexotica.html
a7f7df726d7effdb816d6594b6cf3f898
(const std::string &path)
robot_model::RobotModelPtr
LoadModelImpl
namespaceexotica.html
a6aa808457443a48012bb6b71451e68c9
(const std::string &urdf, const std::string &srdf)
void
LoadOBJ
namespaceexotica.html
ac22b7220a7da61db7ed01b0e2cd348d4
(const std::string &data, Eigen::VectorXi &tri, Eigen::VectorXd &vert)
std::shared_ptr< octomap::OcTree >
LoadOctree
namespaceexotica.html
a3c4aef5aa45cbaa1938a21f6361ddb97
(const std::string &file_path)
std::shared_ptr< shapes::Shape >
LoadOctreeAsShape
namespaceexotica.html
abc3859827e1c120253c6333a7c58f241
(const std::string &file_path)
std::vector< Val >
MapToVec
namespaceexotica.html
ae00a5b28dd47ce98605d36a7f91e91c4
(const std::map< Key, Val > &map)
void
NormalizeQuaternionInConfigurationVector
namespaceexotica.html
a34f5d20dd52a0dca08d5f5ed6471a425
(Eigen::Ref< Eigen::VectorXd > q)
KinematicRequestFlags
operator&
namespaceexotica.html
aaac18dba1925c47d14b73df3682a5cef
(KinematicRequestFlags a, KinematicRequestFlags b)
std::ostream &
operator<<
namespaceexotica.html
af9c40002d436185ad6bca99f1f6b247b
(std::ostream &os, const std::vector< T > &s)
std::ostream &
operator<<
namespaceexotica.html
a513ea537355aed206e2740246c1ce147
(std::ostream &os, const Printable &s)
std::ostream &
operator<<
namespaceexotica.html
a6f26b0de2b3c6dd07f83a15791f7f235
(std::ostream &os, const std::map< I, T > &s)
Exception::ReportingType
operator|
namespaceexotica.html
af4fc0b2265f71a26a19dcdd1159eeb0b
(Exception::ReportingType a, Exception::ReportingType b) noexcept
KinematicRequestFlags
operator|
namespaceexotica.html
aef24a7f69cf691663c3c29124c22d85e
(KinematicRequestFlags a, KinematicRequestFlags b)
bool
ParseBool
namespaceexotica.html
ab70107c14a46965a10f0206e036d8ffe
(const std::string value)
std::vector< bool >
ParseBoolList
namespaceexotica.html
ab096d8801580721cf94af90170fc326a
(const std::string value)
double
ParseDouble
namespaceexotica.html
aa99d4b58df88cf49b72793cdc00f79f4
(const std::string value)
int
ParseInt
namespaceexotica.html
a53346f3436ca1f644e69646aa5eb645c
(const std::string value)
std::vector< int >
ParseIntList
namespaceexotica.html
ae41f5eb566a2cce27d9584536d86cf7e
(const std::string value)
std::vector< std::string >
ParseList
namespaceexotica.html
ad1a10306802c0f18b29b40ce0aba39ee
(const std::string &value, char token= ',')
std::string
ParsePath
namespaceexotica.html
ada723b4c529289e383e25e349127f8ac
(const std::string &path)
Eigen::Matrix< T, S, 1 >
ParseVector
namespaceexotica.html
a3d3163a0a83f3d7a713175a0d389ca58
(const std::string value)
bool
parseXML
namespaceexotica.html
a92c4383892fc395e3eed1a226dcda804
(tinyxml2::XMLHandle &tag, Initializer &parent, const std::string &prefix)
bool
PathExists
namespaceexotica.html
aabb6b38506649e80a2e5d502db4502fe
(const std::string &path)
void
PrintDimensions
namespaceexotica.html
a6cff448b2832cfa0764bc232d6936f28
(const std::string &name, const Eigen::Ref< const Eigen::MatrixXd > m)
double
pseudo_huber_cost
namespaceexotica.html
aaa72558734c4a3c7c1f2bb8f7f5c84a9
(double x, double beta)
double
pseudo_huber_hessian
namespaceexotica.html
aa845a3e1ca87fc8e6d9f300a2eab1802
(double x, double beta)
double
pseudo_huber_jacobian
namespaceexotica.html
a88ff940373e6d20767935f8f6dda85c7
(double x, double beta)
std_msgs::ColorRGBA
RandomColor
namespaceexotica.html
a37c337e469244036c53fab2e303e1c4a
()
void
SaveMatrix
namespaceexotica.html
a2987284d8a6c0933937961153745a62f
(std::string file_name, const Eigen::Ref< const Eigen::MatrixXd > mat)
void
SetDefaultQuaternionInConfigurationVector
namespaceexotica.html
a3665fb8c84da433c1b018a9751afa344
(Eigen::Ref< Eigen::VectorXd > q)
Eigen::VectorXd
SetRotation
namespaceexotica.html
a0a72232adbe28a609a92685d1f6937f1
(const KDL::Rotation &data, RotationType type)
void
Sleep
namespaceexotica.html
ad8839f8df09cd1cd187f374775efc1ad
(double t)
double
smooth_l1_cost
namespaceexotica.html
ad47c6c52a5634e69e7662991f7e324f6
(double x, double beta)
double
smooth_l1_hessian
namespaceexotica.html
adc2332d3be6a65ec80009f21fcf4fbf9
(double x, double beta)
double
smooth_l1_jacobian
namespaceexotica.html
afd35128dc931ed9a9e6e4d5802e827a2
(double x, double beta)
T
ToNumber
namespaceexotica.html
a62f5340b7f6dccc2fe34a48972210b53
(const std::string &val)
double
ToNumber< double >
namespaceexotica.html
a56fb9db5340484864990714ac4cf0211
(const std::string &val)
float
ToNumber< float >
namespaceexotica.html
a3479fd14378522a1144d4b1e53a0c15e
(const std::string &val)
int
ToNumber< int >
namespaceexotica.html
aaaf8b4a3c156d61ed2a1de741170f227
(const std::string &val)
std::string
ToString
namespaceexotica.html
ad5d2595174d8467aa75803bac91fa13c
(const KDL::Frame &s)
std::string
ToString
namespaceexotica.html
a2ca2795151cc20a5fd476f657a49a5b7
(const Eigen::Isometry3d &s)
std::string
Trim
namespaceexotica.html
ad62ef39f74f7d75f06c273985fc38a59
(const std::string &s)
ARG0
namespaceexotica.html
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ARG1
namespaceexotica.html
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ARG2
namespaceexotica.html
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ARG3
namespaceexotica.html
a2f2dd5de8edc626599b393aae8529350a7bd66a54e38800525bb8be5d6b084b42
ARG4
namespaceexotica.html
a2f2dd5de8edc626599b393aae8529350a24dbb1a0b84d00ee713d88a6a6c14459
const char
branch
namespaceexotica.html
a144444a0e4339e54a77961288c2dcffa
[]
FIXED
namespaceexotica.html
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FLOATING
namespaceexotica.html
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Huber
namespaceexotica.html
aeaa7ab36dae8418de85dbd74ac49280aa272e08b4b19900a71e52b4d9f9d34058
constexpr double
inf
namespaceexotica.html
a13eb89cf8da8a2803b7de093afe46efb
KIN_FK
namespaceexotica.html
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KIN_FK_VEL
namespaceexotica.html
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KIN_H
namespaceexotica.html
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KIN_J
namespaceexotica.html
a8879608908229eff06df2b94c63f1a99a172f46177773a38764743e95cfc0c858
L2
namespaceexotica.html
aeaa7ab36dae8418de85dbd74ac49280aa2604e8d51bdc9fb55d8bf7bd62269e3f
LIMIT_POSITION_LOWER
namespaceexotica.html
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LIMIT_POSITION_UPPER
namespaceexotica.html
afe31e64784659e96082a606d09a75ecdaf9c406e73fa6b6031f2b256e79953b72
constexpr double
pi
namespaceexotica.html
a3cc3ce9225c7ac000971d6454997886a
PLANAR
namespaceexotica.html
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PseudoHuber
namespaceexotica.html
aeaa7ab36dae8418de85dbd74ac49280aa4587ec26dd32f21b4eadbdceade880a2
RK1
namespaceexotica.html
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RK2
namespaceexotica.html
af655323905f37d8a279063f9d75d433eac9220b7e32da0bed762781cb1b97bed2
RK4
namespaceexotica.html
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SmoothL1
namespaceexotica.html
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SymplecticEuler
namespaceexotica.html
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Undefined
namespaceexotica.html
aeaa7ab36dae8418de85dbd74ac49280aa7bbf9200af606d246139c77db8d4017d
const char
version
namespaceexotica.html
a45c6b251556e3f03cd8675ce95aea706
[]
AICO
Approximate Inference Control (AICO) solver
group__AICO.html
exotica::AICOSolver
exotica::BayesianIKSolver
math
Math functions
group__math.html
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