copp::Objective Class Reference

Owning objective descriptor used by C++ COPP solver problem objects. More...

#include <objective.hpp>

Public Member Functions
ObjectiveKind	kind () const noexcept
double	weight () const noexcept
Span< const double >	alpha () const noexcept
Span< const double >	beta () const noexcept
Span< const double >	normalize () const noexcept

Static Public Member Functions
static Objective	Time (double weight=1.0)
	Minimize traversal time.
static Objective	Linear (double weight, Span< const double > alpha, Span< const double > beta)
	Add a linear torque objective.
static Objective	Linear (double weight, std::initializer_list< double > alpha, std::initializer_list< double > beta)
static Objective	ThermalEnergy (double weight, Span< const double > normalize)
	Penalize normalized squared torque / thermal energy.
static Objective	ThermalEnergy (double weight, std::initializer_list< double > normalize)
static Objective	TotalVariationTorque (double weight, Span< const double > normalize)
	Penalize total variation of torque along the path.
static Objective	TotalVariationTorque (double weight, std::initializer_list< double > normalize)

Detailed Description

Owning objective descriptor used by C++ COPP solver problem objects.

This class only stores weights and coefficient vectors. Validation is performed when a solver Problem is constructed, because the expected vector lengths depend on robot dimension and the chosen station interval.

Definition at line 30 of file objective.hpp.

Member Function Documentation

Time()

Objective copp::Objective::Time ( double weight = 1.0 )

inlinestatic

Minimize traversal time.

Parameters

weight

Nonnegative scalar weight.

Definition at line 36 of file objective.hpp.

Linear() [1/2]

Objective copp::Objective::Linear ( double weight, Span< const double > alpha, Span< const double > beta )

inlinestatic

Add a linear torque objective.

The objective uses coefficient vectors copied from alpha and beta. Expected lengths depend on the solver/problem dimension and are validated when constructing a COPP problem.

Definition at line 46 of file objective.hpp.

Linear() [2/2]

Objective copp::Objective::Linear ( double weight, std::initializer_list< double > alpha, std::initializer_list< double > beta )

inlinestatic

Definition at line 59 of file objective.hpp.

ThermalEnergy() [1/2]

Objective copp::Objective::ThermalEnergy ( double weight, Span< const double > normalize )

inlinestatic

Penalize normalized squared torque / thermal energy.

Parameters

weight	Nonnegative scalar weight.
normalize	Per-axis normalization vector copied into the objective descriptor.

Definition at line 73 of file objective.hpp.

ThermalEnergy() [2/2]

Objective copp::Objective::ThermalEnergy ( double weight, std::initializer_list< double > normalize )

inlinestatic

Definition at line 83 of file objective.hpp.

TotalVariationTorque() [1/2]

Objective copp::Objective::TotalVariationTorque ( double weight, Span< const double > normalize )

inlinestatic

Penalize total variation of torque along the path.

This objective is supported by SOCP solvers.

Definition at line 93 of file objective.hpp.

TotalVariationTorque() [2/2]

Objective copp::Objective::TotalVariationTorque ( double weight, std::initializer_list< double > normalize )

inlinestatic

Definition at line 103 of file objective.hpp.

kind()

ObjectiveKind copp::Objective::kind ( ) const

inlinenoexcept

Definition at line 110 of file objective.hpp.

weight()

double copp::Objective::weight ( ) const

inlinenoexcept

Definition at line 111 of file objective.hpp.

alpha()

Span< const double > copp::Objective::alpha ( ) const

inlinenoexcept

Definition at line 113 of file objective.hpp.

beta()

Span< const double > copp::Objective::beta ( ) const

inlinenoexcept

Definition at line 118 of file objective.hpp.

normalize()

Span< const double > copp::Objective::normalize ( ) const

inlinenoexcept

Definition at line 123 of file objective.hpp.

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The documentation for this class was generated from the following file:

• bindings/cpp/include/copp/objective.hpp