Public Member Functions | Private Member Functions | Private Attributes | List of all members
fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B > Class Template Reference

#include <matlab_value_function.h>

Inheritance diagram for fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >:
Inheritance graph
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Public Member Functions

std::unique_ptr< RelativeState< TS, PS > > Gradient (const TS &tracker_x, const PS &planner_x) const
 
bool InitializeFromMatFile (const std::string &file_name)
 
 MatlabValueFunction ()
 
double Priority (const TS &tracker_x, const PS &planner_x) const
 
double Value (const TS &tracker_x, const PS &planner_x) const
 
 ~MatlabValueFunction ()
 
- Public Member Functions inherited from fastrack::value::ValueFunction< TS, TC, TD, PS, PC, PD, B >
const RelativeDynamics< TS, TC, PS, PC > & GetRelativeDynamics () const
 
bool Initialize (const ros::NodeHandle &n)
 
TC OptimalControl (const TS &tracker_x, const PS &planner_x) const
 
const PD & PlannerDynamics () const
 
const TD & TrackerDynamics () const
 
const B & TrackingBound () const
 
virtual ~ValueFunction ()
 

Private Member Functions

VectorXd DirectionToCenter (const VectorXd &x) const
 
VectorXd GradientAccessor (const VectorXd &x) const
 
bool LoadParameters (const ros::NodeHandle &n)
 
double LowerGridPoint (const VectorXd &x, size_t idx) const
 
VectorXd NearestCenterPoint (const VectorXd &x) const
 
VectorXd RecursiveGradientInterpolator (const VectorXd &x, size_t idx) const
 
size_t StateToIndex (const VectorXd &x) const
 

Private Attributes

std::vector< double > cell_size_
 
std::vector< double > data_
 
std::vector< std::vector< double > > gradient_
 
std::vector< double > lower_
 
std::vector< size_t > num_cells_
 
double priority_lower_
 
double priority_upper_
 
std::vector< double > upper_
 

Additional Inherited Members

- Protected Member Functions inherited from fastrack::value::ValueFunction< TS, TC, TD, PS, PC, PD, B >
virtual bool RegisterCallbacks (const ros::NodeHandle &n)
 
 ValueFunction ()
 
- Protected Attributes inherited from fastrack::value::ValueFunction< TS, TC, TD, PS, PC, PD, B >
B bound_
 
bool initialized_
 
std::string name_
 
PD planner_dynamics_
 
std::unique_ptr< RelativeDynamics< TS, TC, PS, PC > > relative_dynamics_
 
TD tracker_dynamics_
 

Detailed Description

template<typename TS, typename TC, typename TD, typename PS, typename PC, typename PD, typename RS, typename RD, typename B>
class fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >

Definition at line 68 of file matlab_value_function.h.

Constructor & Destructor Documentation

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::~MatlabValueFunction ( )
inline

Definition at line 70 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::MatlabValueFunction ( )
inlineexplicit

Definition at line 71 of file matlab_value_function.h.

Member Function Documentation

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
VectorXd fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::DirectionToCenter ( const VectorXd &  x) const
private

Definition at line 269 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
std::unique_ptr< RelativeState< TS, PS > > fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::Gradient ( const TS &  tracker_x,
const PS &  planner_x 
) const
virtual

Implements fastrack::value::ValueFunction< TS, TC, TD, PS, PC, PD, B >.

Definition at line 184 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
VectorXd fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::GradientAccessor ( const VectorXd &  x) const
private

Definition at line 253 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
bool fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::InitializeFromMatFile ( const std::string &  file_name)

Definition at line 344 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
bool fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::LoadParameters ( const ros::NodeHandle &  n)
inlineprivatevirtual

Reimplemented from fastrack::value::ValueFunction< TS, TC, TD, PS, PC, PD, B >.

Definition at line 90 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
double fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::LowerGridPoint ( const VectorXd &  x,
size_t  idx 
) const
private

Definition at line 276 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
VectorXd fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::NearestCenterPoint ( const VectorXd &  x) const
private

Definition at line 291 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
double fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::Priority ( const TS &  tracker_x,
const PS &  planner_x 
) const
virtual

Implements fastrack::value::ValueFunction< TS, TC, TD, PS, PC, PD, B >.

Definition at line 203 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
VectorXd fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::RecursiveGradientInterpolator ( const VectorXd &  x,
size_t  idx 
) const
private

Definition at line 308 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
size_t fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::StateToIndex ( const VectorXd &  x) const
private

Definition at line 217 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
double fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::Value ( const TS &  tracker_x,
const PS &  planner_x 
) const
virtual

Implements fastrack::value::ValueFunction< TS, TC, TD, PS, PC, PD, B >.

Definition at line 146 of file matlab_value_function.h.

Member Data Documentation

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
std::vector<double> fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::cell_size_
private

Definition at line 129 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
std::vector<double> fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::data_
private

Definition at line 134 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
std::vector<std::vector<double> > fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::gradient_
private

Definition at line 138 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
std::vector<double> fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::lower_
private

Definition at line 130 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
std::vector<size_t> fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::num_cells_
private

Definition at line 128 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
double fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::priority_lower_
private

Definition at line 124 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
double fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::priority_upper_
private

Definition at line 125 of file matlab_value_function.h.

template<typename TS , typename TC , typename TD , typename PS , typename PC , typename PD , typename RS , typename RD , typename B >
std::vector<double> fastrack::value::MatlabValueFunction< TS, TC, TD, PS, PC, PD, RS, RD, B >::upper_
private

Definition at line 131 of file matlab_value_function.h.

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

fastrack
Author(s): David Fridovich-Keil
autogenerated on Mon Aug 3 2020 21:28:37