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Copy file name to clipboardExpand all lines: doxygen_cxx/classdrake_1_1planning_1_1trajectory__optimization_1_1_kinematic_trajectory_optimization-members.html
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<p>This is the complete list of members for <aclass="el" href="classdrake_1_1planning_1_1trajectory__optimization_1_1_kinematic_trajectory_optimization.html">KinematicTrajectoryOptimization</a>, including all inherited members.</p>
<trclass="memdesc:a8529eb42d4e8ce382c0a53ee9b26e236"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Adds linear constraints to enforce upper and lower bounds on the velocity trajectory, q̇(t). <ahref="#a8529eb42d4e8ce382c0a53ee9b26e236">More...</a><br/></td></tr>
<trclass="memdesc:a712d19c4728dc4e70244c8c192377032"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Adds generic (nonlinear) constraints to enforce the upper and lower bounds to the acceleration trajectory, q̈(t). <ahref="#a712d19c4728dc4e70244c8c192377032">More...</a><br/></td></tr>
<trclass="memdesc:ab13f393292d6592dc959f55625fe0f5d"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Adds generic (nonlinear) constraints to enforce the upper and lower bounds to the jerk trajectory, d³qdt³(t). <ahref="#ab13f393292d6592dc959f55625fe0f5d">More...</a><br/></td></tr>
<trclass="memdesc:a850317f5fe8fa8343e0690a51556bbbe"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Adds generic (nonlinear) constraints to enforce the upper and lower bounds to the acceleration trajectory, q̈(t). <ahref="#a850317f5fe8fa8343e0690a51556bbbe">More...</a><br/></td></tr>
<trclass="memdesc:a8c266cf092028fbabcc0bca77054d3a3"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Adds generic (nonlinear) constraints to enforce the upper and lower bounds to the jerk trajectory, d³qdt³(t). <ahref="#a8c266cf092028fbabcc0bca77054d3a3">More...</a><br/></td></tr>
<trclass="memdesc:ae3f60fe9552c90c9a3986f023ba18a56"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Adds a linear cost on the duration of the trajectory. <ahref="#ae3f60fe9552c90c9a3986f023ba18a56">More...</a><br/></td></tr>
<p>Adds generic (nonlinear) constraints to enforce the upper and lower bounds to the acceleration trajectory, q̈(t). </p>
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<p>These constraints will be respected at all times. Note that this does NOT directly constrain r̈(s).</p>
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<dlclass="section return"><dt>Returns</dt><dd>A vector of bindings with the ith element is itself a vector of constraints (one per dof) adding a constraint to the ith control point of the acceleration trajectory. </dd></dl>
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<p>By leveraging the convex hull property of B-splines, these bounds are applied at the (derivative) control points, but will be respected for all times, t ∈ [0,T]. Note that this does NOT directly constrain r̈(s).</p>
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<dlclass="section return"><dt>Returns</dt><dd>A vector of bindings with interleaved lower and then upper bounds, constraining all of the control points for one element of q̈ (e.g. the acceleration of the ith joint at all times). However, this specific interpretation of these constraints may change without deprecation. </dd></dl>
<p>Adds generic (nonlinear) constraints to enforce the upper and lower bounds to the jerk trajectory, d³qdt³(t). </p>
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<p>These constraints will be respected at all times. Note that this does NOT directly constrain d³rds³(s).</p>
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<dlclass="section return"><dt>Returns</dt><dd>A vector of bindings with the ith element is itself a vector of constraints (one per dof) adding a constraint to the ith control point of the jerk trajectory. </dd></dl>
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<p>By leveraging the convex hull property of B-splines, these bounds are applied at the (derivative) control points, but will be respected for all times, t ∈ [0,T]. Note that this does NOT directly constrain d³rds³(s).</p>
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<dlclass="section return"><dt>Returns</dt><dd>A vector of bindings with interleaved lower and then upper bounds, constraining all of the control points for one element of d³qdt³ (e.g. the jerk of the ith joint at all times). However, this specific interpretation of these constraints may change without deprecation. </dd></dl>
<p>Adds a convex quadratic cost on an upper bound on the energy of the path, ∫₀¹ |ṙ(s)|₂² ds, by summing the squared distance between the path control points. </p>
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<p>In the limit of infinitely many control points, minimizers for AddPathLengthCost and AddPathEnergyCost will follow the same path, but potentially with different timing. They may have different values if additional costs and constraints are imposed. This cost yields simpler gradients than AddPathLengthCost, and biases the control points towards being evenly spaced.</p>
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<dlclass="section return"><dt>Returns</dt><dd>A vector of bindings with the ith element adding a cost to the ith control point of the velocity trajectory. </dd></dl>
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<dlclass="section return"><dt>Returns</dt><dd>A vector of bindings with the ith element adding a cost to the ith control point of the velocity trajectory. However, this specific interpretation of these constraints may change without deprecation. </dd></dl>
<p>Adds a cost on an upper bound of the length of the path, ∫₀ᵀ |q̇(t)|₂ dt, or equivalently ∫₀¹ |ṙ(s)|₂ ds, by summing the distance between the path control points. </p>
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<p>If <code>use_conic_constraint = false</code>, then costs are added via MathematicalProgram::AddL2NormCost; otherwise they are added via MathematicalProgram::AddL2NormCostUsingConicConstraint.</p>
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<dlclass="section return"><dt>Returns</dt><dd>A vector of bindings with the ith element adding a cost to the ith control point of the velocity trajectory. </dd></dl>
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<dlclass="section return"><dt>Returns</dt><dd>A vector of bindings with the ith element adding a cost to the ith control point of the velocity trajectory. However, this specific interpretation of these constraints may change without deprecation. </dd></dl>
<p>Adds bounding box constraints to enforce upper and lower bounds on the positions trajectory, q(t). </p>
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<p>These bounds will be respected at all times, t∈[0,T]. This also implies the constraints are satisfied for r(s), for all s∈[0,1].</p>
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<dlclass="section return"><dt>Returns</dt><dd>A vector of bindings with the ith element adding a constraint to the ith control point. </dd></dl>
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<dlclass="section return"><dt>Returns</dt><dd>A vector of bindings with the ith element adding a constraint to the ith control point. However, this specific interpretation of these constraints may change without deprecation. </dd></dl>
<p>Adds linear constraints to enforce upper and lower bounds on the velocity trajectory, q̇(t). </p>
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<p>These bounds will be respected at all times. Note this does NOT directly constrain ṙ(s).</p>
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<dlclass="section return"><dt>Returns</dt><dd>A vector of bindings with the ith element adding a constraint to the ith control point of the derivative trajectory. </dd></dl>
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<p>By leveraging the convex hull property of B-splines, these bounds are applied at the (derivative) control points, but will be respected for all times, t ∈ [0,T]. Note this does NOT directly constrain ṙ(s).</p>
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<dlclass="section return"><dt>Returns</dt><dd>A vector of bindings with interleaved lower and then upper bounds, constraining all of the control points for one element of q̇ (e.g. the velocity of the ith joint at all times). However, this specific interpretation of these constraints may change without deprecation.. </dd></dl>
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