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From: Thomas M. <tho...@us...> - 2009-08-06 07:25:40
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, web has been updated
via 1fb3031f2d95daac83ee07017e5df79dc0a982c0 (commit)
from 3a9927ec05d115d501f32eb07bddbfc574a4de3a (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 1fb3031f2d95daac83ee07017e5df79dc0a982c0
Author: Thomas Moulard <tho...@gm...>
Date: Thu Aug 6 16:23:39 2009 +0900
Add Ohloh widgets.
* htdocs/index.html: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 5274081..9c0d5ea 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-08-06 Thomas Moulard <tho...@gm...>
+
+ Add Ohloh widgets.
+ * htdocs/index.html: Here.
+
2009-06-10 Thomas Moulard <tho...@gm...>
Fix plug-in's documentation links.
diff --git a/htdocs/index.html b/htdocs/index.html
index a9fd982..72f2719 100644
--- a/htdocs/index.html
+++ b/htdocs/index.html
@@ -149,6 +149,29 @@
<dd>Developer only mailing-list (private)</dd>
</dl>
+ <h2><a name="dev"></a>Development</h2>
+
+ <p>
+ Development statistics are provided by <a
+ href="https://www.ohloh.net/p/roboptim">Ohloh</a>.
+ </p>
+
+ <div style="float: left; padding: 1em">
+ <script type="text/javascript"
+ src="http://www.ohloh.net/p/338750/widgets/project_basic_stats.js"></script>
+ </div>
+
+ <div style="float: left; padding: 1em">
+ <script type="text/javascript"
+ src="http://www.ohloh.net/p/338750/widgets/project_languages.js"></script>
+ </div>
+
+ <div style="float: left; padding: 1em">
+ <script type="text/javascript"
+ src="http://www.ohloh.net/p/338750/widgets/project_factoids.js"></script>
+ </div>
+
+ <div style="clear: both"> </div>
<h2><a name="links"></a>Links</h2>
<h3>SourceForge</h3>
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
htdocs/index.html | 23 +++++++++++++++++++++++
2 files changed, 28 insertions(+), 0 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-08-06 05:28:14
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via 11a7128df54cd55b4eae4dd1e4f4221c1f5b89c0 (commit)
via dd343fac898690c84cc559a0a0d3ba8594b85bc4 (commit)
via c64367d70b9f2cd243d891e327c0052ed370a3d7 (commit)
via 8674083ce1db37460ea68cb417246e7ec0391760 (commit)
via 987bd9e9a72a8c3872b65f6d891ea0613be40d48 (commit)
via 8e190905b910ff81c30a033131093b53e0313bc9 (commit)
from b89ab203726b88d848dcc73d0a19974cffd23cc4 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 11a7128df54cd55b4eae4dd1e4f4221c1f5b89c0
Author: Thomas Moulard <tho...@gm...>
Date: Thu Aug 6 14:27:08 2009 +0900
Split test case.
* tests/Makefile.am: Split test case.
* tests/anthropomorphic-cost-function-case-1.cc: New.
* tests/anthropomorphic-cost-function-case-1.stdout:
Copy from tests/complex-cost-function.stdout.
* tests/anthropomorphic-cost-function-case-2.cc: New.
* tests/anthropomorphic-cost-function-case-2.stdout:
Copy from tests/complex-cost-function.stdout.
* tests/anthropomorphic-cost-function-case-3.cc: New.
* tests/anthropomorphic-cost-function-case-3.stdout:
Copy from tests/complex-cost-function.stdout.
* tests/anthropomorphic-cost-function-case-4.cc: New.
* tests/anthropomorphic-cost-function-case-4.stdout:
Copy from tests/complex-cost-function.stdout.
* tests/anthropomorphic-cost-function-case-5.cc: New.
* tests/anthropomorphic-cost-function-case-5.stdout:
Copy from tests/complex-cost-function.stdout.
* tests/anthropomorphic-cost-function-case-6.cc: New.
* tests/anthropomorphic-cost-function-case-6.stdout:
Rename from tests/complex-cost-function.stdout.
* tests/anthropomorphic-cost-function.cc: New.
* tests/anthropomorphic-cost-function.hh: New.
* tests/complex-cost-function.cc: Remove.
* tests/testsuite.at: Run new tests optionally.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 2c12eec..6cff1a4 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,32 @@
2009-08-06 Thomas Moulard <tho...@gm...>
+ Split test case.
+ * tests/Makefile.am: Split test case.
+ * tests/anthropomorphic-cost-function-case-1.cc: New.
+ * tests/anthropomorphic-cost-function-case-1.stdout:
+ Copy from tests/complex-cost-function.stdout.
+ * tests/anthropomorphic-cost-function-case-2.cc: New.
+ * tests/anthropomorphic-cost-function-case-2.stdout:
+ Copy from tests/complex-cost-function.stdout.
+ * tests/anthropomorphic-cost-function-case-3.cc: New.
+ * tests/anthropomorphic-cost-function-case-3.stdout:
+ Copy from tests/complex-cost-function.stdout.
+ * tests/anthropomorphic-cost-function-case-4.cc: New.
+ * tests/anthropomorphic-cost-function-case-4.stdout:
+ Copy from tests/complex-cost-function.stdout.
+ * tests/anthropomorphic-cost-function-case-5.cc: New.
+ * tests/anthropomorphic-cost-function-case-5.stdout:
+ Copy from tests/complex-cost-function.stdout.
+ * tests/anthropomorphic-cost-function-case-6.cc: New.
+ * tests/anthropomorphic-cost-function-case-6.stdout:
+ Rename from tests/complex-cost-function.stdout.
+ * tests/anthropomorphic-cost-function.cc: New.
+ * tests/anthropomorphic-cost-function.hh: New.
+ * tests/complex-cost-function.cc: Remove.
+ * tests/testsuite.at: Run new tests optionally.
+
+2009-08-06 Thomas Moulard <tho...@gm...>
+
Regenerate.
* tests/spline-optimization.stdout: Regenerate.
diff --git a/tests/Makefile.am b/tests/Makefile.am
index 2366ffa..82b49fe 100644
--- a/tests/Makefile.am
+++ b/tests/Makefile.am
@@ -46,10 +46,65 @@ check_PROGRAMS += spline-time-optimization
spline_time_optimization_SOURCES = spline-time-optimization.cc $(COMMON_SOURCES)
spline_time_optimization_LDADD = $(top_builddir)/src/libroboptim-trajectory.la
-# complex-cost-function
-check_PROGRAMS += complex-cost-function
-complex_cost_function_SOURCES = complex-cost-function.cc $(COMMON_SOURCES)
-complex_cost_function_LDADD = $(top_builddir)/src/libroboptim-trajectory.la
+# anthropomorphic-cost-function-case-1
+check_PROGRAMS += anthropomorphic-cost-function-case-1
+anthropomorphic_cost_function_case_1_SOURCES = \
+ anthropomorphic-cost-function-case-1.cc \
+ anthropomorphic-cost-function.cc \
+ anthropomorphic-cost-function.hh \
+ $(COMMON_SOURCES)
+anthropomorphic_cost_function_case_1_LDADD = \
+ $(top_builddir)/src/libroboptim-trajectory.la
+
+# anthropomorphic-cost-function-case-2
+check_PROGRAMS += anthropomorphic-cost-function-case-2
+anthropomorphic_cost_function_case_2_SOURCES = \
+ anthropomorphic-cost-function-case-2.cc \
+ anthropomorphic-cost-function.cc \
+ anthropomorphic-cost-function.hh \
+ $(COMMON_SOURCES)
+anthropomorphic_cost_function_case_2_LDADD = \
+ $(top_builddir)/src/libroboptim-trajectory.la
+
+# anthropomorphic-cost-function-case-3
+check_PROGRAMS += anthropomorphic-cost-function-case-3
+anthropomorphic_cost_function_case_3_SOURCES = \
+ anthropomorphic-cost-function-case-3.cc \
+ anthropomorphic-cost-function.cc \
+ anthropomorphic-cost-function.hh \
+ $(COMMON_SOURCES)
+anthropomorphic_cost_function_case_3_LDADD = \
+ $(top_builddir)/src/libroboptim-trajectory.la
+
+# anthropomorphic-cost-function-case-4
+check_PROGRAMS += anthropomorphic-cost-function-case-4
+anthropomorphic_cost_function_case_4_SOURCES = \
+ anthropomorphic-cost-function-case-4.cc \
+ anthropomorphic-cost-function.cc \
+ anthropomorphic-cost-function.hh \
+ $(COMMON_SOURCES)
+anthropomorphic_cost_function_case_4_LDADD = \
+ $(top_builddir)/src/libroboptim-trajectory.la
+
+# anthropomorphic-cost-function-case-5
+check_PROGRAMS += anthropomorphic-cost-function-case-5
+anthropomorphic_cost_function_case_5_SOURCES = \
+ anthropomorphic-cost-function-case-5.cc \
+ anthropomorphic-cost-function.cc \
+ anthropomorphic-cost-function.hh \
+ $(COMMON_SOURCES)
+anthropomorphic_cost_function_case_5_LDADD = \
+ $(top_builddir)/src/libroboptim-trajectory.la
+
+# anthropomorphic-cost-function-case-6
+check_PROGRAMS += anthropomorphic-cost-function-case-6
+anthropomorphic_cost_function_case_6_SOURCES = \
+ anthropomorphic-cost-function-case-6.cc \
+ anthropomorphic-cost-function.cc \
+ anthropomorphic-cost-function.hh \
+ $(COMMON_SOURCES)
+anthropomorphic_cost_function_case_6_LDADD = \
+ $(top_builddir)/src/libroboptim-trajectory.la
.PHONY: generate-reference
@@ -73,11 +128,16 @@ generate-reference:
# ------------ #
# Distribute reference files.
-EXTRA_DIST += \
- complex-cost-function.stdout \
- free-time-trajectory.stdout \
- simple.stdout \
- spline-gradient.stdout \
- spline-optimization.stdout \
- spline-time-optimization.stdout \
+EXTRA_DIST += \
+ anthropomorphic-cost-function-case-1.stdout \
+ anthropomorphic-cost-function-case-2.stdout \
+ anthropomorphic-cost-function-case-3.stdout \
+ anthropomorphic-cost-function-case-4.stdout \
+ anthropomorphic-cost-function-case-5.stdout \
+ anthropomorphic-cost-function-case-6.stdout \
+ free-time-trajectory.stdout \
+ simple.stdout \
+ spline-gradient.stdout \
+ spline-optimization.stdout \
+ spline-time-optimization.stdout \
spline.stdout
diff --git a/tests/anthropomorphic-cost-function-case-1.cc b/tests/anthropomorphic-cost-function-case-1.cc
new file mode 100644
index 0000000..2b1d301
--- /dev/null
+++ b/tests/anthropomorphic-cost-function-case-1.cc
@@ -0,0 +1,41 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#include "common.hh"
+#include "anthropomorphic-cost-function.hh"
+
+int run_test ()
+{
+ const double initialX = 0.;
+ const double initialY = 0.;
+ const double initialTheta = M_PI / 2.;
+
+ const double finalX = 3.;
+ const double finalY = 3.;
+ const double finalTheta = M_PI/2.;
+
+ return optimize (initialX,
+ initialY,
+ initialTheta,
+ finalX,
+ finalY,
+ finalTheta);
+}
+
+GENERATE_TEST ()
+
+
diff --git a/tests/complex-cost-function.stdout b/tests/anthropomorphic-cost-function-case-1.stdout
similarity index 100%
copy from tests/complex-cost-function.stdout
copy to tests/anthropomorphic-cost-function-case-1.stdout
diff --git a/tests/anthropomorphic-cost-function-case-2.cc b/tests/anthropomorphic-cost-function-case-2.cc
new file mode 100644
index 0000000..2b1d301
--- /dev/null
+++ b/tests/anthropomorphic-cost-function-case-2.cc
@@ -0,0 +1,41 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#include "common.hh"
+#include "anthropomorphic-cost-function.hh"
+
+int run_test ()
+{
+ const double initialX = 0.;
+ const double initialY = 0.;
+ const double initialTheta = M_PI / 2.;
+
+ const double finalX = 3.;
+ const double finalY = 3.;
+ const double finalTheta = M_PI/2.;
+
+ return optimize (initialX,
+ initialY,
+ initialTheta,
+ finalX,
+ finalY,
+ finalTheta);
+}
+
+GENERATE_TEST ()
+
+
diff --git a/tests/complex-cost-function.stdout b/tests/anthropomorphic-cost-function-case-2.stdout
similarity index 100%
copy from tests/complex-cost-function.stdout
copy to tests/anthropomorphic-cost-function-case-2.stdout
diff --git a/tests/anthropomorphic-cost-function-case-3.cc b/tests/anthropomorphic-cost-function-case-3.cc
new file mode 100644
index 0000000..2b1d301
--- /dev/null
+++ b/tests/anthropomorphic-cost-function-case-3.cc
@@ -0,0 +1,41 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#include "common.hh"
+#include "anthropomorphic-cost-function.hh"
+
+int run_test ()
+{
+ const double initialX = 0.;
+ const double initialY = 0.;
+ const double initialTheta = M_PI / 2.;
+
+ const double finalX = 3.;
+ const double finalY = 3.;
+ const double finalTheta = M_PI/2.;
+
+ return optimize (initialX,
+ initialY,
+ initialTheta,
+ finalX,
+ finalY,
+ finalTheta);
+}
+
+GENERATE_TEST ()
+
+
diff --git a/tests/complex-cost-function.stdout b/tests/anthropomorphic-cost-function-case-3.stdout
similarity index 100%
copy from tests/complex-cost-function.stdout
copy to tests/anthropomorphic-cost-function-case-3.stdout
diff --git a/tests/anthropomorphic-cost-function-case-4.cc b/tests/anthropomorphic-cost-function-case-4.cc
new file mode 100644
index 0000000..f7bd7c8
--- /dev/null
+++ b/tests/anthropomorphic-cost-function-case-4.cc
@@ -0,0 +1,42 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#include "common.hh"
+#include "anthropomorphic-cost-function.hh"
+
+int run_test ()
+{
+ const double initialX = 0.;
+ const double initialY = 0.;
+ const double initialTheta = M_PI / 2.;
+
+ const double finalX = 3.;
+ const double finalY = 3.;
+ const double finalTheta = M_PI/2.;
+
+ return optimize (initialX,
+ initialY,
+ initialTheta,
+ finalX,
+ finalY,
+ finalTheta,
+ false);
+}
+
+GENERATE_TEST ()
+
+
diff --git a/tests/complex-cost-function.stdout b/tests/anthropomorphic-cost-function-case-4.stdout
similarity index 100%
copy from tests/complex-cost-function.stdout
copy to tests/anthropomorphic-cost-function-case-4.stdout
diff --git a/tests/anthropomorphic-cost-function-case-5.cc b/tests/anthropomorphic-cost-function-case-5.cc
new file mode 100644
index 0000000..2b1d301
--- /dev/null
+++ b/tests/anthropomorphic-cost-function-case-5.cc
@@ -0,0 +1,41 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#include "common.hh"
+#include "anthropomorphic-cost-function.hh"
+
+int run_test ()
+{
+ const double initialX = 0.;
+ const double initialY = 0.;
+ const double initialTheta = M_PI / 2.;
+
+ const double finalX = 3.;
+ const double finalY = 3.;
+ const double finalTheta = M_PI/2.;
+
+ return optimize (initialX,
+ initialY,
+ initialTheta,
+ finalX,
+ finalY,
+ finalTheta);
+}
+
+GENERATE_TEST ()
+
+
diff --git a/tests/complex-cost-function.stdout b/tests/anthropomorphic-cost-function-case-5.stdout
similarity index 100%
copy from tests/complex-cost-function.stdout
copy to tests/anthropomorphic-cost-function-case-5.stdout
diff --git a/tests/anthropomorphic-cost-function-case-6.cc b/tests/anthropomorphic-cost-function-case-6.cc
new file mode 100644
index 0000000..2b1d301
--- /dev/null
+++ b/tests/anthropomorphic-cost-function-case-6.cc
@@ -0,0 +1,41 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#include "common.hh"
+#include "anthropomorphic-cost-function.hh"
+
+int run_test ()
+{
+ const double initialX = 0.;
+ const double initialY = 0.;
+ const double initialTheta = M_PI / 2.;
+
+ const double finalX = 3.;
+ const double finalY = 3.;
+ const double finalTheta = M_PI/2.;
+
+ return optimize (initialX,
+ initialY,
+ initialTheta,
+ finalX,
+ finalY,
+ finalTheta);
+}
+
+GENERATE_TEST ()
+
+
diff --git a/tests/complex-cost-function.stdout b/tests/anthropomorphic-cost-function-case-6.stdout
similarity index 100%
rename from tests/complex-cost-function.stdout
rename to tests/anthropomorphic-cost-function-case-6.stdout
diff --git a/tests/anthropomorphic-cost-function.cc b/tests/anthropomorphic-cost-function.cc
new file mode 100644
index 0000000..b5366a9
--- /dev/null
+++ b/tests/anthropomorphic-cost-function.cc
@@ -0,0 +1,196 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#include <fstream>
+
+#include <boost/assign/list_of.hpp>
+#include <boost/mpl/vector.hpp>
+
+#include <roboptim/core/io.hh>
+#include <roboptim/core/finite-difference-gradient.hh>
+#include <roboptim/core/solver-factory.hh>
+
+#include <roboptim/core/visualization/gnuplot.hh>
+#include <roboptim/core/visualization/gnuplot-commands.hh>
+
+#include <roboptim/trajectory/anthropomorphic-cost-function.hh>
+#include <roboptim/trajectory/free-time-trajectory.hh>
+#include <roboptim/trajectory/freeze.hh>
+#include <roboptim/trajectory/frontal-speed.hh>
+#include <roboptim/trajectory/fwd.hh>
+#include <roboptim/trajectory/limit-omega.hh>
+#include <roboptim/trajectory/orthogonal-speed.hh>
+#include <roboptim/trajectory/spline.hh>
+#include <roboptim/trajectory/trajectory-cost.hh>
+
+#include <roboptim/trajectory/visualization/trajectory.hh>
+#include <roboptim/trajectory/visualization/speed.hh>
+
+#include <roboptim/core/plugin/cfsqp.hh>
+
+using namespace roboptim;
+using namespace roboptim::visualization;
+using namespace roboptim::visualization::gnuplot;
+
+typedef CFSQPSolver::problem_t::constraints_t constraint_t;
+typedef CFSQPSolver solver_t;
+typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
+
+// Problem parameters.
+const unsigned configurationSpaceSize = 3;
+const unsigned nControlPoints = 11;
+
+const unsigned nConstraintsPerCtrlPts = 10;
+const double vMax = 0.4;
+
+int optimize (double initialX,
+ double initialY,
+ double initialTheta,
+ double finalX,
+ double finalY,
+ double finalTheta,
+ bool setStartingPoint)
+{
+ using namespace boost;
+ using namespace boost::assign;
+
+ Spline::vector_t params (nControlPoints * configurationSpaceSize);
+
+ const double dx = finalX - initialX;
+ const double dy = finalY - initialY;
+ const double dtheta = finalTheta - initialTheta;
+
+ for (unsigned i = 0; i < nControlPoints; ++i)
+ {
+ params[i * configurationSpaceSize] = initialX;
+ params[i * configurationSpaceSize + 1] = initialY;
+ params[i * configurationSpaceSize + 2] = initialTheta;
+
+ params[i * configurationSpaceSize] +=
+ dx / (nControlPoints - 1) * i;
+ params[i * configurationSpaceSize + 1] +=
+ dy / (nControlPoints - 1) * i;
+ params[i * configurationSpaceSize + 2] +=
+ dtheta / (nControlPoints - 1) * i;
+ }
+
+ // Make trajectories.
+ Spline::interval_t timeRange = Spline::makeInterval (0., 16.);
+ Spline spline (timeRange, configurationSpaceSize, params, "before");
+ freeTime_t freeTimeTraj (spline, 1.);
+
+ // Define cost.
+ AnthropomorphicCostFunction<freeTime_t> cost (freeTimeTraj);
+
+ // Create problem.
+ solver_t::problem_t problem (cost);
+ problem.startingPoint () = freeTimeTraj.parameters ();
+
+ // Scale has to remain positive.
+ problem.argumentBounds ()[0] = Function::makeLowerInterval (.5);
+
+ const freeTime_t::vector_t freeTimeParams = freeTimeTraj.parameters ();
+
+ std::vector<Function::size_type> indices;
+ indices.push_back (1);
+ indices.push_back (2);
+ indices.push_back (3);
+ indices.push_back (freeTimeParams.size () - 3);
+ indices.push_back (freeTimeParams.size () - 2);
+ indices.push_back (freeTimeParams.size () - 1);
+ makeFreeze (problem) (indices, freeTimeParams);
+
+ // Add constraints on speeds.
+ // Frontal
+ Function::interval_t vRangeFrontal = Function::makeInterval (0., vMax);
+ LimitFrontalSpeed<freeTime_t>::addToProblem
+ (freeTimeTraj, problem, vRangeFrontal,
+ nControlPoints * nConstraintsPerCtrlPts);
+
+ // Orthogonal
+ Function::interval_t vRangeOrthogonal = Function::makeInterval (-vMax, vMax);
+ LimitOrthogonalSpeed<freeTime_t>::addToProblem
+ (freeTimeTraj, problem, vRangeOrthogonal,
+ nControlPoints * nConstraintsPerCtrlPts);
+
+ // Omega (theta dot)
+ Function::interval_t vRangeOmega = Function::makeInterval (-.5, .5);
+ LimitOmega<freeTime_t>::addToProblem
+ (freeTimeTraj, problem, vRangeOmega,
+ nControlPoints * nConstraintsPerCtrlPts);
+
+ // Create the solver plug-in.
+ SolverFactory<solver_t> factory ("cfsqp", problem);
+ solver_t& solver = factory ();
+
+ std::cerr << solver << std::endl;
+
+ std::ofstream trajectoryStream ("trajectory.gp");
+ Gnuplot gnuplotTraj = Gnuplot::make_interactive_gnuplot ();
+ gnuplotTraj
+ << set ("multiplot layout 2, 3 title 'trajectory'")
+ << set ("grid")
+ << plot_xy (spline)
+ << plot_xytheta (spline)
+ << plot_speeds (spline);
+
+ solver_t::result_t res = solver.minimum ();
+ std::cerr << res << std::endl;
+
+ FreeTimeTrajectory<Spline::derivabilityOrder> optimizedTrajectory =
+ freeTimeTraj;
+
+ switch (solver.minimumType ())
+ {
+ case GenericSolver::SOLVER_VALUE:
+ {
+ const Result& result = solver.getMinimum<Result> ();
+ optimizedTrajectory.setParameters (result.x);
+ break;
+ }
+
+ case GenericSolver::SOLVER_VALUE_WARNINGS:
+ {
+ const ResultWithWarnings& result =
+ solver.getMinimum<ResultWithWarnings> ();
+ optimizedTrajectory.setParameters (result.x);
+ break;
+ }
+
+ case GenericSolver::SOLVER_NO_SOLUTION:
+ case GenericSolver::SOLVER_ERROR:
+ return 1;
+ }
+
+ Spline updatedSpline
+ (optimizedTrajectory.timeRange (),
+ configurationSpaceSize,
+ removeScaleFromParameters (optimizedTrajectory.parameters ()),
+ "after");
+
+ std::cerr
+ << "Final time range: " << updatedSpline.timeRange () << std::endl
+ << "Final length: " << updatedSpline.length () << std::endl;
+
+ gnuplotTraj << plot_xy (updatedSpline)
+ << plot_xytheta (updatedSpline)
+ << plot_speeds (updatedSpline)
+ << unset ("multiplot");
+ trajectoryStream << gnuplotTraj;
+
+ return 0;
+}
diff --git a/tests/anthropomorphic-cost-function.hh b/tests/anthropomorphic-cost-function.hh
new file mode 100644
index 0000000..09c12ac
--- /dev/null
+++ b/tests/anthropomorphic-cost-function.hh
@@ -0,0 +1,30 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef ANTHROPOMORPHIC_COST_FUNCTION_HH
+# define ANTHROPOMORPHIC_COST_FUNCTION_HH
+# include <cmath>
+
+int optimize (double initialX,
+ double initialY,
+ double initialTheta,
+ double finalX,
+ double finalY,
+ double finalTheta,
+ bool setStartingPoint = true);
+
+#endif //! ANTHROPOMORPHIC_COST_FUNCTION_HH
diff --git a/tests/complex-cost-function.cc b/tests/complex-cost-function.cc
deleted file mode 100644
index 7154738..0000000
--- a/tests/complex-cost-function.cc
+++ /dev/null
@@ -1,411 +0,0 @@
-// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
-//
-// This file is part of the roboptim.
-//
-// roboptim is free software: you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as published by
-// the Free Software Foundation, either version 3 of the License, or
-// (at your option) any later version.
-//
-// roboptim is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-// GNU Lesser General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public License
-// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-
-#include <fstream>
-
-#include <boost/assign/list_of.hpp>
-#include <boost/mpl/vector.hpp>
-
-#include <roboptim/core/io.hh>
-#include <roboptim/core/finite-difference-gradient.hh>
-#include <roboptim/core/solver-factory.hh>
-
-#include <roboptim/core/visualization/gnuplot.hh>
-#include <roboptim/core/visualization/gnuplot-commands.hh>
-
-#include <roboptim/trajectory/free-time-trajectory.hh>
-#include <roboptim/trajectory/freeze.hh>
-#include <roboptim/trajectory/frontal-speed.hh>
-#include <roboptim/trajectory/fwd.hh>
-#include <roboptim/trajectory/orthogonal-speed.hh>
-#include <roboptim/trajectory/spline.hh>
-#include <roboptim/trajectory/trajectory-cost.hh>
-
-#include <roboptim/trajectory/visualization/trajectory.hh>
-
-#include <roboptim/core/plugin/cfsqp.hh>
-
-#include "common.hh"
-
-using namespace roboptim;
-using namespace roboptim::visualization;
-using namespace roboptim::visualization::gnuplot;
-
-typedef CFSQPSolver::problem_t::constraints_t constraint_t;
-typedef CFSQPSolver solver_t;
-typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
-
-// Problem parameters.
-const unsigned configurationSpaceSize = 3;
-const unsigned nControlPoints = 11;
-
-const double initialX = 0.;
-const double initialY = 0.;
-const double initialTheta = M_PI / 2.;
-
-const double finalX = 5.;
-const double finalY = 0.;
-const double finalTheta = M_PI / 2.;
-
-namespace roboptim
-{
- void normalizeAngle (Function::vector_t& parameters,
- unsigned configurationSize,
- unsigned thetaIdx,
- bool isFreeTime);
-
- void normalizeAngle (Function::vector_t& parameters,
- unsigned configurationSize,
- unsigned thetaIdx,
- bool isFreeTime)
- {
- double thetaPrev = 0.;
- double offset = isFreeTime ? 1. : 0.;
- for (unsigned i = offset; i < parameters.size () / configurationSize; ++i)
- {
- double& theta = parameters[offset + i * configurationSize + thetaIdx];
- if (theta - thetaPrev > M_PI)
- theta -= M_PI * 2;
- else if (theta - thetaPrev < -M_PI)
- theta += M_PI * 2;
- thetaPrev = theta;
- }
- }
-
- // Cost function from ``An optimal control model unifying holonomic
- // and nonholonomic walking'' Katja Mombaur, Jean-Paul Laumond,
- // Eiichi Yoshida
- // (2008 8th IEEE-RAS Interational Conference on Humanoid Robots).
- template <typename T>
- class CostFunction : public DerivableFunction
- {
- public:
- CostFunction (const T& trajectory, const vector_t alpha) throw ()
- : DerivableFunction (trajectory.parameters ().size (), 1,
- "cost function"),
- trajectory_ (trajectory),
- alpha_ (alpha),
- alpha3_ ()
- {
- vector_t p = trajectory.parameters ();
- //normalizeAngle (p, 3, 2, true);
-
- //FIXME: +1 as we're doing free time trajectory.
- //should be generic.
- const value_type dx = p[p.size () - 3] - p[1 + 0];
- const value_type dy = p[p.size () - 2] - p[1 + 1];
- const value_type dtheta = p[p.size () - 1] - p[1 + 2];
-
- alpha3_ = this->alpha3 (std::fabs (dtheta), dx * dx + dy * dy);
- }
-
- ~CostFunction () throw ()
- {}
-
- protected:
- struct ComputeIntegral
- {
- ComputeIntegral (const T& traj,
- const vector_t& alpha,
- const double& alpha3,
- double& res)
- : traj_ (traj),
- alpha_ (alpha),
- alpha3_ (alpha3),
- res_ (res)
- {}
-
- void operator () (const double& t)
- {
- FrontalSpeed<T> frontalSpeed (traj_);
- OrthogonalSpeed<T> orthogonalSpeed (traj_);
-
- vector_t t_ (1);
- t_[0] = t;
- const value_type u1 = frontalSpeed.gradient (t_)[0];
- const value_type u2 = traj_.derivative (t, 2)[2];
- const value_type u3 = orthogonalSpeed.gradient (t_)[0];
- res_ +=
- alpha_[0]
- + alpha_[1] * u1 * u1
- + alpha_[2] * u2 * u2
- + alpha3_ * u3 * u3;
- }
-
- private:
- const T& traj_;
- const vector_t& alpha_;
- const double& alpha3_;
- double& res_;
- };
-
- void impl_compute (result_t& res, const argument_t& p) const throw ()
- {
- res.clear ();
-
- vector_t params = p;
- //normalizeAngle (params, 3, 2, true);
-
- boost::scoped_ptr<T> updatedTrajectory (trajectory_.clone ());
- updatedTrajectory->setParameters (params);
-
- discreteInterval_t interval =
- makeDiscreteInterval (updatedTrajectory->timeRange (), .1);
-
- ComputeIntegral ci (*updatedTrajectory, alpha_, alpha3_, res[0]);
- foreach (interval, ci);
- }
-
- void impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
- const throw ()
- {
- FiniteDifferenceGradient fdfunction (*this);
- fdfunction.gradient (grad, p, 0);
- }
-
- private:
-
- value_type alpha3 (value_type deltaTheta, value_type dsquare) const throw ()
- {
- const value_type ksi1 = M_PI / 18.;
- const value_type ksi2 = .5;
-
- return alpha_[3] * (1. + (deltaTheta / ksi1)) * (1 + (dsquare / ksi2));
- }
-
- const T& trajectory_;
- const vector_t alpha_;
- value_type alpha3_;
- };
-} // end of namespace roboptim.
-
-
-template <typename T>
-Command displayComponents (const T& traj,
- typename T::value_type step = .01);
-
-template <typename T>
-Command displaySpeeds (const T& traj,
- typename T::value_type step = .01);
-
-template <typename T>
-Command displayComponents (const T& traj,
- typename T::value_type step)
-{
- using boost::format;
- assert (traj.outputSize () == 3);
- Function::value_type min = Function::getLowerBound (traj.timeRange ());
- Function::value_type max = Function::getUpperBound (traj.timeRange ());
- Function::discreteInterval_t interval (min, max, step);
-
- if (min + step > max)
- throw std::string ("bad interval");
-
- std::string str = (boost::format ("plot '-' title '%1% (0)' with lines")
- % traj.getName ()).str ();
- for (unsigned i = 1; i < traj.outputSize (); ++i)
- {
- str += (format (", '-' title '%1% (%2%)' with lines")
- % traj.getName ()
- % i).str ();
- }
- str += "\n";
- for (unsigned component = 0; component < traj.outputSize (); ++component)
- {
- for (double i = step; i < 1. - step; i += step)
- {
- StableTimePoint timePoint = i * tMax;
- Function::vector_t res = traj (timePoint);
- str += (format ("%1f %2f\n")
- % timePoint.getTime (traj.timeRange ())
- % res [component]).str ();
- }
- str += "e\n";
- }
- return Command (str);
-}
-
-template <typename T>
-Command displaySpeeds (const T& traj,
- typename T::value_type step)
-{
- using boost::format;
- assert (traj.outputSize () == 3);
- Function::value_type min = Function::getLowerBound (traj.timeRange ());
- Function::value_type max = Function::getUpperBound (traj.timeRange ());
- Function::discreteInterval_t interval (min, max, step);
-
- if (min + step > max)
- throw std::string ("bad interval");
-
- std::string str =
- (boost::format ("plot '-' title '%1% (frontal)' with lines, "
- "'-' title '%1% (orthogonal)' with lines\n")
- % traj.getName ()).str ();
-
- {
- FrontalSpeed<T> frontalSpeed (traj);
- for (double i = step; i < 1. - step; i += step)
- {
- StableTimePoint timePoint = i * tMax;
- Function::vector_t t_ (1);
- t_[0] = timePoint.getTime (traj.timeRange ());
-
- str += (format ("%1f %2f\n")
- % t_[0]
- % frontalSpeed (t_)[0]).str ();
- }
- str += "e\n";
- }
-
- {
- OrthogonalSpeed<T> orthogonalSpeed (traj);
- for (double i = step; i < 1. - step; i += step)
- {
- StableTimePoint timePoint = i * tMax;
- Function::vector_t t_ (1);
- t_[0] = timePoint.getTime (traj.timeRange ());
-
- str += (format ("%1f %2f\n")
- % t_[0]
- % orthogonalSpeed (t_)[0]).str ();
- }
- str += "e\n";
- }
- return Command (str);
-}
-
-
-int run_test ()
-{
- using namespace boost;
- using namespace boost::assign;
-
- Spline::vector_t params (nControlPoints * configurationSpaceSize);
-
- const double dx = finalX - initialX;
- const double dy = finalY - initialY;
- const double dtheta = finalTheta - initialTheta;
-
- for (unsigned i = 0; i < nControlPoints; ++i)
- {
- params[i * configurationSpaceSize] = initialX;
- params[i * configurationSpaceSize + 1] = initialY;
- params[i * configurationSpaceSize + 2] = initialTheta;
-
- params[i * configurationSpaceSize] +=
- dx / (nControlPoints - 1) * i;
- params[i * configurationSpaceSize + 1] +=
- dy / (nControlPoints - 1) * i;
- params[i * configurationSpaceSize + 2] +=
- dtheta / (nControlPoints - 1) * i;
- }
-
- // Make trajectories.
- Spline::interval_t timeRange = Spline::makeInterval (0., 16.);
- Spline spline (timeRange, configurationSpaceSize, params, "before");
- freeTime_t freeTimeTraj (spline, 1.);
-
- // Define cost.
- Function::vector_t alpha (4);
- alpha[0] = 1.;
- alpha[1] = 10.;
- alpha[2] = 10.;
- alpha[3] = 5.;
- CostFunction<freeTime_t> cost (freeTimeTraj, alpha);
-
- // Create problem.
- solver_t::problem_t problem (cost);
- //problem.startingPoint () = freeTimeTraj.parameters ();
-
- // Scale has to remain positive.
- problem.argumentBounds ()[0] = Function::makeLowerInterval (.5);
-
- const freeTime_t::vector_t freeTimeParams = freeTimeTraj.parameters ();
-
- std::vector<Function::size_type> indices;
- indices.push_back (1);
- indices.push_back (2);
- indices.push_back (3);
- indices.push_back (freeTimeParams.size () - 3);
- indices.push_back (freeTimeParams.size () - 2);
- indices.push_back (freeTimeParams.size () - 1);
- makeFreeze (problem) (indices, freeTimeParams);
-
- SolverFactory<solver_t> factory ("cfsqp", problem);
- solver_t& solver = factory ();
-
- std::cerr << solver << std::endl;
-
- std::ofstream trajectoryStream ("trajectory.gp");
- Gnuplot gnuplotTraj = Gnuplot::make_interactive_gnuplot ();
- gnuplotTraj
- << set ("multiplot layout 2, 3 title 'trajectory'")
- << set ("grid")
- << plot_xy (spline)
- << displayComponents (spline)
- << displaySpeeds (spline);
-
- solver_t::result_t res = solver.minimum ();
- std::cerr << res << std::endl;
-
- FreeTimeTrajectory<Spline::derivabilityOrder> optimizedTrajectory =
- freeTimeTraj;
-
- switch (solver.minimumType ())
- {
- case GenericSolver::SOLVER_VALUE:
- {
- const Result& result = solver.getMinimum<Result> ();
- optimizedTrajectory.setParameters (result.x);
- break;
- }
-
- case GenericSolver::SOLVER_VALUE_WARNINGS:
- {
- const ResultWithWarnings& result =
- solver.getMinimum<ResultWithWarnings> ();
- optimizedTrajectory.setParameters (result.x);
- break;
- }
-
- case GenericSolver::SOLVER_NO_SOLUTION:
- case GenericSolver::SOLVER_ERROR:
- return 1;
- }
-
- Spline updatedSpline
- (optimizedTrajectory.timeRange (),
- configurationSpaceSize,
- removeScaleFromParameters (optimizedTrajectory.parameters ()),
- "after");
-
- std::cerr
- << "Final time range: " << updatedSpline.timeRange () << std::endl
- << "Final length: " << updatedSpline.length () << std::endl;
-
- gnuplotTraj << plot_xy (updatedSpline)
- << displayComponents (updatedSpline)
- << displaySpeeds (updatedSpline)
- << unset ("multiplot");
- trajectoryStream << gnuplotTraj;
-
- return 0;
-}
-
-GENERATE_TEST ()
-
diff --git a/tests/testsuite.at b/tests/testsuite.at
index 40d4bee..141f9fb 100644
--- a/tests/testsuite.at
+++ b/tests/testsuite.at
@@ -27,14 +27,37 @@ AT_COPYRIGHT(
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.])
-AT_BANNER([Shared tests])
+AT_BANNER([Simple tests])
CHECK_STDOUT([simple], [Check basic features.])
CHECK_STDOUT([spline], [Check Spline class.])
CHECK_STDOUT([spline-gradient], [Check Spline gradient.])
-CHECK_STDOUT([spline-optimization], [Optimize a Spline with Cfsqp.])
CHECK_STDOUT([free-time-trajectory], [Check free time trajectory.])
+
+AT_BANNER([Optimization (require solver plug-in)])
+CHECK_STDOUT([spline-optimization], [Optimize a Spline with Cfsqp.])
CHECK_STDOUT([spline-time-optimization], [Optimize a free time trajectory.])
-CHECK_STDOUT([complex-cost-function], [Optimize time using a complex cost function.],
- [false], [true])
+
+AT_BANNER([Long tests (disabled unless ALL_TESTS=1)])
+# Do ``ALL_TESTS=1 make check'' to run those tests,
+# expect one to three minutes per test case.
+
+ CHECK_STDOUT([anthropomorphic-cost-function-case-1],
+ [Optimize using anthropomorphic cost function (case 1).],
+ [! test 1 -eq "$ALL_TESTS"])
+ CHECK_STDOUT([anthropomorphic-cost-function-case-2],
+ [Optimize using anthropomorphic cost function (case 2).],
+ [! test 1 -eq "$ALL_TESTS"])
+ CHECK_STDOUT([anthropomorphic-cost-function-case-3],
+ [Optimize using anthropomorphic cost function (case 3).],
+ [! test 1 -eq "$ALL_TESTS"])
+ CHECK_STDOUT([anthropomorphic-cost-function-case-4],
+ [Optimize using anthropomorphic cost function (case 4).],
+ [! test 1 -eq "$ALL_TESTS"])
+ CHECK_STDOUT([anthropomorphic-cost-function-case-5],
+ [Optimize using anthropomorphic cost function (case 5).],
+ [! test 1 -eq "$ALL_TESTS"])
+ CHECK_STDOUT([anthropomorphic-cost-function-case-6],
+ [Optimize using anthropomorphic cost function (case 6).],
+ [! test 1 -eq "$ALL_TESTS"])
# End of testsuite.at
commit dd343fac898690c84cc559a0a0d3ba8594b85bc4
Author: Thomas Moulard <tho...@gm...>
Date: Thu Aug 6 14:26:11 2009 +0900
Regenerate.
* tests/spline-optimization.stdout: Regenerate.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 1623a59..2c12eec 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-08-06 Thomas Moulard <tho...@gm...>
+ Regenerate.
+ * tests/spline-optimization.stdout: Regenerate.
+
+2009-08-06 Thomas Moulard <tho...@gm...>
+
Add speed visualization.
* include/Makefile.am: Distribute new header.
* include/roboptim/trajectory/visualization/speed.hh: New.
diff --git a/tests/spline-optimization.stdout b/tests/spline-optimization.stdout
index 917825a..f8aa7e1 100644
--- a/tests/spline-optimization.stdout
+++ b/tests/spline-optimization.stdout
@@ -20,811 +20,205 @@ set terminal wxt persist
set multiplot layout 1,2
set grid
plot '-' title 'before' with line
-0.000000 0.000000
-0.000008 0.000033
-0.000065 0.000260
-0.000220 0.000879
0.000521 0.002083
-0.001017 0.004069
-0.001758 0.007031
-0.002791 0.011165
0.004167 0.016667
-0.005933 0.023730
-0.008138 0.032552
-0.010832 0.043327
0.014062 0.056250
-0.017879 0.071517
-0.022331 0.089323
-0.027466 0.109863
0.033333 0.133333
-0.039982 0.159928
-0.047461 0.189844
-0.055819 0.223275
0.065104 0.260417
-0.075366 0.301465
-0.086654 0.346615
-0.099015 0.396061
0.112500 0.450000
-0.127157 0.508626
-0.143034 0.572135
-0.160181 0.640723
0.178646 0.714583
-0.198478 0.793913
-0.219727 0.878906
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-89.930665 89.930665
-90.249046 90.249046
-90.562252 90.562252
90.870157 90.870157
-91.172633 91.172633
-91.469554 91.469554
-91.760793 91.760793
92.046223 92.046223
-92.325718 92.325718
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93.127318 93.127318
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94.107534 94.107534
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94.989815 94.989815
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95.779314 95.779314
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96.481187 96.481187
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97.100587 97.100587
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97.642670 97.642670
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99.814438 99.814438
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99.993127 99.993127
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-99.999893 99.999893
-99.999987 99.999987
-100.000000 100.000000
e
unset multiplot
commit c64367d70b9f2cd243d891e327c0052ed370a3d7
Author: Thomas Moulard <tho...@gm...>
Date: Thu Aug 6 14:25:50 2009 +0900
Add speed visualization.
* include/Makefile.am: Distribute new header.
* include/roboptim/trajectory/visualization/speed.hh: New.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index f67048d..1623a59 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-08-06 Thomas Moulard <tho...@gm...>
+ Add speed visualization.
+ * include/Makefile.am: Distribute new header.
+ * include/roboptim/trajectory/visualization/speed.hh: New.
+
+2009-08-06 Thomas Moulard <tho...@gm...>
+
Add plot_xytheta visualization function.
* include/roboptim/trajectory/visualization/trajectory.hh: Here.
diff --git a/include/Makefile.am b/include/Makefile.am
index d5831fc..cc81c10 100644
--- a/include/Makefile.am
+++ b/include/Makefile.am
@@ -31,4 +31,5 @@ nobase_include_HEADERS = \
nobase_include_HEADERS += \
roboptim/trajectory/visualization/limit-speed.hh \
- roboptim/trajectory/visualization/trajectory.hh
+ roboptim/trajectory/visualization/trajectory.hh \
+ roboptim/trajectory/visualization/speed.hh
diff --git a/include/roboptim/trajectory/visualization/speed.hh b/include/roboptim/trajectory/visualization/speed.hh
new file mode 100644
index 0000000..e04ef06
--- /dev/null
+++ b/include/roboptim/trajectory/visualization/speed.hh
@@ -0,0 +1,109 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef ROBOPTIM_TRAJECTORY_VISUALIZATION_SPEED_HH
+# define ROBOPTIM_TRAJECTORY_VISUALIZATION_SPEED_HH
+# include <boost/format.hpp>
+
+# include <roboptim/core/visualization/gnuplot-commands.hh>
+# include <roboptim/trajectory/trajectory.hh>
+# include <roboptim/trajectory/stable-time-point.hh>
+# include <roboptim/trajectory/frontal-speed.hh>
+# include <roboptim/trajectory/orthogonal-speed.hh>
+
+namespace roboptim
+{
+ namespace visualization
+ {
+ namespace gnuplot
+ {
+ template <typename T>
+ Command plot_speeds (const T& traj,
+ typename T::value_type step = .01);
+
+ template <typename T>
+ Command plot_speeds (const T& traj,
+ typename T::value_type step)
+ {
+ using boost::format;
+ assert (traj.outputSize () == 3);
+ Function::value_type min = Function::getLowerBound (traj.timeRange ());
+ F...
[truncated message content] |
|
From: Thomas M. <tho...@us...> - 2009-08-06 01:55:49
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via b89ab203726b88d848dcc73d0a19974cffd23cc4 (commit)
via e4b5e055fedcdbbea796c4a9e1906797c6a3a80d (commit)
from 446b079da8ecddba29ec5f6de1dfa7b124d97768 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit b89ab203726b88d848dcc73d0a19974cffd23cc4
Author: Thomas Moulard <tho...@gm...>
Date: Thu Aug 6 10:55:07 2009 +0900
Use stable time point when displaying trajectory.
Avoid display to take too much time when displaying a long trajectory
(usually happens with a free time trajectore with a low scale value).
* include/roboptim/trajectory/visualization/trajectory.hh: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 9894d9c..548a16d 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,12 @@
2009-08-06 Thomas Moulard <tho...@gm...>
+ Use stable time point when displaying trajectory.
+ Avoid display to take too much time when displaying a long trajectory
+ (usually happens with a free time trajectore with a low scale value).
+ * include/roboptim/trajectory/visualization/trajectory.hh: Here.
+
+2009-08-06 Thomas Moulard <tho...@gm...>
+
Add constraint function for frontal/orthogonal speed.
* include/roboptim/trajectory/frontal-speed.hh,
* include/roboptim/trajectory/frontal-speed.hxx:
diff --git a/include/roboptim/trajectory/visualization/trajectory.hh b/include/roboptim/trajectory/visualization/trajectory.hh
index 428056a..b0f959a 100644
--- a/include/roboptim/trajectory/visualization/trajectory.hh
+++ b/include/roboptim/trajectory/visualization/trajectory.hh
@@ -21,6 +21,7 @@
# include <roboptim/core/visualization/gnuplot-commands.hh>
# include <roboptim/trajectory/trajectory.hh>
+# include <roboptim/trajectory/stable-time-point.hh>
namespace roboptim
{
@@ -50,9 +51,6 @@ namespace roboptim
void operator () (const typename T::value_type t) const
{
- Function::vector_t res = traj_ (t);
- assert (res.size () >= 2);
- str_ += (boost::format ("%1f %2f\n") % res[0] % res [1]).str ();
}
private:
@@ -65,16 +63,25 @@ namespace roboptim
Command plot_xy (const Trajectory<N>& traj,
typename Trajectory<N>::value_type step)
{
+ using boost::format;
using namespace detail;
assert (traj.outputSize () >= 2);
Function::value_type min = Function::getLowerBound (traj.timeRange ());
Function::value_type max = Function::getUpperBound (traj.timeRange ());
Function::discreteInterval_t interval (min, max, step);
+ if (min + step > max)
+ throw std::string ("bad interval");
+
std::string str = (boost::format ("plot '-' title '%1%' with line\n")
% traj.getName ()).str ();
- traj.foreach (interval, PlotTrajectory<Trajectory<N> > (traj, str));
+ for (double i = step; i < 1. - step; i += step)
+ {
+ Function::vector_t res = traj (i * tMax);
+ str += (format ("%1f %2f\n") % res[0] % res [1]).str ();
+ }
+
str += "e\n";
return Command (str);
}
commit e4b5e055fedcdbbea796c4a9e1906797c6a3a80d
Author: Thomas Moulard <tho...@gm...>
Date: Thu Aug 6 10:53:20 2009 +0900
Add constraint function for frontal/orthogonal speed.
* include/roboptim/trajectory/frontal-speed.hh,
* include/roboptim/trajectory/frontal-speed.hxx:
Add LimitFrontalSpeed class.
* include/roboptim/trajectory/orthogonal-speed.hh,
* include/roboptim/trajectory/orthogonal-speed.hxx:
Add LimitOrthogonalSpeed class.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 54c6f48..9894d9c 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,13 @@
+2009-08-06 Thomas Moulard <tho...@gm...>
+
+ Add constraint function for frontal/orthogonal speed.
+ * include/roboptim/trajectory/frontal-speed.hh,
+ * include/roboptim/trajectory/frontal-speed.hxx:
+ Add LimitFrontalSpeed class.
+ * include/roboptim/trajectory/orthogonal-speed.hh,
+ * include/roboptim/trajectory/orthogonal-speed.hxx:
+ Add LimitOrthogonalSpeed class.
+
2009-08-05 Thomas Moulard <tho...@gm...>
Update test case.
diff --git a/include/roboptim/trajectory/frontal-speed.hh b/include/roboptim/trajectory/frontal-speed.hh
index a18e5fe..8f4c00c 100644
--- a/include/roboptim/trajectory/frontal-speed.hh
+++ b/include/roboptim/trajectory/frontal-speed.hh
@@ -28,7 +28,7 @@ namespace roboptim
class FrontalSpeed : public DerivableFunction
{
public:
- FrontalSpeed (const T& spline) throw ();
+ FrontalSpeed (const T& trajectory) throw ();
~FrontalSpeed () throw ();
protected:
@@ -38,6 +38,30 @@ namespace roboptim
private:
const T& trajectory_;
};
+
+
+ template <typename T>
+ class LimitFrontalSpeed : public DerivableFunction
+ {
+ public:
+ LimitFrontalSpeed (StableTimePoint timePoint,
+ const T& trajectory) throw ();
+ ~LimitFrontalSpeed () throw ();
+
+ template <typename F, typename CLIST>
+ static void addToProblem (const T&,
+ Problem<F, CLIST>&,
+ typename Function::interval_t,
+ unsigned);
+
+ protected:
+ void impl_compute (result_t& res, const argument_t& p) const throw ();
+ void impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
+ const throw ();
+ private:
+ StableTimePoint timePoint_;
+ const T& trajectory_;
+ };
} // end of namespace roboptim.
# include <roboptim/trajectory/frontal-speed.hxx>
diff --git a/include/roboptim/trajectory/frontal-speed.hxx b/include/roboptim/trajectory/frontal-speed.hxx
index 93cfb17..9357f95 100644
--- a/include/roboptim/trajectory/frontal-speed.hxx
+++ b/include/roboptim/trajectory/frontal-speed.hxx
@@ -79,6 +79,77 @@ namespace roboptim
std::cos (theta) * (ddx + dtheta * dy)
+ std::sin (theta) * (ddy - dtheta * dx);
}
+
+
+
+
+ template <typename T>
+ LimitFrontalSpeed<T>::LimitFrontalSpeed (StableTimePoint timePoint,
+ const T& trajectory) throw ()
+ : DerivableFunction (trajectory.parameters ().size (), 1,
+ (boost::format ("frontal speed limit (%1%)")
+ % timePoint.getAlpha ()).str ()),
+ timePoint_ (timePoint),
+ trajectory_ (trajectory)
+ {}
+
+ template <typename T>
+ LimitFrontalSpeed<T>::~LimitFrontalSpeed () throw ()
+ {}
+
+ template <typename T>
+ void
+ LimitFrontalSpeed<T>::impl_compute (result_t& res, const argument_t& p) const throw ()
+ {
+ using namespace boost::numeric::ublas;
+ res.clear ();
+
+ boost::scoped_ptr<T> updatedTrajectory (trajectory_.clone ());
+ updatedTrajectory->setParameters (p);
+
+ FrontalSpeed<T> frontalSpeed (*updatedTrajectory);
+ vector_t t (1);
+ t[0] = this->timePoint_.getTime (updatedTrajectory->timeRange ());
+ res = frontalSpeed (t);
+ }
+
+ template <typename T>
+ void
+ LimitFrontalSpeed<T>::impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
+ const throw ()
+ {
+ assert (i == 0);
+ grad.clear ();
+
+ //FIXME: compute gradient analytically.
+ FiniteDifferenceGradient fdfunction (*this);
+ fdfunction.gradient (grad, p, 0);
+ }
+
+ template <typename T>
+ template <typename F, typename CLIST>
+ void
+ LimitFrontalSpeed<T>::addToProblem (const T& trajectory,
+ Problem<F, CLIST>& problem,
+ typename Function::interval_t vRange,
+ unsigned nConstraints)
+ {
+ using namespace boost;
+ if (nConstraints == 0)
+ return;
+
+ const value_type delta = 1. / nConstraints;
+
+ for (double i = delta; i < 1. - delta; i += delta)
+ {
+ shared_ptr<LimitFrontalSpeed> speed
+ (new LimitFrontalSpeed (i * tMax, trajectory));
+ problem.addConstraint
+ (static_pointer_cast<DerivableFunction> (speed),
+ vRange);
+ }
+ }
+
} // end of namespace roboptim.
diff --git a/include/roboptim/trajectory/orthogonal-speed.hh b/include/roboptim/trajectory/orthogonal-speed.hh
index 73f36c6..3a08ad7 100644
--- a/include/roboptim/trajectory/orthogonal-speed.hh
+++ b/include/roboptim/trajectory/orthogonal-speed.hh
@@ -38,6 +38,30 @@ namespace roboptim
private:
const T& trajectory_;
};
+
+ template <typename T>
+ class LimitOrthogonalSpeed : public DerivableFunction
+ {
+ public:
+ LimitOrthogonalSpeed (StableTimePoint timePoint,
+ const T& trajectory) throw ();
+ ~LimitOrthogonalSpeed () throw ();
+
+ template <typename F, typename CLIST>
+ static void addToProblem (const T&,
+ Problem<F, CLIST>&,
+ typename Function::interval_t,
+ unsigned);
+
+ protected:
+ void impl_compute (result_t& res, const argument_t& p) const throw ();
+ void impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
+ const throw ();
+ private:
+ StableTimePoint timePoint_;
+ const T& trajectory_;
+ };
+
} // end of namespace roboptim.
# include <roboptim/trajectory/orthogonal-speed.hxx>
diff --git a/include/roboptim/trajectory/orthogonal-speed.hxx b/include/roboptim/trajectory/orthogonal-speed.hxx
index bf44954..bbcb020 100644
--- a/include/roboptim/trajectory/orthogonal-speed.hxx
+++ b/include/roboptim/trajectory/orthogonal-speed.hxx
@@ -79,6 +79,75 @@ namespace roboptim
std::cos (theta) * (ddy - dtheta * dx)
- std::sin (theta) * (ddx + dtheta * dy);
}
+
+
+ template <typename T>
+ LimitOrthogonalSpeed<T>::LimitOrthogonalSpeed (StableTimePoint timePoint,
+ const T& trajectory) throw ()
+ : DerivableFunction (trajectory.parameters ().size (), 1,
+ (boost::format ("frontal speed limit (%1%)")
+ % timePoint.getAlpha ()).str ()),
+ timePoint_ (timePoint),
+ trajectory_ (trajectory)
+ {}
+
+ template <typename T>
+ LimitOrthogonalSpeed<T>::~LimitOrthogonalSpeed () throw ()
+ {}
+
+ template <typename T>
+ void
+ LimitOrthogonalSpeed<T>::impl_compute (result_t& res, const argument_t& p) const throw ()
+ {
+ using namespace boost::numeric::ublas;
+ res.clear ();
+
+ boost::scoped_ptr<T> updatedTrajectory (trajectory_.clone ());
+ updatedTrajectory->setParameters (p);
+
+ OrthogonalSpeed<T> frontalSpeed (*updatedTrajectory);
+ vector_t t (1);
+ t[0] = this->timePoint_.getTime (updatedTrajectory->timeRange ());
+ res = frontalSpeed (t);
+ }
+
+ template <typename T>
+ void
+ LimitOrthogonalSpeed<T>::impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
+ const throw ()
+ {
+ assert (i == 0);
+ grad.clear ();
+
+ //FIXME: compute gradient analytically.
+ FiniteDifferenceGradient fdfunction (*this);
+ fdfunction.gradient (grad, p, 0);
+ }
+
+ template <typename T>
+ template <typename F, typename CLIST>
+ void
+ LimitOrthogonalSpeed<T>::addToProblem (const T& trajectory,
+ Problem<F, CLIST>& problem,
+ typename Function::interval_t vRange,
+ unsigned nConstraints)
+ {
+ using namespace boost;
+ if (nConstraints == 0)
+ return;
+
+ const value_type delta = 1. / nConstraints;
+
+ for (double i = delta; i < 1. - delta; i += delta)
+ {
+ shared_ptr<LimitOrthogonalSpeed> speed
+ (new LimitOrthogonalSpeed (i * tMax, trajectory));
+ problem.addConstraint
+ (static_pointer_cast<DerivableFunction> (speed),
+ vRange);
+ }
+ }
+
} // end of namespace roboptim.
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 17 +++++
include/roboptim/trajectory/frontal-speed.hh | 26 +++++++-
include/roboptim/trajectory/frontal-speed.hxx | 71 ++++++++++++++++++++
include/roboptim/trajectory/orthogonal-speed.hh | 24 +++++++
include/roboptim/trajectory/orthogonal-speed.hxx | 69 +++++++++++++++++++
.../trajectory/visualization/trajectory.hh | 15 +++-
6 files changed, 217 insertions(+), 5 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-08-05 10:27:13
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via 446b079da8ecddba29ec5f6de1dfa7b124d97768 (commit)
via 039b3c468ee818fbe7e45adb59bcdcbe41a06c35 (commit)
from 3d498c506a744e5483a718a2d170e32904eb3d28 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 446b079da8ecddba29ec5f6de1dfa7b124d97768
Author: Thomas Moulard <tho...@gm...>
Date: Wed Aug 5 19:26:34 2009 +0900
Update test case.
* tests/complex-cost-function.cc: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 3ddc800..54c6f48 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-08-05 Thomas Moulard <tho...@gm...>
+ Update test case.
+ * tests/complex-cost-function.cc: Here.
+
+2009-08-05 Thomas Moulard <tho...@gm...>
+
Fix frontal/orthogonal speed computation.
* include/roboptim/trajectory/frontal-speed.hxx,
* include/roboptim/trajectory/orthogonal-speed.hxx: Fix computation.
diff --git a/tests/complex-cost-function.cc b/tests/complex-cost-function.cc
index a480ed6..7154738 100644
--- a/tests/complex-cost-function.cc
+++ b/tests/complex-cost-function.cc
@@ -32,7 +32,6 @@
#include <roboptim/trajectory/frontal-speed.hh>
#include <roboptim/trajectory/fwd.hh>
#include <roboptim/trajectory/orthogonal-speed.hh>
-#include <roboptim/trajectory/spline-length.hh>
#include <roboptim/trajectory/spline.hh>
#include <roboptim/trajectory/trajectory-cost.hh>
@@ -53,15 +52,40 @@ typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
// Problem parameters.
const unsigned configurationSpaceSize = 3;
const unsigned nControlPoints = 11;
-const unsigned nDiscretizationPoints = 10;
-const unsigned nConstraintsPerCtrlPts = 0;
-const double finalX = 200.;
-const double finalY = 200.;
-const double finalTheta = 3.14;
+const double initialX = 0.;
+const double initialY = 0.;
+const double initialTheta = M_PI / 2.;
+
+const double finalX = 5.;
+const double finalY = 0.;
+const double finalTheta = M_PI / 2.;
namespace roboptim
{
+ void normalizeAngle (Function::vector_t& parameters,
+ unsigned configurationSize,
+ unsigned thetaIdx,
+ bool isFreeTime);
+
+ void normalizeAngle (Function::vector_t& parameters,
+ unsigned configurationSize,
+ unsigned thetaIdx,
+ bool isFreeTime)
+ {
+ double thetaPrev = 0.;
+ double offset = isFreeTime ? 1. : 0.;
+ for (unsigned i = offset; i < parameters.size () / configurationSize; ++i)
+ {
+ double& theta = parameters[offset + i * configurationSize + thetaIdx];
+ if (theta - thetaPrev > M_PI)
+ theta -= M_PI * 2;
+ else if (theta - thetaPrev < -M_PI)
+ theta += M_PI * 2;
+ thetaPrev = theta;
+ }
+ }
+
// Cost function from ``An optimal control model unifying holonomic
// and nonholonomic walking'' Katja Mombaur, Jean-Paul Laumond,
// Eiichi Yoshida
@@ -77,46 +101,73 @@ namespace roboptim
alpha_ (alpha),
alpha3_ ()
{
+ vector_t p = trajectory.parameters ();
+ //normalizeAngle (p, 3, 2, true);
+
//FIXME: +1 as we're doing free time trajectory.
//should be generic.
- const vector_t& p = trajectory.parameters ();
- const value_type dx = p[1 + 0] - p[p.size () - 3];
- const value_type dy = p[1 + 1] - p[p.size () - 2];
+ const value_type dx = p[p.size () - 3] - p[1 + 0];
+ const value_type dy = p[p.size () - 2] - p[1 + 1];
const value_type dtheta = p[p.size () - 1] - p[1 + 2];
- alpha3_ = this->alpha3 (dtheta, std::sqrt (dx * dx + dy * dy));
+ alpha3_ = this->alpha3 (std::fabs (dtheta), dx * dx + dy * dy);
}
~CostFunction () throw ()
{}
protected:
+ struct ComputeIntegral
+ {
+ ComputeIntegral (const T& traj,
+ const vector_t& alpha,
+ const double& alpha3,
+ double& res)
+ : traj_ (traj),
+ alpha_ (alpha),
+ alpha3_ (alpha3),
+ res_ (res)
+ {}
+
+ void operator () (const double& t)
+ {
+ FrontalSpeed<T> frontalSpeed (traj_);
+ OrthogonalSpeed<T> orthogonalSpeed (traj_);
+
+ vector_t t_ (1);
+ t_[0] = t;
+ const value_type u1 = frontalSpeed.gradient (t_)[0];
+ const value_type u2 = traj_.derivative (t, 2)[2];
+ const value_type u3 = orthogonalSpeed.gradient (t_)[0];
+ res_ +=
+ alpha_[0]
+ + alpha_[1] * u1 * u1
+ + alpha_[2] * u2 * u2
+ + alpha3_ * u3 * u3;
+ }
+
+ private:
+ const T& traj_;
+ const vector_t& alpha_;
+ const double& alpha3_;
+ double& res_;
+ };
+
void impl_compute (result_t& res, const argument_t& p) const throw ()
{
res.clear ();
- boost::scoped_ptr<T> updatedTrajectory (trajectory_.clone ());
- updatedTrajectory->setParameters (p);
+ vector_t params = p;
+ //normalizeAngle (params, 3, 2, true);
- const value_type delta = 1. / nDiscretizationPoints;
+ boost::scoped_ptr<T> updatedTrajectory (trajectory_.clone ());
+ updatedTrajectory->setParameters (params);
- for (double i = 0.; i < 1.; i += delta)
- {
- FrontalSpeed<T> frontalSpeed (*updatedTrajectory);
- OrthogonalSpeed<T> orthogonalSpeed (*updatedTrajectory);
+ discreteInterval_t interval =
+ makeDiscreteInterval (updatedTrajectory->timeRange (), .1);
- StableTimePoint timePoint = i * tMax;
- vector_t t (1);
- t[0] = timePoint.getTime (updatedTrajectory->timeRange ());
- const value_type u1 = frontalSpeed.gradient (t)[0];
- const value_type u2 = updatedTrajectory->derivative (i * tMax, 2)[2];
- const value_type u3 = orthogonalSpeed.gradient (t)[0];
- res[0] +=
- alpha_[0]
- + alpha_[1] * u1 * u1
- + alpha_[2] * u2 * u2
- + alpha3_ * u3 * u3;
- }
+ ComputeIntegral ci (*updatedTrajectory, alpha_, alpha3_, res[0]);
+ foreach (interval, ci);
}
void impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
@@ -128,12 +179,12 @@ namespace roboptim
private:
- value_type alpha3 (value_type deltaTheta, value_type d) const throw ()
+ value_type alpha3 (value_type deltaTheta, value_type dsquare) const throw ()
{
- const value_type ksi1 = 0.174532925;
- const value_type ksi2 = 0.5;
+ const value_type ksi1 = M_PI / 18.;
+ const value_type ksi2 = .5;
- return alpha_[3] * (1. + (deltaTheta / ksi1)) * (1 + ((d * d) / ksi2));
+ return alpha_[3] * (1. + (deltaTheta / ksi1)) * (1 + (dsquare / ksi2));
}
const T& trajectory_;
@@ -142,6 +193,103 @@ namespace roboptim
};
} // end of namespace roboptim.
+
+template <typename T>
+Command displayComponents (const T& traj,
+ typename T::value_type step = .01);
+
+template <typename T>
+Command displaySpeeds (const T& traj,
+ typename T::value_type step = .01);
+
+template <typename T>
+Command displayComponents (const T& traj,
+ typename T::value_type step)
+{
+ using boost::format;
+ assert (traj.outputSize () == 3);
+ Function::value_type min = Function::getLowerBound (traj.timeRange ());
+ Function::value_type max = Function::getUpperBound (traj.timeRange ());
+ Function::discreteInterval_t interval (min, max, step);
+
+ if (min + step > max)
+ throw std::string ("bad interval");
+
+ std::string str = (boost::format ("plot '-' title '%1% (0)' with lines")
+ % traj.getName ()).str ();
+ for (unsigned i = 1; i < traj.outputSize (); ++i)
+ {
+ str += (format (", '-' title '%1% (%2%)' with lines")
+ % traj.getName ()
+ % i).str ();
+ }
+ str += "\n";
+ for (unsigned component = 0; component < traj.outputSize (); ++component)
+ {
+ for (double i = step; i < 1. - step; i += step)
+ {
+ StableTimePoint timePoint = i * tMax;
+ Function::vector_t res = traj (timePoint);
+ str += (format ("%1f %2f\n")
+ % timePoint.getTime (traj.timeRange ())
+ % res [component]).str ();
+ }
+ str += "e\n";
+ }
+ return Command (str);
+}
+
+template <typename T>
+Command displaySpeeds (const T& traj,
+ typename T::value_type step)
+{
+ using boost::format;
+ assert (traj.outputSize () == 3);
+ Function::value_type min = Function::getLowerBound (traj.timeRange ());
+ Function::value_type max = Function::getUpperBound (traj.timeRange ());
+ Function::discreteInterval_t interval (min, max, step);
+
+ if (min + step > max)
+ throw std::string ("bad interval");
+
+ std::string str =
+ (boost::format ("plot '-' title '%1% (frontal)' with lines, "
+ "'-' title '%1% (orthogonal)' with lines\n")
+ % traj.getName ()).str ();
+
+ {
+ FrontalSpeed<T> frontalSpeed (traj);
+ for (double i = step; i < 1. - step; i += step)
+ {
+ StableTimePoint timePoint = i * tMax;
+ Function::vector_t t_ (1);
+ t_[0] = timePoint.getTime (traj.timeRange ());
+
+ str += (format ("%1f %2f\n")
+ % t_[0]
+ % frontalSpeed (t_)[0]).str ();
+ }
+ str += "e\n";
+ }
+
+ {
+ OrthogonalSpeed<T> orthogonalSpeed (traj);
+ for (double i = step; i < 1. - step; i += step)
+ {
+ StableTimePoint timePoint = i * tMax;
+ Function::vector_t t_ (1);
+ t_[0] = timePoint.getTime (traj.timeRange ());
+
+ str += (format ("%1f %2f\n")
+ % t_[0]
+ % orthogonalSpeed (t_)[0]).str ();
+ }
+ str += "e\n";
+ }
+ return Command (str);
+}
+
+
int run_test ()
{
using namespace boost;
@@ -149,32 +297,43 @@ int run_test ()
Spline::vector_t params (nControlPoints * configurationSpaceSize);
+ const double dx = finalX - initialX;
+ const double dy = finalY - initialY;
+ const double dtheta = finalTheta - initialTheta;
+
for (unsigned i = 0; i < nControlPoints; ++i)
{
- params[i * configurationSpaceSize] = finalX / (nControlPoints - 1) * i;
- params[i * configurationSpaceSize + 1] = finalY / (nControlPoints - 1) * i;
- params[i * configurationSpaceSize + 2] = finalTheta / (nControlPoints - 1) * i;
+ params[i * configurationSpaceSize] = initialX;
+ params[i * configurationSpaceSize + 1] = initialY;
+ params[i * configurationSpaceSize + 2] = initialTheta;
+
+ params[i * configurationSpaceSize] +=
+ dx / (nControlPoints - 1) * i;
+ params[i * configurationSpaceSize + 1] +=
+ dy / (nControlPoints - 1) * i;
+ params[i * configurationSpaceSize + 2] +=
+ dtheta / (nControlPoints - 1) * i;
}
// Make trajectories.
- Spline::interval_t timeRange = Spline::makeInterval (0., 4.);
+ Spline::interval_t timeRange = Spline::makeInterval (0., 16.);
Spline spline (timeRange, configurationSpaceSize, params, "before");
freeTime_t freeTimeTraj (spline, 1.);
// Define cost.
Function::vector_t alpha (4);
alpha[0] = 1.;
- alpha[1] = 1.;
- alpha[2] = .5;
- alpha[3] = 2.;
+ alpha[1] = 10.;
+ alpha[2] = 10.;
+ alpha[3] = 5.;
CostFunction<freeTime_t> cost (freeTimeTraj, alpha);
// Create problem.
solver_t::problem_t problem (cost);
- problem.startingPoint () = freeTimeTraj.parameters ();
+ //problem.startingPoint () = freeTimeTraj.parameters ();
// Scale has to remain positive.
- problem.argumentBounds ()[0] = Function::makeLowerInterval (0.);
+ problem.argumentBounds ()[0] = Function::makeLowerInterval (.5);
const freeTime_t::vector_t freeTimeParams = freeTimeTraj.parameters ();
@@ -195,9 +354,11 @@ int run_test ()
std::ofstream trajectoryStream ("trajectory.gp");
Gnuplot gnuplotTraj = Gnuplot::make_interactive_gnuplot ();
gnuplotTraj
- << set ("multiplot layout 1, 2 title 'trajectory'")
+ << set ("multiplot layout 2, 3 title 'trajectory'")
<< set ("grid")
- << plot_xy (spline);
+ << plot_xy (spline)
+ << displayComponents (spline)
+ << displaySpeeds (spline);
solver_t::result_t res = solver.minimum ();
std::cerr << res << std::endl;
@@ -233,8 +394,15 @@ int run_test ()
removeScaleFromParameters (optimizedTrajectory.parameters ()),
"after");
- gnuplotTraj << plot_xy (updatedSpline, updatedSpline.length () / 100);
- trajectoryStream << (gnuplotTraj << unset ("multiplot"));
+ std::cerr
+ << "Final time range: " << updatedSpline.timeRange () << std::endl
+ << "Final length: " << updatedSpline.length () << std::endl;
+
+ gnuplotTraj << plot_xy (updatedSpline)
+ << displayComponents (updatedSpline)
+ << displaySpeeds (updatedSpline)
+ << unset ("multiplot");
+ trajectoryStream << gnuplotTraj;
return 0;
}
commit 039b3c468ee818fbe7e45adb59bcdcbe41a06c35
Author: Thomas Moulard <tho...@gm...>
Date: Wed Aug 5 15:28:52 2009 +0900
Fix frontal/orthogonal speed computation.
* include/roboptim/trajectory/frontal-speed.hxx,
* include/roboptim/trajectory/orthogonal-speed.hxx: Fix computation.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 67905b4..3ddc800 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,9 @@
+2009-08-05 Thomas Moulard <tho...@gm...>
+
+ Fix frontal/orthogonal speed computation.
+ * include/roboptim/trajectory/frontal-speed.hxx,
+ * include/roboptim/trajectory/orthogonal-speed.hxx: Fix computation.
+
2009-08-04 Thomas Moulard <tho...@gm...>
Fix test case.
diff --git a/include/roboptim/trajectory/frontal-speed.hxx b/include/roboptim/trajectory/frontal-speed.hxx
index f711236..93cfb17 100644
--- a/include/roboptim/trajectory/frontal-speed.hxx
+++ b/include/roboptim/trajectory/frontal-speed.hxx
@@ -52,7 +52,7 @@ namespace roboptim
const value_type& xdot = speed[0];
const value_type& ydot = speed[1];
- res[0] = std::sin (theta) * ydot - std::cos (theta) * xdot;
+ res[0] = std::cos (theta) * xdot + std::sin (theta) * ydot;
}
template <typename T>
@@ -60,6 +60,7 @@ namespace roboptim
FrontalSpeed<T>::impl_gradient (gradient_t& grad, const argument_t& t, size_type i)
const throw ()
{
+
grad.clear ();
result_t position = trajectory_ (t[0]);
@@ -74,8 +75,9 @@ namespace roboptim
const value_type& ddx = acceleration[0];
const value_type& ddy = acceleration[1];
- grad[0] = dtheta * (std::cos (theta) * (dy - ddx)
- + std::sin (theta) * (dx + ddy));
+ grad[0] =
+ std::cos (theta) * (ddx + dtheta * dy)
+ + std::sin (theta) * (ddy - dtheta * dx);
}
} // end of namespace roboptim.
diff --git a/include/roboptim/trajectory/orthogonal-speed.hxx b/include/roboptim/trajectory/orthogonal-speed.hxx
index 5597cbb..bf44954 100644
--- a/include/roboptim/trajectory/orthogonal-speed.hxx
+++ b/include/roboptim/trajectory/orthogonal-speed.hxx
@@ -53,7 +53,7 @@ namespace roboptim
const value_type& xdot = speed[0];
const value_type& ydot = speed[1];
- res[0] = std::cos (theta) * ydot + std::sin (theta) * xdot;
+ res[0] = std::cos (theta) * ydot - std::sin (theta) * xdot;
}
template <typename T>
@@ -75,8 +75,9 @@ namespace roboptim
const value_type& ddx = acceleration[0];
const value_type& ddy = acceleration[1];
- grad[0] = dtheta * (std::cos (theta) * (ddy + dx)
- + std::sin (theta) * (ddx - dy));
+ grad[0] =
+ std::cos (theta) * (ddy - dtheta * dx)
+ - std::sin (theta) * (ddx + dtheta * dy);
}
} // end of namespace roboptim.
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 11 +
include/roboptim/trajectory/frontal-speed.hxx | 8 +-
include/roboptim/trajectory/orthogonal-speed.hxx | 7 +-
tests/complex-cost-function.cc | 260 ++++++++++++++++++----
4 files changed, 234 insertions(+), 52 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-08-04 08:47:07
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via 3d498c506a744e5483a718a2d170e32904eb3d28 (commit)
via 61dcb996cf6ac63c7693b55f4360e17ed8df817d (commit)
from 2ddf255b5c6c2b32281f942e5cb39b254960b34e (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 3d498c506a744e5483a718a2d170e32904eb3d28
Author: Thomas Moulard <tho...@gm...>
Date: Tue Aug 4 17:46:32 2009 +0900
Fix test case.
* tests/complex-cost-function.cc: Remove useless constraints.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index b9125a7..67905b4 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-08-04 Thomas Moulard <tho...@gm...>
+ Fix test case.
+ * tests/complex-cost-function.cc: Remove useless constraints.
+
+2009-08-04 Thomas Moulard <tho...@gm...>
+
Make time input argument of frontal/orthogonal speed.
* include/roboptim/trajectory/frontal-speed.hh,
* include/roboptim/trajectory/frontal-speed.hxx,
diff --git a/tests/complex-cost-function.cc b/tests/complex-cost-function.cc
index b90f961..a480ed6 100644
--- a/tests/complex-cost-function.cc
+++ b/tests/complex-cost-function.cc
@@ -31,13 +31,11 @@
#include <roboptim/trajectory/freeze.hh>
#include <roboptim/trajectory/frontal-speed.hh>
#include <roboptim/trajectory/fwd.hh>
-#include <roboptim/trajectory/limit-speed.hh>
#include <roboptim/trajectory/orthogonal-speed.hh>
#include <roboptim/trajectory/spline-length.hh>
#include <roboptim/trajectory/spline.hh>
#include <roboptim/trajectory/trajectory-cost.hh>
-#include <roboptim/trajectory/visualization/limit-speed.hh>
#include <roboptim/trajectory/visualization/trajectory.hh>
#include <roboptim/core/plugin/cfsqp.hh>
@@ -62,8 +60,6 @@ const double finalX = 200.;
const double finalY = 200.;
const double finalTheta = 3.14;
-const double vMax = 200.;
-
namespace roboptim
{
// Cost function from ``An optimal control model unifying holonomic
@@ -106,12 +102,15 @@ namespace roboptim
for (double i = 0.; i < 1.; i += delta)
{
- FrontalSpeed<T> frontalSpeed (i * tMax, *updatedTrajectory);
- OrthogonalSpeed<T> orthogonalSpeed (i * tMax, *updatedTrajectory);
+ FrontalSpeed<T> frontalSpeed (*updatedTrajectory);
+ OrthogonalSpeed<T> orthogonalSpeed (*updatedTrajectory);
- const value_type u1 = frontalSpeed.gradient (p)[0];
+ StableTimePoint timePoint = i * tMax;
+ vector_t t (1);
+ t[0] = timePoint.getTime (updatedTrajectory->timeRange ());
+ const value_type u1 = frontalSpeed.gradient (t)[0];
const value_type u2 = updatedTrajectory->derivative (i * tMax, 2)[2];
- const value_type u3 = orthogonalSpeed.gradient (p)[0];
+ const value_type u3 = orthogonalSpeed.gradient (t)[0];
res[0] +=
alpha_[0]
+ alpha_[1] * u1 * u1
@@ -188,25 +187,12 @@ int run_test ()
indices.push_back (freeTimeParams.size () - 1);
makeFreeze (problem) (indices, freeTimeParams);
- Function::interval_t vRange = Function::makeUpperInterval (.5 * vMax * vMax);
- LimitSpeed<FreeTimeTrajectory<Spline::derivabilityOrder> >::addToProblem
- (freeTimeTraj, problem, vRange, nControlPoints * nConstraintsPerCtrlPts);
-
- std::ofstream trajectoryStream ("trajectory.gp");
- std::ofstream limitSpeedStream ("limit-speed.gp");
- Gnuplot gnuplot = Gnuplot::make_interactive_gnuplot ();
-
- gnuplot
- << set ("multiplot layout 1,2 title "
- "'variation of speed before and after optimization'")
- << set ("grid");
- gnuplot << plot_limitSpeed (freeTimeTraj, vMax);
-
SolverFactory<solver_t> factory ("cfsqp", problem);
solver_t& solver = factory ();
std::cerr << solver << std::endl;
+ std::ofstream trajectoryStream ("trajectory.gp");
Gnuplot gnuplotTraj = Gnuplot::make_interactive_gnuplot ();
gnuplotTraj
<< set ("multiplot layout 1, 2 title 'trajectory'")
@@ -247,12 +233,9 @@ int run_test ()
removeScaleFromParameters (optimizedTrajectory.parameters ()),
"after");
- gnuplotTraj << plot_xy (updatedSpline);
+ gnuplotTraj << plot_xy (updatedSpline, updatedSpline.length () / 100);
trajectoryStream << (gnuplotTraj << unset ("multiplot"));
- gnuplot << plot_limitSpeed (optimizedTrajectory, vMax);
- limitSpeedStream << (gnuplot << unset ("multiplot"));
-
return 0;
}
commit 61dcb996cf6ac63c7693b55f4360e17ed8df817d
Author: Thomas Moulard <tho...@gm...>
Date: Tue Aug 4 17:45:55 2009 +0900
Make time input argument of frontal/orthogonal speed.
* include/roboptim/trajectory/frontal-speed.hh,
* include/roboptim/trajectory/frontal-speed.hxx,
* include/roboptim/trajectory/orthogonal-speed.hh,
* include/roboptim/trajectory/orthogonal-speed.hxx:
Make time input argument of frontal/argument speed.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index a21dffa..b9125a7 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,14 @@
2009-08-04 Thomas Moulard <tho...@gm...>
+ Make time input argument of frontal/orthogonal speed.
+ * include/roboptim/trajectory/frontal-speed.hh,
+ * include/roboptim/trajectory/frontal-speed.hxx,
+ * include/roboptim/trajectory/orthogonal-speed.hh,
+ * include/roboptim/trajectory/orthogonal-speed.hxx:
+ Make time input argument of frontal/argument speed.
+
+2009-08-04 Thomas Moulard <tho...@gm...>
+
Fix computation error in frontal speed.
* include/roboptim/trajectory/frontal-speed.hxx: Here.
diff --git a/include/roboptim/trajectory/frontal-speed.hh b/include/roboptim/trajectory/frontal-speed.hh
index 6e28117..a18e5fe 100644
--- a/include/roboptim/trajectory/frontal-speed.hh
+++ b/include/roboptim/trajectory/frontal-speed.hh
@@ -21,7 +21,6 @@
# include <roboptim/core/derivable-function.hh>
# include <roboptim/trajectory/fwd.hh>
-# include <roboptim/trajectory/stable-time-point.hh>
namespace roboptim
{
@@ -29,24 +28,14 @@ namespace roboptim
class FrontalSpeed : public DerivableFunction
{
public:
-
- FrontalSpeed (StableTimePoint timePoint, const T& spline) throw ();
+ FrontalSpeed (const T& spline) throw ();
~FrontalSpeed () throw ();
- const T& trajectory () const throw ();
-
- template <typename F, typename CLIST>
- static void addToProblem (const T&,
- Problem<F, CLIST>&,
- typename Function::interval_t,
- unsigned);
-
protected:
- void impl_compute (result_t& res, const argument_t& p) const throw ();
- void impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
+ void impl_compute (result_t& res, const argument_t& t) const throw ();
+ void impl_gradient (gradient_t& grad, const argument_t& t, size_type i)
const throw ();
private:
- StableTimePoint timePoint_;
const T& trajectory_;
};
} // end of namespace roboptim.
diff --git a/include/roboptim/trajectory/frontal-speed.hxx b/include/roboptim/trajectory/frontal-speed.hxx
index 54d07ad..f711236 100644
--- a/include/roboptim/trajectory/frontal-speed.hxx
+++ b/include/roboptim/trajectory/frontal-speed.hxx
@@ -28,24 +28,9 @@
namespace roboptim
{
- namespace detail
- {
- std::string getFrontalSpeedName (const StableTimePoint& timePoint);
-
- std::string getFrontalSpeedName (const StableTimePoint& timePoint)
- {
- using boost::format;
- return (format ("frontal speed (%1%)") % timePoint.getAlpha ()).str ();
- }
- }
-
-
template <typename T>
- FrontalSpeed<T>::FrontalSpeed (StableTimePoint timePoint,
- const T& trajectory) throw ()
- : DerivableFunction (trajectory.parameters ().size (), 1,
- detail::getFrontalSpeedName (timePoint)),
- timePoint_ (timePoint),
+ FrontalSpeed<T>::FrontalSpeed (const T& trajectory) throw ()
+ : DerivableFunction (1, 1, "frontal speed"),
trajectory_ (trajectory)
{}
@@ -54,65 +39,43 @@ namespace roboptim
{}
template <typename T>
- const T&
- FrontalSpeed<T>::trajectory () const throw ()
- {
- return trajectory_;
- }
-
- template <typename T>
void
- FrontalSpeed<T>::impl_compute (result_t& res, const argument_t& p) const throw ()
+ FrontalSpeed<T>::impl_compute (result_t& res, const argument_t& t) const throw ()
{
using namespace boost::numeric::ublas;
res.clear ();
- boost::scoped_ptr<T> updatedTrajectory (trajectory_.clone ());
- updatedTrajectory->setParameters (p);
-
- result_t position = (*updatedTrajectory) (timePoint_);
- // const value_type& x = position[0];
- // const value_type& y = position[1];
+ result_t position = trajectory_ (t[0]);
const value_type& theta = position[2];
- gradient_t speed = updatedTrajectory->derivative (timePoint_, 1);
+ gradient_t speed = trajectory_.derivative (t[0], 1);
const value_type& xdot = speed[0];
const value_type& ydot = speed[1];
- // const value_type& thetadot = speed[2];
res[0] = std::sin (theta) * ydot - std::cos (theta) * xdot;
}
template <typename T>
void
- FrontalSpeed<T>::impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
+ FrontalSpeed<T>::impl_gradient (gradient_t& grad, const argument_t& t, size_type i)
const throw ()
{
- FiniteDifferenceGradient fdfunction (*this);
- fdfunction.gradient (grad, p, 0);
- }
+ grad.clear ();
- template <typename T>
- template <typename F, typename CLIST>
- void
- FrontalSpeed<T>::addToProblem (const T& trajectory,
- Problem<F, CLIST>& problem,
- typename Function::interval_t vRange,
- unsigned nConstraints)
- {
- using namespace boost;
- if (nConstraints == 0)
- return;
-
- const value_type delta = 1. / nConstraints;
-
- for (double i = delta; i < 1. - delta; i += delta)
- {
- shared_ptr<FrontalSpeed> speed (new FrontalSpeed (i * tMax, trajectory));
- problem.addConstraint
- (static_pointer_cast<DerivableFunction> (speed),
- vRange);
- }
+ result_t position = trajectory_ (t[0]);
+ const value_type& theta = position[2];
+
+ gradient_t speed = trajectory_.derivative (t[0], 1);
+ const value_type& dx = speed[0];
+ const value_type& dy = speed[1];
+ const value_type& dtheta = speed[2];
+
+ gradient_t acceleration = trajectory_.derivative (t[0], 2);
+ const value_type& ddx = acceleration[0];
+ const value_type& ddy = acceleration[1];
+
+ grad[0] = dtheta * (std::cos (theta) * (dy - ddx)
+ + std::sin (theta) * (dx + ddy));
}
} // end of namespace roboptim.
diff --git a/include/roboptim/trajectory/orthogonal-speed.hh b/include/roboptim/trajectory/orthogonal-speed.hh
index c003eac..73f36c6 100644
--- a/include/roboptim/trajectory/orthogonal-speed.hh
+++ b/include/roboptim/trajectory/orthogonal-speed.hh
@@ -21,7 +21,6 @@
# include <roboptim/core/derivable-function.hh>
# include <roboptim/trajectory/fwd.hh>
-# include <roboptim/trajectory/stable-time-point.hh>
namespace roboptim
{
@@ -29,24 +28,14 @@ namespace roboptim
class OrthogonalSpeed : public DerivableFunction
{
public:
-
- OrthogonalSpeed (StableTimePoint timePoint, const T& spline) throw ();
+ OrthogonalSpeed (const T& spline) throw ();
~OrthogonalSpeed () throw ();
- const T& trajectory () const throw ();
-
- template <typename F, typename CLIST>
- static void addToProblem (const T&,
- Problem<F, CLIST>&,
- typename Function::interval_t,
- unsigned);
-
protected:
void impl_compute (result_t& res, const argument_t& p) const throw ();
void impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
const throw ();
private:
- StableTimePoint timePoint_;
const T& trajectory_;
};
} // end of namespace roboptim.
diff --git a/include/roboptim/trajectory/orthogonal-speed.hxx b/include/roboptim/trajectory/orthogonal-speed.hxx
index bfc919c..5597cbb 100644
--- a/include/roboptim/trajectory/orthogonal-speed.hxx
+++ b/include/roboptim/trajectory/orthogonal-speed.hxx
@@ -28,24 +28,9 @@
namespace roboptim
{
- namespace detail
- {
- std::string getOrthogonalSpeedName (const StableTimePoint& timePoint);
-
- std::string getOrthogonalSpeedName (const StableTimePoint& timePoint)
- {
- using boost::format;
- return (format ("orthogonal speed (%1%)") % timePoint.getAlpha ()).str ();
- }
- }
-
-
template <typename T>
- OrthogonalSpeed<T>::OrthogonalSpeed (StableTimePoint timePoint,
- const T& trajectory) throw ()
- : DerivableFunction (trajectory.parameters ().size (), 1,
- detail::getOrthogonalSpeedName (timePoint)),
- timePoint_ (timePoint),
+ OrthogonalSpeed<T>::OrthogonalSpeed (const T& trajectory) throw ()
+ : DerivableFunction (1, 1, "orthogonal speed"),
trajectory_ (trajectory)
{}
@@ -53,66 +38,45 @@ namespace roboptim
OrthogonalSpeed<T>::~OrthogonalSpeed () throw ()
{}
- template <typename T>
- const T&
- OrthogonalSpeed<T>::trajectory () const throw ()
- {
- return trajectory_;
- }
template <typename T>
void
- OrthogonalSpeed<T>::impl_compute (result_t& res, const argument_t& p) const throw ()
+ OrthogonalSpeed<T>::impl_compute (result_t& res, const argument_t& t) const throw ()
{
using namespace boost::numeric::ublas;
res.clear ();
- boost::scoped_ptr<T> updatedTrajectory (trajectory_.clone ());
- updatedTrajectory->setParameters (p);
-
- result_t position = (*updatedTrajectory) (timePoint_);
- // const value_type& x = position[0];
- // const value_type& y = position[1];
+ result_t position = trajectory_ (t[0]);
const value_type& theta = position[2];
- gradient_t speed = updatedTrajectory->derivative (timePoint_, 1);
+ gradient_t speed = trajectory_.derivative (t[0], 1);
const value_type& xdot = speed[0];
const value_type& ydot = speed[1];
- // const value_type& thetadot = speed[2];
res[0] = std::cos (theta) * ydot + std::sin (theta) * xdot;
}
template <typename T>
void
- OrthogonalSpeed<T>::impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
+ OrthogonalSpeed<T>::impl_gradient (gradient_t& grad, const argument_t& t, size_type i)
const throw ()
{
- FiniteDifferenceGradient fdfunction (*this);
- fdfunction.gradient (grad, p, 0);
- }
+ grad.clear ();
- template <typename T>
- template <typename F, typename CLIST>
- void
- OrthogonalSpeed<T>::addToProblem (const T& trajectory,
- Problem<F, CLIST>& problem,
- typename Function::interval_t vRange,
- unsigned nConstraints)
- {
- using namespace boost;
- if (nConstraints == 0)
- return;
-
- const value_type delta = 1. / nConstraints;
-
- for (double i = delta; i < 1. - delta; i += delta)
- {
- shared_ptr<OrthogonalSpeed> speed (new OrthogonalSpeed (i * tMax, trajectory));
- problem.addConstraint
- (static_pointer_cast<DerivableFunction> (speed),
- vRange);
- }
+ result_t position = trajectory_ (t[0]);
+ const value_type& theta = position[2];
+
+ gradient_t speed = trajectory_.derivative (t[0], 1);
+ const value_type& dx = speed[0];
+ const value_type& dy = speed[1];
+ const value_type& dtheta = speed[2];
+
+ gradient_t acceleration = trajectory_.derivative (t[0], 2);
+ const value_type& ddx = acceleration[0];
+ const value_type& ddy = acceleration[1];
+
+ grad[0] = dtheta * (std::cos (theta) * (ddy + dx)
+ + std::sin (theta) * (ddx - dy));
}
} // end of namespace roboptim.
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 14 ++++
include/roboptim/trajectory/frontal-speed.hh | 17 +----
include/roboptim/trajectory/frontal-speed.hxx | 79 ++++++----------------
include/roboptim/trajectory/orthogonal-speed.hh | 13 +---
include/roboptim/trajectory/orthogonal-speed.hxx | 78 ++++++----------------
tests/complex-cost-function.cc | 35 +++-------
6 files changed, 69 insertions(+), 167 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-08-04 07:53:55
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via 2ddf255b5c6c2b32281f942e5cb39b254960b34e (commit)
via 8411f443050b1c8798780715840b0fd9760fbd78 (commit)
from aabec11cdc7ed392bf9acbb4cdcca48797ed2bc6 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 2ddf255b5c6c2b32281f942e5cb39b254960b34e
Author: Thomas Moulard <tho...@gm...>
Date: Tue Aug 4 16:53:00 2009 +0900
Fix computation error in frontal speed.
* include/roboptim/trajectory/frontal-speed.hxx: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index ec3fff4..a21dffa 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-08-04 Thomas Moulard <tho...@gm...>
+ Fix computation error in frontal speed.
+ * include/roboptim/trajectory/frontal-speed.hxx: Here.
+
+2009-08-04 Thomas Moulard <tho...@gm...>
+
Add new test case.
* tests/Makefile.am: Compile new test and distribute reference file.
* tests/complex-cost-function.cc: New.
diff --git a/include/roboptim/trajectory/frontal-speed.hxx b/include/roboptim/trajectory/frontal-speed.hxx
index c03cd0c..54d07ad 100644
--- a/include/roboptim/trajectory/frontal-speed.hxx
+++ b/include/roboptim/trajectory/frontal-speed.hxx
@@ -80,7 +80,7 @@ namespace roboptim
const value_type& ydot = speed[1];
// const value_type& thetadot = speed[2];
- res[0] = std::sin (theta) * ydot + std::cos (theta) * xdot;
+ res[0] = std::sin (theta) * ydot - std::cos (theta) * xdot;
}
template <typename T>
commit 8411f443050b1c8798780715840b0fd9760fbd78
Author: Thomas Moulard <tho...@gm...>
Date: Tue Aug 4 16:52:33 2009 +0900
Add new test case.
* tests/Makefile.am: Compile new test and distribute reference file.
* tests/complex-cost-function.cc: New.
* tests/complex-cost-function.stdout: New.
* tests/testsuite.at: Run new test.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 4faeb45..ec3fff4 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,13 @@
2009-08-04 Thomas Moulard <tho...@gm...>
+ Add new test case.
+ * tests/Makefile.am: Compile new test and distribute reference file.
+ * tests/complex-cost-function.cc: New.
+ * tests/complex-cost-function.stdout: New.
+ * tests/testsuite.at: Run new test.
+
+2009-08-04 Thomas Moulard <tho...@gm...>
+
Add missing newline.
* include/Makefile.am: Add missing newline.
diff --git a/tests/Makefile.am b/tests/Makefile.am
index 047a8e2..2366ffa 100644
--- a/tests/Makefile.am
+++ b/tests/Makefile.am
@@ -46,6 +46,11 @@ check_PROGRAMS += spline-time-optimization
spline_time_optimization_SOURCES = spline-time-optimization.cc $(COMMON_SOURCES)
spline_time_optimization_LDADD = $(top_builddir)/src/libroboptim-trajectory.la
+# complex-cost-function
+check_PROGRAMS += complex-cost-function
+complex_cost_function_SOURCES = complex-cost-function.cc $(COMMON_SOURCES)
+complex_cost_function_LDADD = $(top_builddir)/src/libroboptim-trajectory.la
+
.PHONY: generate-reference
@@ -69,6 +74,7 @@ generate-reference:
# Distribute reference files.
EXTRA_DIST += \
+ complex-cost-function.stdout \
free-time-trajectory.stdout \
simple.stdout \
spline-gradient.stdout \
diff --git a/tests/complex-cost-function.cc b/tests/complex-cost-function.cc
new file mode 100644
index 0000000..b90f961
--- /dev/null
+++ b/tests/complex-cost-function.cc
@@ -0,0 +1,260 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#include <fstream>
+
+#include <boost/assign/list_of.hpp>
+#include <boost/mpl/vector.hpp>
+
+#include <roboptim/core/io.hh>
+#include <roboptim/core/finite-difference-gradient.hh>
+#include <roboptim/core/solver-factory.hh>
+
+#include <roboptim/core/visualization/gnuplot.hh>
+#include <roboptim/core/visualization/gnuplot-commands.hh>
+
+#include <roboptim/trajectory/free-time-trajectory.hh>
+#include <roboptim/trajectory/freeze.hh>
+#include <roboptim/trajectory/frontal-speed.hh>
+#include <roboptim/trajectory/fwd.hh>
+#include <roboptim/trajectory/limit-speed.hh>
+#include <roboptim/trajectory/orthogonal-speed.hh>
+#include <roboptim/trajectory/spline-length.hh>
+#include <roboptim/trajectory/spline.hh>
+#include <roboptim/trajectory/trajectory-cost.hh>
+
+#include <roboptim/trajectory/visualization/limit-speed.hh>
+#include <roboptim/trajectory/visualization/trajectory.hh>
+
+#include <roboptim/core/plugin/cfsqp.hh>
+
+#include "common.hh"
+
+using namespace roboptim;
+using namespace roboptim::visualization;
+using namespace roboptim::visualization::gnuplot;
+
+typedef CFSQPSolver::problem_t::constraints_t constraint_t;
+typedef CFSQPSolver solver_t;
+typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
+
+// Problem parameters.
+const unsigned configurationSpaceSize = 3;
+const unsigned nControlPoints = 11;
+const unsigned nDiscretizationPoints = 10;
+const unsigned nConstraintsPerCtrlPts = 0;
+
+const double finalX = 200.;
+const double finalY = 200.;
+const double finalTheta = 3.14;
+
+const double vMax = 200.;
+
+namespace roboptim
+{
+ // Cost function from ``An optimal control model unifying holonomic
+ // and nonholonomic walking'' Katja Mombaur, Jean-Paul Laumond,
+ // Eiichi Yoshida
+ // (2008 8th IEEE-RAS Interational Conference on Humanoid Robots).
+ template <typename T>
+ class CostFunction : public DerivableFunction
+ {
+ public:
+ CostFunction (const T& trajectory, const vector_t alpha) throw ()
+ : DerivableFunction (trajectory.parameters ().size (), 1,
+ "cost function"),
+ trajectory_ (trajectory),
+ alpha_ (alpha),
+ alpha3_ ()
+ {
+ //FIXME: +1 as we're doing free time trajectory.
+ //should be generic.
+ const vector_t& p = trajectory.parameters ();
+ const value_type dx = p[1 + 0] - p[p.size () - 3];
+ const value_type dy = p[1 + 1] - p[p.size () - 2];
+ const value_type dtheta = p[p.size () - 1] - p[1 + 2];
+
+ alpha3_ = this->alpha3 (dtheta, std::sqrt (dx * dx + dy * dy));
+ }
+
+ ~CostFunction () throw ()
+ {}
+
+ protected:
+ void impl_compute (result_t& res, const argument_t& p) const throw ()
+ {
+ res.clear ();
+
+ boost::scoped_ptr<T> updatedTrajectory (trajectory_.clone ());
+ updatedTrajectory->setParameters (p);
+
+ const value_type delta = 1. / nDiscretizationPoints;
+
+ for (double i = 0.; i < 1.; i += delta)
+ {
+ FrontalSpeed<T> frontalSpeed (i * tMax, *updatedTrajectory);
+ OrthogonalSpeed<T> orthogonalSpeed (i * tMax, *updatedTrajectory);
+
+ const value_type u1 = frontalSpeed.gradient (p)[0];
+ const value_type u2 = updatedTrajectory->derivative (i * tMax, 2)[2];
+ const value_type u3 = orthogonalSpeed.gradient (p)[0];
+ res[0] +=
+ alpha_[0]
+ + alpha_[1] * u1 * u1
+ + alpha_[2] * u2 * u2
+ + alpha3_ * u3 * u3;
+ }
+ }
+
+ void impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
+ const throw ()
+ {
+ FiniteDifferenceGradient fdfunction (*this);
+ fdfunction.gradient (grad, p, 0);
+ }
+
+ private:
+
+ value_type alpha3 (value_type deltaTheta, value_type d) const throw ()
+ {
+ const value_type ksi1 = 0.174532925;
+ const value_type ksi2 = 0.5;
+
+ return alpha_[3] * (1. + (deltaTheta / ksi1)) * (1 + ((d * d) / ksi2));
+ }
+
+ const T& trajectory_;
+ const vector_t alpha_;
+ value_type alpha3_;
+ };
+} // end of namespace roboptim.
+
+int run_test ()
+{
+ using namespace boost;
+ using namespace boost::assign;
+
+ Spline::vector_t params (nControlPoints * configurationSpaceSize);
+
+ for (unsigned i = 0; i < nControlPoints; ++i)
+ {
+ params[i * configurationSpaceSize] = finalX / (nControlPoints - 1) * i;
+ params[i * configurationSpaceSize + 1] = finalY / (nControlPoints - 1) * i;
+ params[i * configurationSpaceSize + 2] = finalTheta / (nControlPoints - 1) * i;
+ }
+
+ // Make trajectories.
+ Spline::interval_t timeRange = Spline::makeInterval (0., 4.);
+ Spline spline (timeRange, configurationSpaceSize, params, "before");
+ freeTime_t freeTimeTraj (spline, 1.);
+
+ // Define cost.
+ Function::vector_t alpha (4);
+ alpha[0] = 1.;
+ alpha[1] = 1.;
+ alpha[2] = .5;
+ alpha[3] = 2.;
+ CostFunction<freeTime_t> cost (freeTimeTraj, alpha);
+
+ // Create problem.
+ solver_t::problem_t problem (cost);
+ problem.startingPoint () = freeTimeTraj.parameters ();
+
+ // Scale has to remain positive.
+ problem.argumentBounds ()[0] = Function::makeLowerInterval (0.);
+
+ const freeTime_t::vector_t freeTimeParams = freeTimeTraj.parameters ();
+
+ std::vector<Function::size_type> indices;
+ indices.push_back (1);
+ indices.push_back (2);
+ indices.push_back (3);
+ indices.push_back (freeTimeParams.size () - 3);
+ indices.push_back (freeTimeParams.size () - 2);
+ indices.push_back (freeTimeParams.size () - 1);
+ makeFreeze (problem) (indices, freeTimeParams);
+
+ Function::interval_t vRange = Function::makeUpperInterval (.5 * vMax * vMax);
+ LimitSpeed<FreeTimeTrajectory<Spline::derivabilityOrder> >::addToProblem
+ (freeTimeTraj, problem, vRange, nControlPoints * nConstraintsPerCtrlPts);
+
+ std::ofstream trajectoryStream ("trajectory.gp");
+ std::ofstream limitSpeedStream ("limit-speed.gp");
+ Gnuplot gnuplot = Gnuplot::make_interactive_gnuplot ();
+
+ gnuplot
+ << set ("multiplot layout 1,2 title "
+ "'variation of speed before and after optimization'")
+ << set ("grid");
+ gnuplot << plot_limitSpeed (freeTimeTraj, vMax);
+
+ SolverFactory<solver_t> factory ("cfsqp", problem);
+ solver_t& solver = factory ();
+
+ std::cerr << solver << std::endl;
+
+ Gnuplot gnuplotTraj = Gnuplot::make_interactive_gnuplot ();
+ gnuplotTraj
+ << set ("multiplot layout 1, 2 title 'trajectory'")
+ << set ("grid")
+ << plot_xy (spline);
+
+ solver_t::result_t res = solver.minimum ();
+ std::cerr << res << std::endl;
+
+ FreeTimeTrajectory<Spline::derivabilityOrder> optimizedTrajectory =
+ freeTimeTraj;
+
+ switch (solver.minimumType ())
+ {
+ case GenericSolver::SOLVER_VALUE:
+ {
+ const Result& result = solver.getMinimum<Result> ();
+ optimizedTrajectory.setParameters (result.x);
+ break;
+ }
+
+ case GenericSolver::SOLVER_VALUE_WARNINGS:
+ {
+ const ResultWithWarnings& result =
+ solver.getMinimum<ResultWithWarnings> ();
+ optimizedTrajectory.setParameters (result.x);
+ break;
+ }
+
+ case GenericSolver::SOLVER_NO_SOLUTION:
+ case GenericSolver::SOLVER_ERROR:
+ return 1;
+ }
+
+ Spline updatedSpline
+ (optimizedTrajectory.timeRange (),
+ configurationSpaceSize,
+ removeScaleFromParameters (optimizedTrajectory.parameters ()),
+ "after");
+
+ gnuplotTraj << plot_xy (updatedSpline);
+ trajectoryStream << (gnuplotTraj << unset ("multiplot"));
+
+ gnuplot << plot_limitSpeed (optimizedTrajectory, vMax);
+ limitSpeedStream << (gnuplot << unset ("multiplot"));
+
+ return 0;
+}
+
+GENERATE_TEST ()
+
diff --git a/tests/complex-cost-function.stdout b/tests/complex-cost-function.stdout
new file mode 100644
index 0000000..e69de29
diff --git a/tests/testsuite.at b/tests/testsuite.at
index 145c46b..40d4bee 100644
--- a/tests/testsuite.at
+++ b/tests/testsuite.at
@@ -34,5 +34,7 @@ CHECK_STDOUT([spline-gradient], [Check Spline gradient.])
CHECK_STDOUT([spline-optimization], [Optimize a Spline with Cfsqp.])
CHECK_STDOUT([free-time-trajectory], [Check free time trajectory.])
CHECK_STDOUT([spline-time-optimization], [Optimize a free time trajectory.])
+CHECK_STDOUT([complex-cost-function], [Optimize time using a complex cost function.],
+ [false], [true])
# End of testsuite.at
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 13 +
include/roboptim/trajectory/frontal-speed.hxx | 2 +-
tests/Makefile.am | 6 +
tests/complex-cost-function.cc | 260 ++++++++++++++++++++
...{simple.stdout => complex-cost-function.stdout} | 0
tests/testsuite.at | 2 +
6 files changed, 282 insertions(+), 1 deletions(-)
create mode 100644 tests/complex-cost-function.cc
copy tests/{simple.stdout => complex-cost-function.stdout} (100%)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-08-04 04:09:26
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via aabec11cdc7ed392bf9acbb4cdcca48797ed2bc6 (commit)
via 2fc502c861366f2cd71fd4e3a07e79922de3d192 (commit)
via d97c3e3e0f4df22c4a3640487b919b78a0a15621 (commit)
from 0f165007c39679946ea7cfbdb5095ab23a7a76cf (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit aabec11cdc7ed392bf9acbb4cdcca48797ed2bc6
Author: Thomas Moulard <tho...@gm...>
Date: Tue Aug 4 13:06:21 2009 +0900
Add missing newline.
* include/Makefile.am: Add missing newline.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 82d6379..4faeb45 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-08-04 Thomas Moulard <tho...@gm...>
+ Add missing newline.
+ * include/Makefile.am: Add missing newline.
+
+2009-08-04 Thomas Moulard <tho...@gm...>
+
Add orthogonal speed.
* include/Makefile.am: Distribute new headers.
* include/roboptim/trajectory/orthogonal-speed.hh: New.
diff --git a/include/Makefile.am b/include/Makefile.am
index 1381004..d3c4607 100644
--- a/include/Makefile.am
+++ b/include/Makefile.am
@@ -27,4 +27,4 @@ nobase_include_HEADERS = \
nobase_include_HEADERS += \
roboptim/trajectory/visualization/limit-speed.hh \
- roboptim/trajectory/visualization/trajectory.hh
\ No newline at end of file
+ roboptim/trajectory/visualization/trajectory.hh
commit 2fc502c861366f2cd71fd4e3a07e79922de3d192
Author: Thomas Moulard <tho...@gm...>
Date: Tue Aug 4 13:05:40 2009 +0900
Add orthogonal speed.
* include/Makefile.am: Distribute new headers.
* include/roboptim/trajectory/orthogonal-speed.hh: New.
* include/roboptim/trajectory/orthogonal-speed.hxx: New.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index f37eab4..82d6379 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,12 @@
2009-08-04 Thomas Moulard <tho...@gm...>
+ Add orthogonal speed.
+ * include/Makefile.am: Distribute new headers.
+ * include/roboptim/trajectory/orthogonal-speed.hh: New.
+ * include/roboptim/trajectory/orthogonal-speed.hxx: New.
+
+2009-08-04 Thomas Moulard <tho...@gm...>
+
Implement frontal-speed.
* include/Makefile.am: Distribute new headers.
* include/roboptim/trajectory/frontal-speed.hh: New.
diff --git a/include/Makefile.am b/include/Makefile.am
index 3da1f62..1381004 100644
--- a/include/Makefile.am
+++ b/include/Makefile.am
@@ -11,6 +11,8 @@ nobase_include_HEADERS = \
roboptim/trajectory/fwd.hh \
roboptim/trajectory/limit-speed.hh \
roboptim/trajectory/limit-speed.hxx \
+ roboptim/trajectory/orthogonal-speed.hh \
+ roboptim/trajectory/orthogonal-speed.hxx \
roboptim/trajectory/spline.hh \
roboptim/trajectory/spline-length.hh \
roboptim/trajectory/stable-time-point.hh \
diff --git a/include/roboptim/trajectory/orthogonal-speed.hh b/include/roboptim/trajectory/orthogonal-speed.hh
new file mode 100644
index 0000000..c003eac
--- /dev/null
+++ b/include/roboptim/trajectory/orthogonal-speed.hh
@@ -0,0 +1,55 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef ROBOPTIM_TRAJECTORY_ORTHOGONAL_SPEED_HH
+# define ROBOPTIM_TRAJECTORY_ORTHOGONAL_SPEED_HH
+# include <boost/shared_ptr.hpp>
+
+# include <roboptim/core/derivable-function.hh>
+# include <roboptim/trajectory/fwd.hh>
+# include <roboptim/trajectory/stable-time-point.hh>
+
+namespace roboptim
+{
+ template <typename T>
+ class OrthogonalSpeed : public DerivableFunction
+ {
+ public:
+
+ OrthogonalSpeed (StableTimePoint timePoint, const T& spline) throw ();
+ ~OrthogonalSpeed () throw ();
+
+ const T& trajectory () const throw ();
+
+ template <typename F, typename CLIST>
+ static void addToProblem (const T&,
+ Problem<F, CLIST>&,
+ typename Function::interval_t,
+ unsigned);
+
+ protected:
+ void impl_compute (result_t& res, const argument_t& p) const throw ();
+ void impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
+ const throw ();
+ private:
+ StableTimePoint timePoint_;
+ const T& trajectory_;
+ };
+} // end of namespace roboptim.
+
+# include <roboptim/trajectory/orthogonal-speed.hxx>
+#endif //! ROBOPTIM_TRAJECTORY_ORTHOGONAL_SPEED_HH
diff --git a/include/roboptim/trajectory/orthogonal-speed.hxx b/include/roboptim/trajectory/orthogonal-speed.hxx
new file mode 100644
index 0000000..bfc919c
--- /dev/null
+++ b/include/roboptim/trajectory/orthogonal-speed.hxx
@@ -0,0 +1,120 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef ROBOPTIM_TRAJECTORY_ORTHOGONAL_SPEED_HXX
+# define ROBOPTIM_TRAJECTORY_ORTHOGONAL_SPEED_HXX
+# include <cmath>
+# include <boost/format.hpp>
+# include <boost/numeric/ublas/vector.hpp>
+# include <boost/scoped_ptr.hpp>
+
+# include <roboptim/core/finite-difference-gradient.hh>
+
+# include <roboptim/trajectory/trajectory.hh>
+
+namespace roboptim
+{
+ namespace detail
+ {
+ std::string getOrthogonalSpeedName (const StableTimePoint& timePoint);
+
+ std::string getOrthogonalSpeedName (const StableTimePoint& timePoint)
+ {
+ using boost::format;
+ return (format ("orthogonal speed (%1%)") % timePoint.getAlpha ()).str ();
+ }
+ }
+
+
+ template <typename T>
+ OrthogonalSpeed<T>::OrthogonalSpeed (StableTimePoint timePoint,
+ const T& trajectory) throw ()
+ : DerivableFunction (trajectory.parameters ().size (), 1,
+ detail::getOrthogonalSpeedName (timePoint)),
+ timePoint_ (timePoint),
+ trajectory_ (trajectory)
+ {}
+
+ template <typename T>
+ OrthogonalSpeed<T>::~OrthogonalSpeed () throw ()
+ {}
+
+ template <typename T>
+ const T&
+ OrthogonalSpeed<T>::trajectory () const throw ()
+ {
+ return trajectory_;
+ }
+
+ template <typename T>
+ void
+ OrthogonalSpeed<T>::impl_compute (result_t& res, const argument_t& p) const throw ()
+ {
+ using namespace boost::numeric::ublas;
+ res.clear ();
+
+ boost::scoped_ptr<T> updatedTrajectory (trajectory_.clone ());
+ updatedTrajectory->setParameters (p);
+
+ result_t position = (*updatedTrajectory) (timePoint_);
+ // const value_type& x = position[0];
+ // const value_type& y = position[1];
+ const value_type& theta = position[2];
+
+ gradient_t speed = updatedTrajectory->derivative (timePoint_, 1);
+ const value_type& xdot = speed[0];
+ const value_type& ydot = speed[1];
+ // const value_type& thetadot = speed[2];
+
+ res[0] = std::cos (theta) * ydot + std::sin (theta) * xdot;
+ }
+
+ template <typename T>
+ void
+ OrthogonalSpeed<T>::impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
+ const throw ()
+ {
+ FiniteDifferenceGradient fdfunction (*this);
+ fdfunction.gradient (grad, p, 0);
+ }
+
+ template <typename T>
+ template <typename F, typename CLIST>
+ void
+ OrthogonalSpeed<T>::addToProblem (const T& trajectory,
+ Problem<F, CLIST>& problem,
+ typename Function::interval_t vRange,
+ unsigned nConstraints)
+ {
+ using namespace boost;
+ if (nConstraints == 0)
+ return;
+
+ const value_type delta = 1. / nConstraints;
+
+ for (double i = delta; i < 1. - delta; i += delta)
+ {
+ shared_ptr<OrthogonalSpeed> speed (new OrthogonalSpeed (i * tMax, trajectory));
+ problem.addConstraint
+ (static_pointer_cast<DerivableFunction> (speed),
+ vRange);
+ }
+ }
+} // end of namespace roboptim.
+
+
+#endif //! ROBOPTIM_TRAJECTORY_ORTHOGONAL_SPEED_HXX
commit d97c3e3e0f4df22c4a3640487b919b78a0a15621
Author: Thomas Moulard <tho...@gm...>
Date: Tue Aug 4 13:05:00 2009 +0900
Implement frontal-speed.
* include/Makefile.am: Distribute new headers.
* include/roboptim/trajectory/frontal-speed.hh: New.
* include/roboptim/trajectory/frontal-speed.hxx: New.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index bfae68d..f37eab4 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,10 @@
+2009-08-04 Thomas Moulard <tho...@gm...>
+
+ Implement frontal-speed.
+ * include/Makefile.am: Distribute new headers.
+ * include/roboptim/trajectory/frontal-speed.hh: New.
+ * include/roboptim/trajectory/frontal-speed.hxx: New.
+
2009-08-03 Thomas Moulard <tho...@gm...>
Update test case output.
diff --git a/include/Makefile.am b/include/Makefile.am
index 2ad8c9b..3da1f62 100644
--- a/include/Makefile.am
+++ b/include/Makefile.am
@@ -6,6 +6,8 @@ nobase_include_HEADERS = \
roboptim/trajectory/free-time-trajectory.hxx \
roboptim/trajectory/freeze.hh \
roboptim/trajectory/freeze.hxx \
+ roboptim/trajectory/frontal-speed.hh \
+ roboptim/trajectory/frontal-speed.hxx \
roboptim/trajectory/fwd.hh \
roboptim/trajectory/limit-speed.hh \
roboptim/trajectory/limit-speed.hxx \
diff --git a/include/roboptim/trajectory/frontal-speed.hh b/include/roboptim/trajectory/frontal-speed.hh
new file mode 100644
index 0000000..6e28117
--- /dev/null
+++ b/include/roboptim/trajectory/frontal-speed.hh
@@ -0,0 +1,55 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef ROBOPTIM_TRAJECTORY_FRONTAL_SPEED_HH
+# define ROBOPTIM_TRAJECTORY_FRONTAL_SPEED_HH
+# include <boost/shared_ptr.hpp>
+
+# include <roboptim/core/derivable-function.hh>
+# include <roboptim/trajectory/fwd.hh>
+# include <roboptim/trajectory/stable-time-point.hh>
+
+namespace roboptim
+{
+ template <typename T>
+ class FrontalSpeed : public DerivableFunction
+ {
+ public:
+
+ FrontalSpeed (StableTimePoint timePoint, const T& spline) throw ();
+ ~FrontalSpeed () throw ();
+
+ const T& trajectory () const throw ();
+
+ template <typename F, typename CLIST>
+ static void addToProblem (const T&,
+ Problem<F, CLIST>&,
+ typename Function::interval_t,
+ unsigned);
+
+ protected:
+ void impl_compute (result_t& res, const argument_t& p) const throw ();
+ void impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
+ const throw ();
+ private:
+ StableTimePoint timePoint_;
+ const T& trajectory_;
+ };
+} // end of namespace roboptim.
+
+# include <roboptim/trajectory/frontal-speed.hxx>
+#endif //! ROBOPTIM_TRAJECTORY_FRONTAL_SPEED_HH
diff --git a/include/roboptim/trajectory/frontal-speed.hxx b/include/roboptim/trajectory/frontal-speed.hxx
new file mode 100644
index 0000000..c03cd0c
--- /dev/null
+++ b/include/roboptim/trajectory/frontal-speed.hxx
@@ -0,0 +1,120 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef ROBOPTIM_TRAJECTORY_FRONTAL_SPEED_HXX
+# define ROBOPTIM_TRAJECTORY_FRONTAL_SPEED_HXX
+# include <cmath>
+# include <boost/format.hpp>
+# include <boost/numeric/ublas/vector.hpp>
+# include <boost/scoped_ptr.hpp>
+
+# include <roboptim/core/finite-difference-gradient.hh>
+
+# include <roboptim/trajectory/trajectory.hh>
+
+namespace roboptim
+{
+ namespace detail
+ {
+ std::string getFrontalSpeedName (const StableTimePoint& timePoint);
+
+ std::string getFrontalSpeedName (const StableTimePoint& timePoint)
+ {
+ using boost::format;
+ return (format ("frontal speed (%1%)") % timePoint.getAlpha ()).str ();
+ }
+ }
+
+
+ template <typename T>
+ FrontalSpeed<T>::FrontalSpeed (StableTimePoint timePoint,
+ const T& trajectory) throw ()
+ : DerivableFunction (trajectory.parameters ().size (), 1,
+ detail::getFrontalSpeedName (timePoint)),
+ timePoint_ (timePoint),
+ trajectory_ (trajectory)
+ {}
+
+ template <typename T>
+ FrontalSpeed<T>::~FrontalSpeed () throw ()
+ {}
+
+ template <typename T>
+ const T&
+ FrontalSpeed<T>::trajectory () const throw ()
+ {
+ return trajectory_;
+ }
+
+ template <typename T>
+ void
+ FrontalSpeed<T>::impl_compute (result_t& res, const argument_t& p) const throw ()
+ {
+ using namespace boost::numeric::ublas;
+ res.clear ();
+
+ boost::scoped_ptr<T> updatedTrajectory (trajectory_.clone ());
+ updatedTrajectory->setParameters (p);
+
+ result_t position = (*updatedTrajectory) (timePoint_);
+ // const value_type& x = position[0];
+ // const value_type& y = position[1];
+ const value_type& theta = position[2];
+
+ gradient_t speed = updatedTrajectory->derivative (timePoint_, 1);
+ const value_type& xdot = speed[0];
+ const value_type& ydot = speed[1];
+ // const value_type& thetadot = speed[2];
+
+ res[0] = std::sin (theta) * ydot + std::cos (theta) * xdot;
+ }
+
+ template <typename T>
+ void
+ FrontalSpeed<T>::impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
+ const throw ()
+ {
+ FiniteDifferenceGradient fdfunction (*this);
+ fdfunction.gradient (grad, p, 0);
+ }
+
+ template <typename T>
+ template <typename F, typename CLIST>
+ void
+ FrontalSpeed<T>::addToProblem (const T& trajectory,
+ Problem<F, CLIST>& problem,
+ typename Function::interval_t vRange,
+ unsigned nConstraints)
+ {
+ using namespace boost;
+ if (nConstraints == 0)
+ return;
+
+ const value_type delta = 1. / nConstraints;
+
+ for (double i = delta; i < 1. - delta; i += delta)
+ {
+ shared_ptr<FrontalSpeed> speed (new FrontalSpeed (i * tMax, trajectory));
+ problem.addConstraint
+ (static_pointer_cast<DerivableFunction> (speed),
+ vRange);
+ }
+ }
+} // end of namespace roboptim.
+
+
+#endif //! ROBOPTIM_TRAJECTORY_FRONTAL_SPEED_HXX
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 19 ++++++++
include/Makefile.am | 6 ++-
.../{limit-speed.hh => frontal-speed.hh} | 14 +++---
.../{limit-speed.hxx => frontal-speed.hxx} | 47 +++++++++++---------
.../{limit-speed.hh => orthogonal-speed.hh} | 14 +++---
.../{limit-speed.hxx => orthogonal-speed.hxx} | 47 +++++++++++---------
6 files changed, 90 insertions(+), 57 deletions(-)
copy include/roboptim/trajectory/{limit-speed.hh => frontal-speed.hh} (81%)
copy include/roboptim/trajectory/{limit-speed.hxx => frontal-speed.hxx} (62%)
copy include/roboptim/trajectory/{limit-speed.hh => orthogonal-speed.hh} (80%)
copy include/roboptim/trajectory/{limit-speed.hxx => orthogonal-speed.hxx} (61%)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-08-03 04:58:33
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via 0f165007c39679946ea7cfbdb5095ab23a7a76cf (commit)
from 1659ebcc0c6ae966d77e0519d95baa88216941d9 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 0f165007c39679946ea7cfbdb5095ab23a7a76cf
Author: Thomas Moulard <tho...@gm...>
Date: Mon Aug 3 13:58:02 2009 +0900
Update test case output.
* tests/spline-time-optimization.stdout: Regenerate.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 71a6caf..bfae68d 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-08-03 Thomas Moulard <tho...@gm...>
+
+ Update test case output.
+ * tests/spline-time-optimization.stdout: Regenerate.
+
2009-07-30 Thomas Moulard <tho...@gm...>
Remove useless constraints.
diff --git a/tests/spline-time-optimization.stdout b/tests/spline-time-optimization.stdout
index 8ea5b53..b36205e 100644
--- a/tests/spline-time-optimization.stdout
+++ b/tests/spline-time-optimization.stdout
@@ -663,8 +663,8 @@ Problem:
Starting value: [1](-1)
Infinity value (for all functions): inf
CFSQP specific variables:
- Nineq: 218
- Nineqn: 218
+ Nineq: 109
+ Nineqn: 109
Neq: 0
Neqn: 0
Mode: 100
@@ -674,10 +674,10 @@ CFSQP specific variables:
Eps: 1e-08
Epseqn: 1e-08
Udelta: 1e-08
- CFSQP constraints: (0, 1), (0, 0), (1, 1), (1, 0), (2, 1), (2, 0), (3, 1), (3, 0), (4, 1), (4, 0), (5, 1), (5, 0), (6, 1), (6, 0), (7, 1), (7, 0), (8, 1), (8, 0), (9, 1), (9, 0), (10, 1), (10, 0), (11, 1), (11, 0), (12, 1), (12, 0), (13, 1), (13, 0), (14, 1), (14, 0), (15, 1), (15, 0), (16, 1), (16, 0), (17, 1), (17, 0), (18, 1), (18, 0), (19, 1), (19, 0), (20, 1), (20, 0), (21, 1), (21, 0), (22, 1), (22, 0), (23, 1), (23, 0), (24, 1), (24, 0), (25, 1), (25, 0), (26, 1), (26, 0), (27, 1), (27, 0), (28, 1), (28, 0), (29, 1), (29, 0), (30, 1), (30, 0), (31, 1), (31, 0), (32, 1), (32, 0), (33, 1), (33, 0), (34, 1), (34, 0), (35, 1), (35, 0), (36, 1), (36, 0), (37, 1), (37, 0), (38, 1), (38, 0), (39, 1), (39, 0), (40, 1), (40, 0), (41, 1), (41, 0), (42, 1), (42, 0), (43, 1), (43, 0), (44, 1), (44, 0), (45, 1), (45, 0), (46, 1), (46, 0), (47, 1), (47, 0), (48, 1), (48, 0), (49, 1), (49, 0), (50, 1), (50, 0), (51, 1), (51, 0), (52, 1), (52, 0), (53, 1), (53, 0), (54, 1), (54, 0), (55, 1), (55, 0), (56, 1), (56, 0), (57, 1), (57, 0), (58, 1), (58, 0), (59, 1), (59, 0), (60, 1), (60, 0), (61, 1), (61, 0), (62, 1), (62, 0), (63, 1), (63, 0), (64, 1), (64, 0), (65, 1), (65, 0), (66, 1), (66, 0), (67, 1), (67, 0), (68, 1), (68, 0), (69, 1), (69, 0), (70, 1), (70, 0), (71, 1), (71, 0), (72, 1), (72, 0), (73, 1), (73, 0), (74, 1), (74, 0), (75, 1), (75, 0), (76, 1), (76, 0), (77, 1), (77, 0), (78, 1), (78, 0), (79, 1), (79, 0), (80, 1), (80, 0), (81, 1), (81, 0), (82, 1), (82, 0), (83, 1), (83, 0), (84, 1), (84, 0), (85, 1), (85, 0), (86, 1), (86, 0), (87, 1), (87, 0), (88, 1), (88, 0), (89, 1), (89, 0), (90, 1), (90, 0), (91, 1), (91, 0), (92, 1), (92, 0), (93, 1), (93, 0), (94, 1), (94, 0), (95, 1), (95, 0), (96, 1), (96, 0), (97, 1), (97, 0), (98, 1), (98, 0), (99, 1), (99, 0), (100, 1), (100, 0), (101, 1), (101, 0), (102, 1), (102, 0), (103, 1), (103, 0), (104, 1), (104, 0), (105, 1), (105, 0), (106, 1), (106, 0), (107, 1), (107, 0), (108, 1), (108, 0)
+ CFSQP constraints: (0, 0), (1, 0), (2, 0), (3, 0), (4, 0), (5, 0), (6, 0), (7, 0), (8, 0), (9, 0), (10, 0), (11, 0), (12, 0), (13, 0), (14, 0), (15, 0), (16, 0), (17, 0), (18, 0), (19, 0), (20, 0), (21, 0), (22, 0), (23, 0), (24, 0), (25, 0), (26, 0), (27, 0), (28, 0), (29, 0), (30, 0), (31, 0), (32, 0), (33, 0), (34, 0), (35, 0), (36, 0), (37, 0), (38, 0), (39, 0), (40, 0), (41, 0), (42, 0), (43, 0), (44, 0), (45, 0), (46, 0), (47, 0), (48, 0), (49, 0), (50, 0), (51, 0), (52, 0), (53, 0), (54, 0), (55, 0), (56, 0), (57, 0), (58, 0), (59, 0), (60, 0), (61, 0), (62, 0), (63, 0), (64, 0), (65, 0), (66, 0), (67, 0), (68, 0), (69, 0), (70, 0), (71, 0), (72, 0), (73, 0), (74, 0), (75, 0), (76, 0), (77, 0), (78, 0), (79, 0), (80, 0), (81, 0), (82, 0), (83, 0), (84, 0), (85, 0), (86, 0), (87, 0), (88, 0), (89, 0), (90, 0), (91, 0), (92, 0), (93, 0), (94, 0), (95, 0), (96, 0), (97, 0), (98, 0), (99, 0), (100, 0), (101, 0), (102, 0), (103, 0), (104, 0), (105, 0), (106, 0), (107, 0), (108, 0)
Result:
Size (input, output): 12, 1
X: [12](1.41692,4.45554e-39,20.0686,40.0104,60.0077,80.0035,100,119.996,139.992,159.99,179.931,200)
Value: [1](-1.41692)
Constraints values: [109](0.128834,2.06134,10.4356,32.9815,80.5212,166.969,309.33,527.704,845.28,1252.69,1681.87,2107.31,2507.8,2865.24,3164.69,3394.32,3545.45,3612.5,3612.5,3608.42,3605.12,3602.6,3600.87,3599.92,3599.76,3600.37,3601.77,3603.83,3605.76,3607.46,3608.91,3610.11,3611.08,3611.8,3612.27,3612.5,3612.5,3612.45,3612.41,3612.38,3612.36,3612.35,3612.35,3612.35,3612.37,3612.39,3612.41,3612.43,3612.45,3612.47,3612.48,3612.49,3612.49,3612.5,3612.5,3612.5,3612.49,3612.49,3612.48,3612.47,3612.45,3612.43,3612.41,3612.39,3612.37,3612.35,3612.35,3612.35,3612.36,3612.38,3612.41,3612.45,3612.5,3612.5,3612.27,3611.8,3611.08,3610.11,3608.91,3607.46,3605.76,3603.83,3601.77,3600.37,3599.76,3599.92,3600.87,3602.6,3605.12,3608.42,3612.5,3612.5,3545.45,3394.32,3164.69,2865.24,2507.8,2107.31,1681.87,1252.69,845.28,527.704,309.33,166.969,80.5212,32.9815,10.4356,2.06134,0.128834)
- Lambda: [218](0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.60733e-05,0,1.31597e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.31596e-05,0,2.60734e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.91812e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.60734e-05,0,1.31595e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.31595e-05,0,2.60732e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1)
+ Lambda: [109](0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.60733e-05,1.31597e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.31596e-05,2.60734e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.91812e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.60734e-05,1.31595e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.31595e-05,2.60732e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1)
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
tests/spline-time-optimization.stdout | 8 ++++----
2 files changed, 9 insertions(+), 4 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-08-03 04:57:35
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, core has been updated
via 880a68de51983c5b8c5684b6635e5a8c1064d582 (commit)
from 88a641bb8d42b50b779da0e06954b76cd2db252a (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 880a68de51983c5b8c5684b6635e5a8c1064d582
Author: Thomas Moulard <tho...@gm...>
Date: Mon Aug 3 13:57:08 2009 +0900
Fix a probably bug in libcwd documentation.
* include/roboptim/core/debug.hh: Make sure one can
compile roboptim-core without requiring libcwd.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index d461011..4c02ccf 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-08-03 Thomas Moulard <tho...@gm...>
+ Fix a probably bug in libcwd documentation.
+ * include/roboptim/core/debug.hh: Make sure one can
+ compile roboptim-core without requiring libcwd.
+
+2009-08-03 Thomas Moulard <tho...@gm...>
+
Fix compilation error when debug is disabled.
* include/roboptim/core/debug.hh: Fix compilation errors.
diff --git a/include/roboptim/core/debug.hh b/include/roboptim/core/debug.hh
index cffad15..055be71 100644
--- a/include/roboptim/core/debug.hh
+++ b/include/roboptim/core/debug.hh
@@ -74,7 +74,7 @@ namespace roboptim
LibcwdForAllDebugChannels(roboptim::debug::channels, STATEMENT)
# define RoboptimCoreForAllDebugObjects(STATEMENT...) \
LibcwdForAllDebugObjects(roboptim::debug::channels, STATEMENT)
-# if !defined(Debug) && !defined(ROBOPTIM_CORE_INTERNAL)
+# if defined(Debug) && !defined(ROBOPTIM_CORE_INTERNAL)
# error The application source file (.cc or .cpp) must use '#include "debug.h"' _before_ including the header file that it includes now, that led to this error.
# endif
#endif // !ROBOPTIM_CORE_DEBUG_HH
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
include/roboptim/core/debug.hh | 2 +-
2 files changed, 7 insertions(+), 1 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-08-03 04:49:29
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, core has been updated
via 88a641bb8d42b50b779da0e06954b76cd2db252a (commit)
via 680290c4cb832abc1f161c78997c29a31eab11bb (commit)
from 6c49da95e6361b368c08fe2bed4b2ece714cbc5e (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 88a641bb8d42b50b779da0e06954b76cd2db252a
Author: Thomas Moulard <tho...@gm...>
Date: Mon Aug 3 13:48:26 2009 +0900
Fix compilation error when debug is disabled.
* include/roboptim/core/debug.hh: Fix compilation errors.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index c7fbffb..d461011 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-08-03 Thomas Moulard <tho...@gm...>
+ Fix compilation error when debug is disabled.
+ * include/roboptim/core/debug.hh: Fix compilation errors.
+
+2009-08-03 Thomas Moulard <tho...@gm...>
+
Uniformize library to support libcwd.
* include/roboptim/core/constant-function.hh,
* include/roboptim/core/derivable-function.hh,
diff --git a/include/roboptim/core/debug.hh b/include/roboptim/core/debug.hh
index 5df8222..cffad15 100644
--- a/include/roboptim/core/debug.hh
+++ b/include/roboptim/core/debug.hh
@@ -55,7 +55,8 @@ namespace roboptim
LibcwDebug(roboptim::debug::channels, STATEMENT)
// Handle indentation properly.
-# define RoboptimCoreDout(cntrl, data) \
+# ifdef CWDEBUG
+# define RoboptimCoreDout(cntrl, data) \
LibcwDoutScopeBegin (::roboptim::debug::channels, libcwd::libcw_do, cntrl) \
LibcwDoutStream << data; \
char fill = LibcwDoutStream.fill (' '); \
@@ -63,6 +64,9 @@ namespace roboptim
<< "" \
<< std::setfill (fill); \
LibcwDoutScopeEnd
+# else
+# define RoboptimCoreDout(cntrl, data)
+# endif //! CWDEBUG
# define RoboptimCoreDoutFatal(cntrl, data) \
LibcwDoutFatal(roboptim::debug::channels, libcwd::libcw_do, cntrl, data)
commit 680290c4cb832abc1f161c78997c29a31eab11bb
Author: Thomas Moulard <tho...@gm...>
Date: Mon Aug 3 13:23:54 2009 +0900
Uniformize library to support libcwd.
* include/roboptim/core/constant-function.hh,
* include/roboptim/core/derivable-function.hh,
* include/roboptim/core/derivable-parametrized-function.hh,
* include/roboptim/core/finite-difference-gradient.hh,
* include/roboptim/core/function.hh,
* include/roboptim/core/fwd.hh,
* include/roboptim/core/generic-solver.hh,
* include/roboptim/core/identity-function.hh,
* include/roboptim/core/io.hh,
* include/roboptim/core/linear-function.hh,
* include/roboptim/core/n-times-derivable-function.hh,
* include/roboptim/core/numeric-linear-function.hh,
* include/roboptim/core/numeric-quadratic-function.hh,
* include/roboptim/core/parametrized-function.hh,
* include/roboptim/core/problem.hh,
* include/roboptim/core/quadratic-function.hh,
* include/roboptim/core/result-with-warnings.hh,
* include/roboptim/core/result.hh,
* include/roboptim/core/solver-error.hh,
* include/roboptim/core/solver-factory.hh,
* include/roboptim/core/solver-warning.hh,
* include/roboptim/core/solver.hh,
* include/roboptim/core/twice-derivable-function.hh,
* include/roboptim/core/util.hh,
* include/roboptim/core/visualization/fwd.hh,
* include/roboptim/core/visualization/gnuplot-commands.hh,
* include/roboptim/core/visualization/gnuplot-function.hh,
* include/roboptim/core/visualization/gnuplot.hh,
* src/constant-function.cc,
* src/derivable-function.cc,
* src/finite-difference-gradient.cc,
* src/function.cc,
* src/generic-solver.cc,
* src/identity-function.cc,
* src/linear-function.cc,
* src/numeric-linear-function.cc,
* src/numeric-quadratic-function.cc,
* src/quadratic-function.cc,
* src/result-with-warnings.cc,
* src/result.cc,
* src/roboptim-core-dummy-plugin.cc,
* src/solver-error.cc,
* src/solver-warning.cc,
* src/twice-derivable-function.cc,
* src/util.cc,
* src/visualization/gnuplot-commands.cc,
* src/visualization/gnuplot.cc,
* src/debug.hh: Make sure that sys.hh and debug.hh are included first.
* include/roboptim/core/debug.hh:
Add support in libcwd for RobOptim indentation, declare new channel.
* src/debug.cc: Add new channel.
* include/roboptim/core/indent.hh,
* src/indent.cc: Make indent accessible by the whole project.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 8902f1b..c7fbffb 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,60 @@
+2009-08-03 Thomas Moulard <tho...@gm...>
+
+ Uniformize library to support libcwd.
+ * include/roboptim/core/constant-function.hh,
+ * include/roboptim/core/derivable-function.hh,
+ * include/roboptim/core/derivable-parametrized-function.hh,
+ * include/roboptim/core/finite-difference-gradient.hh,
+ * include/roboptim/core/function.hh,
+ * include/roboptim/core/fwd.hh,
+ * include/roboptim/core/generic-solver.hh,
+ * include/roboptim/core/identity-function.hh,
+ * include/roboptim/core/io.hh,
+ * include/roboptim/core/linear-function.hh,
+ * include/roboptim/core/n-times-derivable-function.hh,
+ * include/roboptim/core/numeric-linear-function.hh,
+ * include/roboptim/core/numeric-quadratic-function.hh,
+ * include/roboptim/core/parametrized-function.hh,
+ * include/roboptim/core/problem.hh,
+ * include/roboptim/core/quadratic-function.hh,
+ * include/roboptim/core/result-with-warnings.hh,
+ * include/roboptim/core/result.hh,
+ * include/roboptim/core/solver-error.hh,
+ * include/roboptim/core/solver-factory.hh,
+ * include/roboptim/core/solver-warning.hh,
+ * include/roboptim/core/solver.hh,
+ * include/roboptim/core/twice-derivable-function.hh,
+ * include/roboptim/core/util.hh,
+ * include/roboptim/core/visualization/fwd.hh,
+ * include/roboptim/core/visualization/gnuplot-commands.hh,
+ * include/roboptim/core/visualization/gnuplot-function.hh,
+ * include/roboptim/core/visualization/gnuplot.hh,
+ * src/constant-function.cc,
+ * src/derivable-function.cc,
+ * src/finite-difference-gradient.cc,
+ * src/function.cc,
+ * src/generic-solver.cc,
+ * src/identity-function.cc,
+ * src/linear-function.cc,
+ * src/numeric-linear-function.cc,
+ * src/numeric-quadratic-function.cc,
+ * src/quadratic-function.cc,
+ * src/result-with-warnings.cc,
+ * src/result.cc,
+ * src/roboptim-core-dummy-plugin.cc,
+ * src/solver-error.cc,
+ * src/solver-warning.cc,
+ * src/twice-derivable-function.cc,
+ * src/util.cc,
+ * src/visualization/gnuplot-commands.cc,
+ * src/visualization/gnuplot.cc,
+ * src/debug.hh: Make sure that sys.hh and debug.hh are included first.
+ * include/roboptim/core/debug.hh:
+ Add support in libcwd for RobOptim indentation, declare new channel.
+ * src/debug.cc: Add new channel.
+ * include/roboptim/core/indent.hh,
+ * src/indent.cc: Make indent accessible by the whole project.
+
2009-08-02 Thomas Moulard <tho...@gm...>
Add libcwd (C++ debugging library) support.
diff --git a/include/roboptim/core/constant-function.hh b/include/roboptim/core/constant-function.hh
index f07b0cb..f2f2553 100644
--- a/include/roboptim/core/constant-function.hh
+++ b/include/roboptim/core/constant-function.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_CONSTANT_FUNCTION_HH
# define ROBOPTIM_CORE_CONSTANT_FUNCTION_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <roboptim/core/linear-function.hh>
namespace roboptim
diff --git a/include/roboptim/core/debug.hh b/include/roboptim/core/debug.hh
index 040e5d9..5df8222 100644
--- a/include/roboptim/core/debug.hh
+++ b/include/roboptim/core/debug.hh
@@ -17,10 +17,18 @@
#ifndef ROBOPTIM_CORE_DEBUG_HH
# define ROBOPTIM_CORE_DEBUG_HH
+# include <roboptim/core/indent.hh>
# ifdef CWDEBUG
# include <libcwd/libraries_debug.h>
+// Include io.hh so that debug code can display whatever they want.
+# include <roboptim/core/io.hh>
+
+# include <cassert>
+# include <iomanip>
+# include <ostream>
+
namespace roboptim
{
namespace debug
@@ -35,15 +43,27 @@ namespace roboptim
namespace dc
{
using namespace libcwd::channels::dc;
+
+ extern ::libcwd::channel_ct function;
}
}
}
}
# endif // CWDEBUG
+
# define RoboptimCoreDebug(STATEMENT...) \
LibcwDebug(roboptim::debug::channels, STATEMENT)
-# define RoboptimCoreDout(cntrl, data) \
- LibcwDout(roboptim::debug::channels, libcwd::libcw_do, cntrl, data)
+
+// Handle indentation properly.
+# define RoboptimCoreDout(cntrl, data) \
+ LibcwDoutScopeBegin (::roboptim::debug::channels, libcwd::libcw_do, cntrl) \
+ LibcwDoutStream << data; \
+ char fill = LibcwDoutStream.fill (' '); \
+ LibcwDoutStream << std::setw (::roboptim::indent (LibcwDoutStream)) \
+ << "" \
+ << std::setfill (fill); \
+ LibcwDoutScopeEnd
+
# define RoboptimCoreDoutFatal(cntrl, data) \
LibcwDoutFatal(roboptim::debug::channels, libcwd::libcw_do, cntrl, data)
# define RoboptimCoreForAllDebugChannels(STATEMENT...) \
diff --git a/include/roboptim/core/derivable-function.hh b/include/roboptim/core/derivable-function.hh
index 6ee422c..c812730 100644
--- a/include/roboptim/core/derivable-function.hh
+++ b/include/roboptim/core/derivable-function.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_DERIVABLE_FUNCTION_HH
# define ROBOPTIM_CORE_DERIVABLE_FUNCTION_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <limits>
# include <utility>
@@ -124,6 +127,8 @@ namespace roboptim
/// \param argument point at which the jacobian will be computed
void jacobian (jacobian_t& jacobian, const argument_t& argument) const throw ()
{
+ RoboptimCoreDout (dc::function,
+ "Evaluating jacobian at point: " << argument);
assert (argument.size () == inputSize ());
assert (isValidJacobian (jacobian));
this->impl_jacobian (jacobian, argument);
@@ -156,6 +161,10 @@ namespace roboptim
const argument_t& argument,
size_type functionId = 0) const throw ()
{
+ RoboptimCoreDout (dc::function,
+ "Evaluating gradient at point: "
+ << argument
+ << " (function id: " << functionId << ")");
assert (argument.size () == inputSize ());
assert (isValidGradient (gradient));
this->impl_gradient (gradient, argument, functionId);
diff --git a/include/roboptim/core/derivable-parametrized-function.hh b/include/roboptim/core/derivable-parametrized-function.hh
index 2eff4f2..b7c0478 100644
--- a/include/roboptim/core/derivable-parametrized-function.hh
+++ b/include/roboptim/core/derivable-parametrized-function.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_TRAJECTORY_DERIVABLE_PARAMETRIZABLE_HH
# define ROBOPTIM_TRAJECTORY_DERIVABLE_PARAMETRIZABLE_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <utility>
# include <roboptim/core/fwd.hh>
diff --git a/include/roboptim/core/finite-difference-gradient.hh b/include/roboptim/core/finite-difference-gradient.hh
index 599e57b..0d49772 100644
--- a/include/roboptim/core/finite-difference-gradient.hh
+++ b/include/roboptim/core/finite-difference-gradient.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_FINITE_DIFFERENCE_GRADIENT_HH
# define ROBOPTIM_CORE_FINITE_DIFFERENCE_GRADIENT_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <stdexcept>
# include <roboptim/core/fwd.hh>
diff --git a/include/roboptim/core/function.hh b/include/roboptim/core/function.hh
index 63579b4..764ce46 100644
--- a/include/roboptim/core/function.hh
+++ b/include/roboptim/core/function.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_FUNCTION_HH
# define ROBOPTIM_CORE_FUNCTION_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <iostream>
# include <limits>
# include <string>
@@ -300,6 +303,8 @@ namespace roboptim
void operator () (result_t& result, const argument_t& argument)
const throw ()
{
+ RoboptimCoreDout (dc::function,
+ "Evaluating function at point: " << argument);
assert (argument.size () == inputSize ());
assert (isValidResult (result));
this->impl_compute (result, argument);
diff --git a/include/roboptim/core/fwd.hh b/include/roboptim/core/fwd.hh
index ad0f0e0..5760b16 100644
--- a/include/roboptim/core/fwd.hh
+++ b/include/roboptim/core/fwd.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_CORE_FWD_HH
# define ROBOPTIM_CORE_FWD_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
namespace roboptim
{
diff --git a/include/roboptim/core/generic-solver.hh b/include/roboptim/core/generic-solver.hh
index ffc247c..43e640d 100644
--- a/include/roboptim/core/generic-solver.hh
+++ b/include/roboptim/core/generic-solver.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_GENERIC_SOLVER_HH
# define ROBOPTIM_CORE_GENERIC_SOLVER_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <stdexcept>
# include <boost/variant/get.hpp>
diff --git a/include/roboptim/core/identity-function.hh b/include/roboptim/core/identity-function.hh
index e4cffe0..81cbc25 100644
--- a/include/roboptim/core/identity-function.hh
+++ b/include/roboptim/core/identity-function.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_IDENTITY_FUNCTION_HH
# define ROBOPTIM_CORE_IDENTITY_FUNCTION_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <roboptim/core/linear-function.hh>
namespace roboptim
diff --git a/include/roboptim/core/indent.hh b/include/roboptim/core/indent.hh
index 6428499..1fc6191 100644
--- a/include/roboptim/core/indent.hh
+++ b/include/roboptim/core/indent.hh
@@ -17,10 +17,16 @@
#ifndef ROBOPTIM_CORE_INDENT_HH
# define ROBOPTIM_CORE_INDENT_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <iosfwd>
namespace roboptim
{
+ /// \brief The current indentation level for \a o.
+ long int& indent (std::ostream& o);
+
/// \brief Increment the indentation.
std::ostream& incindent (std::ostream& o);
diff --git a/include/roboptim/core/io.hh b/include/roboptim/core/io.hh
index 04fc4db..98188a3 100644
--- a/include/roboptim/core/io.hh
+++ b/include/roboptim/core/io.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_IO_HH
# define ROBOPTIM_CORE_IO_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <boost/numeric/ublas/io.hpp>
# include <boost/optional/optional_io.hpp>
# include <boost/tuple/tuple_io.hpp>
diff --git a/include/roboptim/core/linear-function.hh b/include/roboptim/core/linear-function.hh
index 3ec5fb6..73cbf19 100644
--- a/include/roboptim/core/linear-function.hh
+++ b/include/roboptim/core/linear-function.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_LINEAR_FUNCTION_HH
# define ROBOPTIM_CORE_LINEAR_FUNCTION_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <limits>
# include <roboptim/core/quadratic-function.hh>
diff --git a/include/roboptim/core/n-times-derivable-function.hh b/include/roboptim/core/n-times-derivable-function.hh
index adeb5c5..73a3e9c 100644
--- a/include/roboptim/core/n-times-derivable-function.hh
+++ b/include/roboptim/core/n-times-derivable-function.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_TRAJECTORY_N_TIMES_DERIVABLE_HH
# define ROBOPTIM_TRAJECTORY_N_TIMES_DERIVABLE_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <boost/static_assert.hpp>
# include <roboptim/core/fwd.hh>
diff --git a/include/roboptim/core/numeric-linear-function.hh b/include/roboptim/core/numeric-linear-function.hh
index d504571..796803c 100644
--- a/include/roboptim/core/numeric-linear-function.hh
+++ b/include/roboptim/core/numeric-linear-function.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_CORE_NUMERIC_LINEAR_FUNCTION_HH
# define ROBOPTIM_CORE_NUMERIC_LINEAR_FUNCTION_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
# include <roboptim/core/linear-function.hh>
diff --git a/include/roboptim/core/numeric-quadratic-function.hh b/include/roboptim/core/numeric-quadratic-function.hh
index c79d04f..b42010d 100644
--- a/include/roboptim/core/numeric-quadratic-function.hh
+++ b/include/roboptim/core/numeric-quadratic-function.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_NUMERIC_QUADRATIC_FUNCTION_HH
# define ROBOPTIM_CORE_NUMERIC_QUADRATIC_FUNCTION_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <boost/numeric/ublas/symmetric.hpp>
# include <roboptim/core/quadratic-function.hh>
diff --git a/include/roboptim/core/parametrized-function.hh b/include/roboptim/core/parametrized-function.hh
index 4f8ac02..ee58dee 100644
--- a/include/roboptim/core/parametrized-function.hh
+++ b/include/roboptim/core/parametrized-function.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_PARAMETRIZED_FUNCTION_HH
# define ROBOPTIM_CORE_PARAMETRIZED_FUNCTION_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <iostream>
# include <limits>
# include <utility>
diff --git a/include/roboptim/core/problem.hh b/include/roboptim/core/problem.hh
index 6a23f35..f671e76 100644
--- a/include/roboptim/core/problem.hh
+++ b/include/roboptim/core/problem.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_PROBLEM_HH
# define ROBOPTIM_CORE_PROBLEM_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <iostream>
# include <stdexcept>
diff --git a/include/roboptim/core/quadratic-function.hh b/include/roboptim/core/quadratic-function.hh
index c7bd4df..9bf1725 100644
--- a/include/roboptim/core/quadratic-function.hh
+++ b/include/roboptim/core/quadratic-function.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_QUADRATIC_FUNCTION_HH
# define ROBOPTIM_CORE_QUADRATIC_FUNCTION_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <limits>
# include <roboptim/core/twice-derivable-function.hh>
diff --git a/include/roboptim/core/result-with-warnings.hh b/include/roboptim/core/result-with-warnings.hh
index 105f512..9ede500 100644
--- a/include/roboptim/core/result-with-warnings.hh
+++ b/include/roboptim/core/result-with-warnings.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_RESULT_WITH_WARNINGS_HH
# define ROBOPTIM_CORE_RESULT_WITH_WARNINGS_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <vector>
# include <roboptim/core/fwd.hh>
diff --git a/include/roboptim/core/result.hh b/include/roboptim/core/result.hh
index b900b89..71d4b4c 100644
--- a/include/roboptim/core/result.hh
+++ b/include/roboptim/core/result.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_RESULT_HH
# define ROBOPTIM_CORE_RESULT_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <iostream>
# include <vector>
diff --git a/include/roboptim/core/solver-error.hh b/include/roboptim/core/solver-error.hh
index 9b63481..207680e 100644
--- a/include/roboptim/core/solver-error.hh
+++ b/include/roboptim/core/solver-error.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_SOLVER_ERROR_HH
# define ROBOPTIM_CORE_SOLVER_ERROR_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <iostream>
# include <stdexcept>
diff --git a/include/roboptim/core/solver-factory.hh b/include/roboptim/core/solver-factory.hh
index 026b933..ef3252a 100644
--- a/include/roboptim/core/solver-factory.hh
+++ b/include/roboptim/core/solver-factory.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_SOLVER_FACTORY_HH
# define ROBOPTIM_CORE_SOLVER_FACTORY_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <stdexcept>
# include <string>
diff --git a/include/roboptim/core/solver-warning.hh b/include/roboptim/core/solver-warning.hh
index a7cf760..949f8e1 100644
--- a/include/roboptim/core/solver-warning.hh
+++ b/include/roboptim/core/solver-warning.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_SOLVER_WARNING_HH
# define ROBOPTIM_CORE_SOLVER_WARNING_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <roboptim/core/solver-error.hh>
namespace roboptim
diff --git a/include/roboptim/core/solver.hh b/include/roboptim/core/solver.hh
index 6c38821..a3fadbe 100644
--- a/include/roboptim/core/solver.hh
+++ b/include/roboptim/core/solver.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_SOLVER_HH
# define ROBOPTIM_CORE_SOLVER_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <boost/static_assert.hpp>
# include <boost/type_traits/is_base_of.hpp>
diff --git a/include/roboptim/core/twice-derivable-function.hh b/include/roboptim/core/twice-derivable-function.hh
index 30e4bae..870c661 100644
--- a/include/roboptim/core/twice-derivable-function.hh
+++ b/include/roboptim/core/twice-derivable-function.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_TWICE_DERIVABLE_FUNCTION_HH
# define ROBOPTIM_CORE_TWICE_DERIVABLE_FUNCTION_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <limits>
# include <utility>
@@ -104,6 +107,8 @@ namespace roboptim
const argument_t& argument,
size_type functionId = 0) const throw ()
{
+ RoboptimCoreDout (dc::function,
+ "Evaluating hessian at point: " << argument);
assert (isValidHessian (hessian));
this->impl_hessian (hessian, argument, functionId);
assert (isValidHessian (hessian));
diff --git a/include/roboptim/core/util.hh b/include/roboptim/core/util.hh
index dca8312..76c5135 100644
--- a/include/roboptim/core/util.hh
+++ b/include/roboptim/core/util.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_UTIL_HH
# define ROBOPTIM_CORE_UTIL_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <roboptim/core/derivable-function.hh>
namespace roboptim
diff --git a/include/roboptim/core/visualization/fwd.hh b/include/roboptim/core/visualization/fwd.hh
index 220ed0b..0e42284 100644
--- a/include/roboptim/core/visualization/fwd.hh
+++ b/include/roboptim/core/visualization/fwd.hh
@@ -17,6 +17,8 @@
#ifndef ROBOPTIM_CORE_VISUALIZATION_FWD_HH
# define ROBOPTIM_CORE_VISUALIZATION_FWD_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
namespace roboptim
{
diff --git a/include/roboptim/core/visualization/gnuplot-commands.hh b/include/roboptim/core/visualization/gnuplot-commands.hh
index 87696f7..40081fe 100644
--- a/include/roboptim/core/visualization/gnuplot-commands.hh
+++ b/include/roboptim/core/visualization/gnuplot-commands.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_VISUALIZATION_GNUPLOT_COMMANDS_HH
# define ROBOPTIM_CORE_VISUALIZATION_GNUPLOT_COMMANDS_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <string>
namespace roboptim
diff --git a/include/roboptim/core/visualization/gnuplot-function.hh b/include/roboptim/core/visualization/gnuplot-function.hh
index f911132..3353ac3 100644
--- a/include/roboptim/core/visualization/gnuplot-function.hh
+++ b/include/roboptim/core/visualization/gnuplot-function.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_VISUALIZATION_GNUPLOT_FUNCTION_HH
# define ROBOPTIM_CORE_VISUALIZATION_GNUPLOT_FUNCTION_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <boost/format.hpp>
# include <roboptim/core/function.hh>
diff --git a/include/roboptim/core/visualization/gnuplot.hh b/include/roboptim/core/visualization/gnuplot.hh
index bbee169..9673154 100644
--- a/include/roboptim/core/visualization/gnuplot.hh
+++ b/include/roboptim/core/visualization/gnuplot.hh
@@ -17,6 +17,9 @@
#ifndef ROBOPTIM_CORE_VISUALIZATION_GNUPLOT_HH
# define ROBOPTIM_CORE_VISUALIZATION_GNUPLOT_HH
+# include <roboptim/core/sys.hh>
+# include <roboptim/core/debug.hh>
+
# include <vector>
# include <roboptim/core/visualization/fwd.hh>
diff --git a/src/constant-function.cc b/src/constant-function.cc
index 4f42cdf..c1ce01c 100644
--- a/src/constant-function.cc
+++ b/src/constant-function.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include <boost/numeric/ublas/io.hpp>
#include <boost/numeric/ublas/matrix.hpp>
#include <boost/numeric/ublas/vector.hpp>
diff --git a/src/debug.cc b/src/debug.cc
index d25a717..b1ff4a8 100644
--- a/src/debug.cc
+++ b/src/debug.cc
@@ -28,6 +28,7 @@ namespace roboptim
{
namespace dc
{
+ ::libcwd::channel_ct function ("FUNCTION");
} // namespace dc
} // namespace DEBUGCHANNELS
diff --git a/src/debug.hh b/src/debug.hh
index 957e7d5..5727102 100644
--- a/src/debug.hh
+++ b/src/debug.hh
@@ -17,6 +17,7 @@
#ifndef DEBUG_HH
# define DEBUG_HH
+# include <roboptim/core/sys.hh>
# ifndef CWDEBUG
# include <iostream>
diff --git a/src/derivable-function.cc b/src/derivable-function.cc
index 823273d..a3d2dd2 100644
--- a/src/derivable-function.cc
+++ b/src/derivable-function.cc
@@ -15,6 +15,7 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
#include "roboptim/core/derivable-function.hh"
#include "roboptim/core/indent.hh"
diff --git a/src/finite-difference-gradient.cc b/src/finite-difference-gradient.cc
index 31366d1..8fba1e5 100644
--- a/src/finite-difference-gradient.cc
+++ b/src/finite-difference-gradient.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include <boost/numeric/ublas/io.hpp>
#include <roboptim/core/indent.hh>
diff --git a/src/function.cc b/src/function.cc
index 9846260..fd4c972 100644
--- a/src/function.cc
+++ b/src/function.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include "roboptim/core/function.hh"
#include "roboptim/core/indent.hh"
#include "roboptim/core/util.hh"
diff --git a/src/generic-solver.cc b/src/generic-solver.cc
index be19d2e..2de3f7b 100644
--- a/src/generic-solver.cc
+++ b/src/generic-solver.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include <cassert>
#include "roboptim/core/generic-solver.hh"
@@ -37,6 +39,7 @@ namespace roboptim
void
GenericSolver::reset () throw ()
{
+ Dout (dc::notice, "Solver has been reset.");
result_ = NoSolution ();
}
diff --git a/src/identity-function.cc b/src/identity-function.cc
index c87056f..b17046f 100644
--- a/src/identity-function.cc
+++ b/src/identity-function.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include <boost/numeric/ublas/io.hpp>
#include <boost/numeric/ublas/matrix.hpp>
#include <boost/numeric/ublas/vector.hpp>
diff --git a/src/indent.cc b/src/indent.cc
index 8cdb24c..06bfe15 100644
--- a/src/indent.cc
+++ b/src/indent.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include <cassert>
#include <iomanip>
#include <ostream>
@@ -23,15 +25,11 @@
namespace roboptim
{
- namespace
+ inline long int& indent (std::ostream& o)
{
- /// The current indentation level for \a o.
- inline long int& indent (std::ostream& o)
- {
- // The slot to store the current indentation level.
- static const long int indent_index = std::ios::xalloc ();
- return o.iword (indent_index);
- }
+ // The slot to store the current indentation level.
+ static const long int indent_index = std::ios::xalloc ();
+ return o.iword (indent_index);
}
std::ostream& incindent (std::ostream& o)
diff --git a/src/linear-function.cc b/src/linear-function.cc
index 0af6f3c..b685bc4 100644
--- a/src/linear-function.cc
+++ b/src/linear-function.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include "roboptim/core/linear-function.hh"
#include "roboptim/core/indent.hh"
#include "roboptim/core/util.hh"
diff --git a/src/numeric-linear-function.cc b/src/numeric-linear-function.cc
index 0efeca9..407f623 100644
--- a/src/numeric-linear-function.cc
+++ b/src/numeric-linear-function.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include <boost/numeric/ublas/io.hpp>
#include <boost/numeric/ublas/matrix.hpp>
#include <boost/numeric/ublas/vector.hpp>
diff --git a/src/numeric-quadratic-function.cc b/src/numeric-quadratic-function.cc
index 5862d6d..67e0065 100644
--- a/src/numeric-quadratic-function.cc
+++ b/src/numeric-quadratic-function.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include <boost/numeric/ublas/io.hpp>
#include <boost/numeric/ublas/matrix.hpp>
#include <boost/numeric/ublas/vector.hpp>
diff --git a/src/quadratic-function.cc b/src/quadratic-function.cc
index 6839012..25af890 100644
--- a/src/quadratic-function.cc
+++ b/src/quadratic-function.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include "roboptim/core/quadratic-function.hh"
#include "roboptim/core/indent.hh"
#include "roboptim/core/util.hh"
diff --git a/src/result-with-warnings.cc b/src/result-with-warnings.cc
index e70b6dc..ecee65c 100644
--- a/src/result-with-warnings.cc
+++ b/src/result-with-warnings.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include <iostream>
#include <vector>
diff --git a/src/result.cc b/src/result.cc
index 1526e56..3131175 100644
--- a/src/result.cc
+++ b/src/result.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include <iostream>
#include <vector>
diff --git a/src/roboptim-core-dummy-plugin.cc b/src/roboptim-core-dummy-plugin.cc
index c7bb6ea..297827f 100644
--- a/src/roboptim-core-dummy-plugin.cc
+++ b/src/roboptim-core-dummy-plugin.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include "roboptim/core/function.hh"
#include "roboptim/core/problem.hh"
#include "roboptim/core/plugin/dummy.hh"
diff --git a/src/solver-error.cc b/src/solver-error.cc
index a886c44..caea4a2 100644
--- a/src/solver-error.cc
+++ b/src/solver-error.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include "roboptim/core/solver-error.hh"
namespace roboptim
diff --git a/src/solver-warning.cc b/src/solver-warning.cc
index 464bdcc..3bd9156 100644
--- a/src/solver-warning.cc
+++ b/src/solver-warning.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include "roboptim/core/solver-warning.hh"
namespace roboptim
diff --git a/src/twice-derivable-function.cc b/src/twice-derivable-function.cc
index 2909023..371e189 100644
--- a/src/twice-derivable-function.cc
+++ b/src/twice-derivable-function.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include "roboptim/core/twice-derivable-function.hh"
#include "roboptim/core/indent.hh"
#include "roboptim/core/util.hh"
diff --git a/src/util.cc b/src/util.cc
index c6f0a74..ed8141c 100644
--- a/src/util.cc
+++ b/src/util.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include <cstring>
#include <boost/numeric/ublas/matrix.hpp>
diff --git a/src/visualization/gnuplot-commands.cc b/src/visualization/gnuplot-commands.cc
index a747db0..2ad629e 100644
--- a/src/visualization/gnuplot-commands.cc
+++ b/src/visualization/gnuplot-commands.cc
@@ -15,6 +15,8 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "debug.hh"
+
#include <boost/format.hpp>
#include <roboptim/core/visualization/gnuplot-commands.hh>
diff --git a/src/visualization/gnuplot.cc b/src/visualization/gnuplot.cc
index 5afadfe..e7c1c89 100644
--- a/src/visualization/gnuplot.cc
+++ b/src/visualization/gnuplot.cc
@@ -15,10 +15,7 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-/**
- * \brief Gnuplot visualization implementation.
- */
-
+#include "debug.hh"
#include "config.h"
#include <iostream>
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 62 ++++++++++++++++++++
include/roboptim/core/constant-function.hh | 3 +
include/roboptim/core/debug.hh | 28 ++++++++-
include/roboptim/core/derivable-function.hh | 9 +++
.../core/derivable-parametrized-function.hh | 3 +
.../roboptim/core/finite-difference-gradient.hh | 3 +
include/roboptim/core/function.hh | 5 ++
include/roboptim/core/fwd.hh | 2 +
include/roboptim/core/generic-solver.hh | 3 +
include/roboptim/core/identity-function.hh | 3 +
include/roboptim/core/indent.hh | 6 ++
include/roboptim/core/io.hh | 3 +
include/roboptim/core/linear-function.hh | 3 +
.../roboptim/core/n-times-derivable-function.hh | 3 +
include/roboptim/core/numeric-linear-function.hh | 2 +
.../roboptim/core/numeric-quadratic-function.hh | 3 +
include/roboptim/core/parametrized-function.hh | 3 +
include/roboptim/core/problem.hh | 3 +
include/roboptim/core/quadratic-function.hh | 3 +
include/roboptim/core/result-with-warnings.hh | 3 +
include/roboptim/core/result.hh | 3 +
include/roboptim/core/solver-error.hh | 3 +
include/roboptim/core/solver-factory.hh | 3 +
include/roboptim/core/solver-warning.hh | 3 +
include/roboptim/core/solver.hh | 3 +
include/roboptim/core/twice-derivable-function.hh | 5 ++
include/roboptim/core/util.hh | 3 +
include/roboptim/core/visualization/fwd.hh | 2 +
.../core/visualization/gnuplot-commands.hh | 3 +
.../core/visualization/gnuplot-function.hh | 3 +
include/roboptim/core/visualization/gnuplot.hh | 3 +
src/constant-function.cc | 2 +
src/debug.cc | 1 +
src/debug.hh | 1 +
src/derivable-function.cc | 1 +
src/finite-difference-gradient.cc | 2 +
src/function.cc | 2 +
src/generic-solver.cc | 3 +
src/identity-function.cc | 2 +
src/indent.cc | 14 ++---
src/linear-function.cc | 2 +
src/numeric-linear-function.cc | 2 +
src/numeric-quadratic-function.cc | 2 +
src/quadratic-function.cc | 2 +
src/result-with-warnings.cc | 2 +
src/result.cc | 2 +
src/roboptim-core-dummy-plugin.cc | 2 +
src/solver-error.cc | 2 +
src/solver-warning.cc | 2 +
src/twice-derivable-function.cc | 2 +
src/util.cc | 2 +
src/visualization/gnuplot-commands.cc | 2 +
src/visualization/gnuplot.cc | 5 +-
53 files changed, 230 insertions(+), 14 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-08-02 11:15:03
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, core has been updated
via 6c49da95e6361b368c08fe2bed4b2ece714cbc5e (commit)
from 41dca3fc37534a61a2509dff87462170d0758d31 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 6c49da95e6361b368c08fe2bed4b2ece714cbc5e
Author: Thomas Moulard <tho...@gm...>
Date: Sun Aug 2 20:13:03 2009 +0900
Add libcwd (C++ debugging library) support.
* include/Makefile.am: Distribute new header.
* include/roboptim/core/debug.hh: New.
* include/roboptim/core/sys.hh: New.
* src/Makefile.am: Compile new source.
* src/debug.cc: New.
* src/debug.hh: New.
* tests/common.hh: Initialize debugging properly.
* tests/constant-function.cc,
* tests/derivable-function.cc,
* tests/derivable-parametrized-function.cc,
* tests/finite-difference-gradient.cc,
* tests/function.cc,
* tests/identity-function.cc,
* tests/interval.cc,
* tests/linear-function.cc,
* tests/numeric-linear-function.cc,
* tests/numeric-quadratic-function.cc,
* tests/parametrized-function.cc,
* tests/plugin.cc,
* tests/quadratic-function.cc,
* tests/result.cc,
* tests/simple.cc,
* tests/twice-derivable-function.cc,
* tests/util.cc,
* tests/visualization-gnuplot-function.cc,
* tests/visualization-gnuplot-simple.cc:
Make sure common.hh is included first.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index e490b33..8902f1b 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,34 @@
+2009-08-02 Thomas Moulard <tho...@gm...>
+
+ Add libcwd (C++ debugging library) support.
+ * include/Makefile.am: Distribute new header.
+ * include/roboptim/core/debug.hh: New.
+ * include/roboptim/core/sys.hh: New.
+ * src/Makefile.am: Compile new source.
+ * src/debug.cc: New.
+ * src/debug.hh: New.
+ * tests/common.hh: Initialize debugging properly.
+ * tests/constant-function.cc,
+ * tests/derivable-function.cc,
+ * tests/derivable-parametrized-function.cc,
+ * tests/finite-difference-gradient.cc,
+ * tests/function.cc,
+ * tests/identity-function.cc,
+ * tests/interval.cc,
+ * tests/linear-function.cc,
+ * tests/numeric-linear-function.cc,
+ * tests/numeric-quadratic-function.cc,
+ * tests/parametrized-function.cc,
+ * tests/plugin.cc,
+ * tests/quadratic-function.cc,
+ * tests/result.cc,
+ * tests/simple.cc,
+ * tests/twice-derivable-function.cc,
+ * tests/util.cc,
+ * tests/visualization-gnuplot-function.cc,
+ * tests/visualization-gnuplot-simple.cc:
+ Make sure common.hh is included first.
+
2009-07-30 Thomas Moulard <tho...@gm...>
Re-enable gcov support in plug-in.
diff --git a/include/Makefile.am b/include/Makefile.am
index 75d97f2..a23251b 100644
--- a/include/Makefile.am
+++ b/include/Makefile.am
@@ -3,6 +3,7 @@ include $(top_srcdir)/build-aux/init.mk
# --- Distribute and install headers.
nobase_include_HEADERS = \
roboptim/core/constant-function.hh \
+ roboptim/core/debug.hh \
roboptim/core/derivable-function.hh \
roboptim/core/derivable-parametrized-function.hh\
roboptim/core/function.hh \
@@ -30,6 +31,7 @@ nobase_include_HEADERS = \
roboptim/core/solver-warning.hh \
roboptim/core/solver.hh \
roboptim/core/solver.hxx \
+ roboptim/core/sys.hh \
roboptim/core/twice-derivable-function.hh \
roboptim/core/util.hh \
roboptim/core/util.hxx
diff --git a/include/roboptim/core/debug.hh b/include/roboptim/core/debug.hh
new file mode 100644
index 0000000..040e5d9
--- /dev/null
+++ b/include/roboptim/core/debug.hh
@@ -0,0 +1,56 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef ROBOPTIM_CORE_DEBUG_HH
+# define ROBOPTIM_CORE_DEBUG_HH
+
+# ifdef CWDEBUG
+# include <libcwd/libraries_debug.h>
+
+namespace roboptim
+{
+ namespace debug
+ {
+ /// Initialize debugging code from main ().
+ void init ();
+ // Initialize debugging code from new threads.
+ void init_thread ();
+
+ namespace channels
+ {
+ namespace dc
+ {
+ using namespace libcwd::channels::dc;
+ }
+ }
+ }
+}
+# endif // CWDEBUG
+# define RoboptimCoreDebug(STATEMENT...) \
+ LibcwDebug(roboptim::debug::channels, STATEMENT)
+# define RoboptimCoreDout(cntrl, data) \
+ LibcwDout(roboptim::debug::channels, libcwd::libcw_do, cntrl, data)
+# define RoboptimCoreDoutFatal(cntrl, data) \
+ LibcwDoutFatal(roboptim::debug::channels, libcwd::libcw_do, cntrl, data)
+# define RoboptimCoreForAllDebugChannels(STATEMENT...) \
+ LibcwdForAllDebugChannels(roboptim::debug::channels, STATEMENT)
+# define RoboptimCoreForAllDebugObjects(STATEMENT...) \
+ LibcwdForAllDebugObjects(roboptim::debug::channels, STATEMENT)
+# if !defined(Debug) && !defined(ROBOPTIM_CORE_INTERNAL)
+# error The application source file (.cc or .cpp) must use '#include "debug.h"' _before_ including the header file that it includes now, that led to this error.
+# endif
+#endif // !ROBOPTIM_CORE_DEBUG_HH
diff --git a/tests/util.cc b/include/roboptim/core/sys.hh
similarity index 70%
copy from tests/util.cc
copy to include/roboptim/core/sys.hh
index d793d7e..f6f9fed 100644
--- a/tests/util.cc
+++ b/include/roboptim/core/sys.hh
@@ -15,26 +15,9 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
-#include "common.hh"
-
-#include <roboptim/core/io.hh>
-#include <roboptim/core/util.hh>
-
-using namespace roboptim;
-
-int run_test ()
-{
- // Check vector display.
- std::vector<int> v;
-
- std::cout << v << std::endl;
-
- v.push_back (1);
- std::cout << v << std::endl;
-
- return 0;
-}
-
-GENERATE_TEST ()
+# ifdef CWDEBUG
+# ifndef _GNU_SOURCE
+# define _GNU_SOURCE
+# endif //! _GNU_SOURCE
+# include <libcwd/sys.h>
+#endif //! CWDEBUG
diff --git a/src/Makefile.am b/src/Makefile.am
index f25f1f3..6df5aac 100644
--- a/src/Makefile.am
+++ b/src/Makefile.am
@@ -7,6 +7,8 @@ lib_LTLIBRARIES = libroboptim-core.la
libroboptim_core_la_SOURCES = \
constant-function.cc \
+ debug.hh \
+ debug.cc \
doc.hh \
derivable-function.cc \
finite-difference-gradient.cc \
diff --git a/src/debug.cc b/src/debug.cc
new file mode 100644
index 0000000..d25a717
--- /dev/null
+++ b/src/debug.cc
@@ -0,0 +1,92 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#include <roboptim/core/sys.hh>
+#include "debug.hh"
+
+#ifdef CWDEBUG
+
+namespace roboptim
+{
+ namespace debug
+ {
+ namespace channels
+ {
+ namespace dc
+ {
+ } // namespace dc
+ } // namespace DEBUGCHANNELS
+
+ /// Initialize debugging code from new threads.
+ void init_thread ();
+
+ void init_thread ()
+ {
+# if LIBCWD_THREAD_SAFE
+ ForAllDebugChannels (while (!debugChannel.is_on ()) debugChannel.on ());
+# endif // !LIBCWD_THREAD_SAFE
+
+ // Turn on debug output.
+ // Only turn on debug output when the environment variable
+ // SUPPRESS_DEBUG_OUTPUT is not set.
+ Debug(if (!getenv ("SUPPRESS_DEBUG_OUTPUT")) libcw_do.on ());
+# if LIBCWD_THREAD_SAFE
+ Debug(libcw_do.set_ostream (&std::cerr, &cerr_mutex));
+
+ // Set the thread id in the margin.
+ char margin[12];
+ sprintf(margin, "%-10lu ", pthread_self ());
+ Debug (libcw_do.margin().assign(margin, 11));
+# else
+ Debug(libcw_do.set_ostream (&std::cerr));
+# endif //! LIBCWD_THREAD_SAFE
+
+ // Write a list of all existing debug channels to the default debug device.
+ Debug(list_channels_on (libcw_do));
+ }
+
+ /// Initialize debugging code from main().
+ void init ();
+
+ void init ()
+ {
+ // You want this, unless you mix streams output with C output.
+ // Read http://gcc.gnu.org/onlinedocs/libstdc++/27_io/howto.html#8 for an explanation.
+ // We can't use it, because other code uses printf to write to the console.
+ Debug(set_invisible_on ());
+ // Cause "memory leaks" ([w]cin, [w]cout and [w]cerr filebuf allocations).
+ std::ios::sync_with_stdio (false);
+ Debug(set_invisible_off ());
+
+ // This will warn you when you are using header files that do not belong to the
+ // shared libcwd object that you linked with.
+ Debug(check_configuration());
+
+# if CWDEBUG_ALLOC
+ // Remove all current (pre- main) allocations from the Allocated Memory Overview.
+ libcwd::make_all_allocations_invisible_except (0);
+# endif
+
+ Debug (read_rcfile ());
+
+ init_thread ();
+ }
+
+ } // namespace debug
+} // namespace myproject
+
+#endif // CWDEBUG
diff --git a/src/debug.hh b/src/debug.hh
new file mode 100644
index 0000000..957e7d5
--- /dev/null
+++ b/src/debug.hh
@@ -0,0 +1,60 @@
+// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
+//
+// This file is part of the roboptim.
+//
+// roboptim is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// roboptim is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef DEBUG_HH
+# define DEBUG_HH
+
+# ifndef CWDEBUG
+# include <iostream>
+# include <cstdlib>
+
+# define AllocTag1(p)
+# define AllocTag2(p, desc)
+# define AllocTag_dynamic_description(p, data)
+# define AllocTag(p, data)
+# define Debug(STATEMENT...)
+# define Dout(cntrl, data)
+# define DoutFatal(cntrl, data) LibcwDoutFatal(, , cntrl, data)
+# define ForAllDebugChannels(STATEMENT...)
+# define ForAllDebugObjects(STATEMENT...)
+# define LibcwDebug(dc_namespace, STATEMENT...)
+# define LibcwDout(dc_namespace, d, cntrl, data)
+# define LibcwDoutFatal(dc_namespace, d, cntrl, data) \
+ do { ::std::cerr << data << ::std::endl; ::std::exit(EXIT_FAILURE); } while(1)
+# define LibcwdForAllDebugChannels(dc_namespace, STATEMENT...)
+# define LibcwdForAllDebugObjects(dc_namespace, STATEMENT...)
+# define NEW(x) new x
+# define CWDEBUG_ALLOC 0
+# define CWDEBUG_MAGIC 0
+# define CWDEBUG_LOCATION 0
+# define CWDEBUG_LIBBFD 0
+# define CWDEBUG_DEBUG 0
+# define CWDEBUG_DEBUGOUTPUT 0
+# define CWDEBUG_DEBUGM 0
+# define CWDEBUG_DEBUGT 0
+# define CWDEBUG_MARKER 0
+
+# endif // CWDEBUG
+
+# define ROBOPTIM_CORE_INTERNAL
+# include <roboptim/core/debug.hh>
+# define DEBUGCHANNELS roboptim::debug::channels
+# ifdef CWDEBUG
+# include <libcwd/debug.h>
+# endif
+
+#endif // !DEBUG_HH
diff --git a/tests/common.hh b/tests/common.hh
index 47e4ddd..9dc4ea3 100644
--- a/tests/common.hh
+++ b/tests/common.hh
@@ -18,19 +18,36 @@
#ifndef OPTIMIZATION_TESTS_COMMON_HH
# define OPTIMIZATION_TESTS_COMMON_HH
+# include <roboptim/core/sys.hh>
+
+# include <fstream>
# include <iostream>
# include <stdexcept>
+
# include "config.h"
+# include "debug.hh"
static const int TEST_FAILED = 10;
static const int TEST_SUCCEED = 0;
int run_test ();
+void init ();
+
+
+void init ()
+{
+#ifdef CWDEBUG
+ roboptim::debug::init();
+#endif //! CWDEBUG
+}
+
# define GENERATE_TEST() \
int \
main (int argc, char** argv) \
{ \
+ init (); \
+ \
if (argc == 2 \
&& std::string (argv[1]) == "--version") \
{ \
diff --git a/tests/constant-function.cc b/tests/constant-function.cc
index 6909f0c..1909f62 100644
--- a/tests/constant-function.cc
+++ b/tests/constant-function.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/constant-function.hh>
diff --git a/tests/derivable-function.cc b/tests/derivable-function.cc
index ee59e52..74bc9f9 100644
--- a/tests/derivable-function.cc
+++ b/tests/derivable-function.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/derivable-function.hh>
#include <roboptim/core/util.hh>
diff --git a/tests/derivable-parametrized-function.cc b/tests/derivable-parametrized-function.cc
index 6e64665..544a74d 100644
--- a/tests/derivable-parametrized-function.cc
+++ b/tests/derivable-parametrized-function.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/identity-function.hh>
#include <roboptim/core/derivable-parametrized-function.hh>
diff --git a/tests/finite-difference-gradient.cc b/tests/finite-difference-gradient.cc
index 4918c9e..d765a76 100644
--- a/tests/finite-difference-gradient.cc
+++ b/tests/finite-difference-gradient.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/finite-difference-gradient.hh>
#include <roboptim/core/indent.hh>
diff --git a/tests/function.cc b/tests/function.cc
index 9f995bf..79a62c9 100644
--- a/tests/function.cc
+++ b/tests/function.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/function.hh>
diff --git a/tests/identity-function.cc b/tests/identity-function.cc
index f4f1b78..4f5a60f 100644
--- a/tests/identity-function.cc
+++ b/tests/identity-function.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/identity-function.hh>
diff --git a/tests/interval.cc b/tests/interval.cc
index 6930150..bc4d41a 100644
--- a/tests/interval.cc
+++ b/tests/interval.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/function.hh>
#include <roboptim/core/io.hh>
#include <roboptim/core/util.hh>
diff --git a/tests/linear-function.cc b/tests/linear-function.cc
index 9951998..ddec9df 100644
--- a/tests/linear-function.cc
+++ b/tests/linear-function.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/linear-function.hh>
diff --git a/tests/numeric-linear-function.cc b/tests/numeric-linear-function.cc
index 42d4f51..eb7de6a 100644
--- a/tests/numeric-linear-function.cc
+++ b/tests/numeric-linear-function.cc
@@ -15,13 +15,13 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "common.hh"
+
#include <iostream>
#include <roboptim/core/io.hh>
#include <roboptim/core/numeric-linear-function.hh>
-#include "common.hh"
-
using namespace roboptim;
typedef DummySolver solver_t;
diff --git a/tests/numeric-quadratic-function.cc b/tests/numeric-quadratic-function.cc
index e43aa54..b060666 100644
--- a/tests/numeric-quadratic-function.cc
+++ b/tests/numeric-quadratic-function.cc
@@ -15,13 +15,13 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "common.hh"
+
#include <iostream>
#include <roboptim/core/io.hh>
#include <roboptim/core/numeric-quadratic-function.hh>
-#include "common.hh"
-
using namespace roboptim;
typedef DummySolver solver_t;
diff --git a/tests/parametrized-function.cc b/tests/parametrized-function.cc
index c9fcfa1..6189cac 100644
--- a/tests/parametrized-function.cc
+++ b/tests/parametrized-function.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/constant-function.hh>
#include <roboptim/core/parametrized-function.hh>
diff --git a/tests/plugin.cc b/tests/plugin.cc
index 1556210..67f2d7d 100644
--- a/tests/plugin.cc
+++ b/tests/plugin.cc
@@ -15,12 +15,12 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
+#include "common.hh"
+
#include <iostream>
#include <boost/mpl/vector.hpp>
-#include "common.hh"
-
#include <roboptim/core/io.hh>
#include <roboptim/core/solver-factory.hh>
diff --git a/tests/quadratic-function.cc b/tests/quadratic-function.cc
index b602d74..74e237b 100644
--- a/tests/quadratic-function.cc
+++ b/tests/quadratic-function.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/quadratic-function.hh>
diff --git a/tests/result.cc b/tests/result.cc
index db416df..e1930af 100644
--- a/tests/result.cc
+++ b/tests/result.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/result.hh>
#include <roboptim/core/result-with-warnings.hh>
diff --git a/tests/simple.cc b/tests/simple.cc
index c8140c8..0ccf4d0 100644
--- a/tests/simple.cc
+++ b/tests/simple.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/plugin/dummy.hh>
diff --git a/tests/twice-derivable-function.cc b/tests/twice-derivable-function.cc
index 9e99e20..c309fdf 100644
--- a/tests/twice-derivable-function.cc
+++ b/tests/twice-derivable-function.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/twice-derivable-function.hh>
#include <roboptim/core/util.hh>
diff --git a/tests/util.cc b/tests/util.cc
index d793d7e..cc4a122 100644
--- a/tests/util.cc
+++ b/tests/util.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/util.hh>
diff --git a/tests/visualization-gnuplot-function.cc b/tests/visualization-gnuplot-function.cc
index af0b2d7..60fed60 100644
--- a/tests/visualization-gnuplot-function.cc
+++ b/tests/visualization-gnuplot-function.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/visualization/gnuplot.hh>
diff --git a/tests/visualization-gnuplot-simple.cc b/tests/visualization-gnuplot-simple.cc
index 406624e..e0c424d 100644
--- a/tests/visualization-gnuplot-simple.cc
+++ b/tests/visualization-gnuplot-simple.cc
@@ -15,10 +15,10 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
#include "common.hh"
+#include <iostream>
+
#include <roboptim/core/io.hh>
#include <roboptim/core/visualization/gnuplot.hh>
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 31 ++++++++++
include/Makefile.am | 2 +
include/roboptim/core/debug.hh | 56 ++++++++++++++++++
include/roboptim/core/{io.hh => sys.hh} | 15 ++---
src/Makefile.am | 2 +
src/debug.cc | 92 ++++++++++++++++++++++++++++++
src/debug.hh | 60 +++++++++++++++++++
tests/common.hh | 17 ++++++
tests/constant-function.cc | 4 +-
tests/derivable-function.cc | 4 +-
tests/derivable-parametrized-function.cc | 4 +-
tests/finite-difference-gradient.cc | 4 +-
tests/function.cc | 4 +-
tests/identity-function.cc | 4 +-
tests/interval.cc | 4 +-
tests/linear-function.cc | 4 +-
tests/numeric-linear-function.cc | 4 +-
tests/numeric-quadratic-function.cc | 4 +-
tests/parametrized-function.cc | 4 +-
tests/plugin.cc | 4 +-
tests/quadratic-function.cc | 4 +-
tests/result.cc | 4 +-
tests/simple.cc | 4 +-
tests/twice-derivable-function.cc | 4 +-
tests/util.cc | 4 +-
tests/visualization-gnuplot-function.cc | 4 +-
tests/visualization-gnuplot-simple.cc | 4 +-
27 files changed, 304 insertions(+), 47 deletions(-)
create mode 100644 include/roboptim/core/debug.hh
copy include/roboptim/core/{io.hh => sys.hh} (72%)
create mode 100644 src/debug.cc
create mode 100644 src/debug.hh
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-30 07:51:22
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via 1659ebcc0c6ae966d77e0519d95baa88216941d9 (commit)
from 39b9a29af1f72a63cef2d64e11ea7f4a55f5093f (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 1659ebcc0c6ae966d77e0519d95baa88216941d9
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 30 16:50:55 2009 +0900
Remove useless constraints.
* tests/spline-time-optimization.cc: Remove useless constraints.
* tests/spline-time-optimization.stdout: Regenerate.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index c72237f..71a6caf 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-07-30 Thomas Moulard <tho...@gm...>
+ Remove useless constraints.
+ * tests/spline-time-optimization.cc: Remove useless constraints.
+ * tests/spline-time-optimization.stdout: Regenerate.
+
+2009-07-30 Thomas Moulard <tho...@gm...>
+
Fix free time optimization test case.
* tests/spline-time-optimization.cc: Fix parameters.
* tests/spline-time-optimization.stdout: Regenerate.
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index 2501ba8..91ef576 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -96,7 +96,7 @@ int run_test ()
indices.push_back (freeTimeParams.size () - 1);
makeFreeze (problem) (indices, freeTimeParams);
- Function::interval_t vRange (0., .5 * vMax * vMax);
+ Function::interval_t vRange = Function::makeUpperInterval (.5 * vMax * vMax);
LimitSpeed<FreeTimeTrajectory<Spline::derivabilityOrder> >::addToProblem
(freeTimeTraj, problem, vRange, nControlPoints * nConstraintsPerCtrlPts);
diff --git a/tests/spline-time-optimization.stdout b/tests/spline-time-optimization.stdout
index c30ba0d..8ea5b53 100644
--- a/tests/spline-time-optimization.stdout
+++ b/tests/spline-time-optimization.stdout
@@ -7,655 +7,655 @@ Problem:
Number of constraints: 109
Constraint 0
speed limit (0.00909091) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](0.0637334)
Constraint 1
speed limit (0.0181818) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1.01973)
Constraint 2
speed limit (0.0272727) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](5.1624)
Constraint 3
speed limit (0.0363636) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](16.3157)
Constraint 4
speed limit (0.0454545) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](39.8333)
Constraint 5
speed limit (0.0545455) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](82.5984)
Constraint 6
speed limit (0.0636364) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](153.024)
Constraint 7
speed limit (0.0727273) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](261.052)
Constraint 8
speed limit (0.0818182) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](418.155)
Constraint 9
speed limit (0.0909091) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](619.753)
Constraint 10
speed limit (0.1) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](832.32)
Constraint 11
speed limit (0.109091) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1043.3)
Constraint 12
speed limit (0.118182) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1242.24)
Constraint 13
speed limit (0.127273) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1420.22)
Constraint 14
speed limit (0.136364) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1569.85)
Constraint 15
speed limit (0.145455) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1685.26)
Constraint 16
speed limit (0.154545) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1762.12)
Constraint 17
speed limit (0.163636) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1797.62)
Constraint 18
speed limit (0.172727) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 19
speed limit (0.181818) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 20
speed limit (0.190909) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 21
speed limit (0.2) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 22
speed limit (0.209091) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 23
speed limit (0.218182) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 24
speed limit (0.227273) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 25
speed limit (0.236364) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 26
speed limit (0.245455) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 27
speed limit (0.254545) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 28
speed limit (0.263636) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 29
speed limit (0.272727) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 30
speed limit (0.281818) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 31
speed limit (0.290909) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 32
speed limit (0.3) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 33
speed limit (0.309091) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 34
speed limit (0.318182) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 35
speed limit (0.327273) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 36
speed limit (0.336364) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 37
speed limit (0.345455) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 38
speed limit (0.354545) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 39
speed limit (0.363636) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 40
speed limit (0.372727) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 41
speed limit (0.381818) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 42
speed limit (0.390909) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 43
speed limit (0.4) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 44
speed limit (0.409091) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 45
speed limit (0.418182) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 46
speed limit (0.427273) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 47
speed limit (0.436364) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 48
speed limit (0.445455) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 49
speed limit (0.454545) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 50
speed limit (0.463636) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 51
speed limit (0.472727) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 52
speed limit (0.481818) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 53
speed limit (0.490909) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 54
speed limit (0.5) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 55
speed limit (0.509091) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 56
speed limit (0.518182) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 57
speed limit (0.527273) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 58
speed limit (0.536364) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 59
speed limit (0.545455) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 60
speed limit (0.554545) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 61
speed limit (0.563636) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 62
speed limit (0.572727) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 63
speed limit (0.581818) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 64
speed limit (0.590909) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 65
speed limit (0.6) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 66
speed limit (0.609091) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 67
speed limit (0.618182) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 68
speed limit (0.627273) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 69
speed limit (0.636364) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 70
speed limit (0.645455) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 71
speed limit (0.654545) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 72
speed limit (0.663636) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 73
speed limit (0.672727) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 74
speed limit (0.681818) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 75
speed limit (0.690909) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 76
speed limit (0.7) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 77
speed limit (0.709091) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 78
speed limit (0.718182) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 79
speed limit (0.727273) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 80
speed limit (0.736364) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 81
speed limit (0.745455) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 82
speed limit (0.754545) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 83
speed limit (0.763636) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 84
speed limit (0.772727) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 85
speed limit (0.781818) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 86
speed limit (0.790909) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 87
speed limit (0.8) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 88
speed limit (0.809091) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 89
speed limit (0.818182) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 90
speed limit (0.827273) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1800)
Constraint 91
speed limit (0.836364) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1797.62)
Constraint 92
speed limit (0.845455) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1762.12)
Constraint 93
speed limit (0.854545) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1685.26)
Constraint 94
speed limit (0.863636) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1569.85)
Constraint 95
speed limit (0.872727) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1420.22)
Constraint 96
speed limit (0.881818) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1242.24)
Constraint 97
speed limit (0.890909) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1043.3)
Constraint 98
speed limit (0.9) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](832.32)
Constraint 99
speed limit (0.909091) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](619.753)
Constraint 100
speed limit (0.918182) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](418.155)
Constraint 101
speed limit (0.927273) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](261.052)
Constraint 102
speed limit (0.936364) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](153.024)
Constraint 103
speed limit (0.945455) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](82.5984)
Constraint 104
speed limit (0.954545) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](39.8333)
Constraint 105
speed limit (0.963636) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](16.3157)
Constraint 106
speed limit (0.972727) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](5.1624)
Constraint 107
speed limit (0.981818) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](1.01973)
Constraint 108
speed limit (0.990909) (derivable function)
- Bounds: (0, 3612.5)
+ Bounds: (-inf, 3612.5)
Scales: 1
Initial value: [1](0.0637334)
@@ -677,7 +677,7 @@ CFSQP specific variables:
CFSQP constraints: (0, 1), (0, 0), (1, 1), (1, 0), (2, 1), (2, 0), (3, 1), (3, 0), (4, 1), (4, 0), (5, 1), (5, 0), (6, 1), (6, 0), (7, 1), (7, 0), (8, 1), (8, 0), (9, 1), (9, 0), (10, 1), (10, 0), (11, 1), (11, 0), (12, 1), (12, 0), (13, 1), (13, 0), (14, 1), (14, 0), (15, 1), (15, 0), (16, 1), (16, 0), (17, 1), (17, 0), (18, 1), (18, 0), (19, 1), (19, 0), (20, 1), (20, 0), (21, 1), (21, 0), (22, 1), (22, 0), (23, 1), (23, 0), (24, 1), (24, 0), (25, 1), (25, 0), (26, 1), (26, 0), (27, 1), (27, 0), (28, 1), (28, 0), (29, 1), (29, 0), (30, 1), (30, 0), (31, 1), (31, 0), (32, 1), (32, 0), (33, 1), (33, 0), (34, 1), (34, 0), (35, 1), (35, 0), (36, 1), (36, 0), (37, 1), (37, 0), (38, 1), (38, 0), (39, 1), (39, 0), (40, 1), (40, 0), (41, 1), (41, 0), (42, 1), (42, 0), (43, 1), (43, 0), (44, 1), (44, 0), (45, 1), (45, 0), (46, 1), (46, 0), (47, 1), (47, 0), (48, 1), (48, 0), (49, 1), (49, 0), (50, 1), (50, 0), (51, 1), (51, 0), (52, 1), (52, 0), (53, 1), (53, 0), (54, 1), (54, 0), (55, 1), (55, 0), (56, 1), (56, 0), (57, 1), (57, 0), (58, 1), (58, 0), (59, 1), (59, 0), (60, 1), (60, 0), (61, 1), (61, 0), (62, 1), (62, 0), (63, 1), (63, 0), (64, 1), (64, 0), (65, 1), (65, 0), (66, 1), (66, 0), (67, 1), (67, 0), (68, 1), (68, 0), (69, 1), (69, 0), (70, 1), (70, 0), (71, 1), (71, 0), (72, 1), (72, 0), (73, 1), (73, 0), (74, 1), (74, 0), (75, 1), (75, 0), (76, 1), (76, 0), (77, 1), (77, 0), (78, 1), (78, 0), (79, 1), (79, 0), (80, 1), (80, 0), (81, 1), (81, 0), (82, 1), (82, 0), (83, 1), (83, 0), (84, 1), (84, 0), (85, 1), (85, 0), (86, 1), (86, 0), (87, 1), (87, 0), (88, 1), (88, 0), (89, 1), (89, 0), (90, 1), (90, 0), (91, 1), (91, 0), (92, 1), (92, 0), (93, 1), (93, 0), (94, 1), (94, 0), (95, 1), (95, 0), (96, 1), (96, 0), (97, 1), (97, 0), (98, 1), (98, 0), (99, 1), (99, 0), (100, 1), (100, 0), (101, 1), (101, 0), (102, 1), (102, 0), (103, 1), (103, 0), (104, 1), (104, 0), (105, 1), (105, 0), (106, 1), (106, 0), (107, 1), (107, 0), (108, 1), (108, 0)
Result:
Size (input, output): 12, 1
- X: [12](1.41692,-1.68622e-39,20.0686,40.0104,60.0077,80.0035,100,119.996,139.992,159.99,179.931,200)
+ X: [12](1.41692,4.45554e-39,20.0686,40.0104,60.0077,80.0035,100,119.996,139.992,159.99,179.931,200)
Value: [1](-1.41692)
Constraints values: [109](0.128834,2.06134,10.4356,32.9815,80.5212,166.969,309.33,527.704,845.28,1252.69,1681.87,2107.31,2507.8,2865.24,3164.69,3394.32,3545.45,3612.5,3612.5,3608.42,3605.12,3602.6,3600.87,3599.92,3599.76,3600.37,3601.77,3603.83,3605.76,3607.46,3608.91,3610.11,3611.08,3611.8,3612.27,3612.5,3612.5,3612.45,3612.41,3612.38,3612.36,3612.35,3612.35,3612.35,3612.37,3612.39,3612.41,3612.43,3612.45,3612.47,3612.48,3612.49,3612.49,3612.5,3612.5,3612.5,3612.49,3612.49,3612.48,3612.47,3612.45,3612.43,3612.41,3612.39,3612.37,3612.35,3612.35,3612.35,3612.36,3612.38,3612.41,3612.45,3612.5,3612.5,3612.27,3611.8,3611.08,3610.11,3608.91,3607.46,3605.76,3603.83,3601.77,3600.37,3599.76,3599.92,3600.87,3602.6,3605.12,3608.42,3612.5,3612.5,3545.45,3394.32,3164.69,2865.24,2507.8,2107.31,1681.87,1252.69,845.28,527.704,309.33,166.969,80.5212,32.9815,10.4356,2.06134,0.128834)
- Lambda: [218](0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.60732e-05,0,1.31596e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.31596e-05,0,2.60733e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.91812e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.60732e-05,0,1.31598e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.31596e-05,0,2.60734e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1)
+ Lambda: [218](0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.60733e-05,0,1.31597e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.31596e-05,0,2.60734e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3.91812e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2.60734e-05,0,1.31595e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1.31595e-05,0,2.60732e-05,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1)
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 +
tests/spline-time-optimization.cc | 2 +-
tests/spline-time-optimization.stdout | 222 ++++++++++++++++----------------
3 files changed, 118 insertions(+), 112 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-30 06:57:14
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via 39b9a29af1f72a63cef2d64e11ea7f4a55f5093f (commit)
from 9e22ec65e1a249c9001befc4eaf23f4fa2253a61 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
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- Log -----------------------------------------------------------------
commit 39b9a29af1f72a63cef2d64e11ea7f4a55f5093f
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 30 15:56:48 2009 +0900
Fix free time optimization test case.
* tests/spline-time-optimization.cc: Fix parameters.
* tests/spline-time-optimization.stdout: Regenerate.
* tests/testsuite.at: Not XFAIL anymore.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index dbe034e..c72237f 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,12 @@
2009-07-30 Thomas Moulard <tho...@gm...>
+ Fix free time optimization test case.
+ * tests/spline-time-optimization.cc: Fix parameters.
+ * tests/spline-time-optimization.stdout: Regenerate.
+ * tests/testsuite.at: Not XFAIL anymore.
+
+2009-07-30 Thomas Moulard <tho...@gm...>
+
Do not add constraints on trajectory bounds as gradient is null.
* include/roboptim/trajectory/limit-speed.hxx: Here.
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index 07d2bd7..2501ba8 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -55,8 +55,8 @@ typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
// Problem parameters.
const unsigned nControlPoints = 11;
-const unsigned nConstraintsPerCtrlPts = 1;
-const double vMax = 75.;
+const unsigned nConstraintsPerCtrlPts = 10;
+const double vMax = 85.;
int run_test ()
{
diff --git a/tests/spline-time-optimization.stdout b/tests/spline-time-optimization.stdout
index 9967d16..c30ba0d 100644
--- a/tests/spline-time-optimization.stdout
+++ b/tests/spline-time-optimization.stdout
@@ -1,1607 +1,671 @@
Problem:
Numeric linear function
- A = [1,27]((1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0))
+ A = [1,12]((-1,0,0,0,0,0,0,0,0,0,0,0))
B = [1](0)
- Argument's bounds: (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf)
- Argument's scales: 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1
- Number of constraints: 264
+ Argument's bounds: (0, inf), (0, 0), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (200, 200)
+ Argument's scales: 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1
+ Number of constraints: 109
Constraint 0
- Numeric linear function
- A = [1,27]((1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0))
- B = [1](0)
- Bounds: (0.001, inf)
+ speed limit (0.00909091) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1)
+ Initial value: [1](0.0637334)
Constraint 1
- Numeric linear function
- A = [1,27]((0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0))
- B = [1](-0)
- Bounds: (0, 0)
+ speed limit (0.0181818) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](0)
+ Initial value: [1](1.01973)
Constraint 2
- Numeric linear function
- A = [1,27]((0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1))
- B = [1](-200)
- Bounds: (0, 0)
+ speed limit (0.0272727) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](0)
+ Initial value: [1](5.1624)
Constraint 3
- speed limit (0) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.0363636) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](0)
+ Initial value: [1](16.3157)
Constraint 4
- speed limit (0.00384615) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.0454545) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](0.0423896)
+ Initial value: [1](39.8333)
Constraint 5
- speed limit (0.00769231) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.0545455) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](0.678233)
+ Initial value: [1](82.5984)
Constraint 6
- speed limit (0.0115385) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.0636364) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](3.43356)
+ Initial value: [1](153.024)
Constraint 7
- speed limit (0.0153846) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.0727273) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](10.8517)
+ Initial value: [1](261.052)
Constraint 8
- speed limit (0.0192308) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.0818182) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](26.4935)
+ Initial value: [1](418.155)
Constraint 9
- speed limit (0.0230769) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.0909091) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](54.9369)
+ Initial value: [1](619.753)
Constraint 10
- speed limit (0.0269231) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.1) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](101.777)
+ Initial value: [1](832.32)
Constraint 11
- speed limit (0.0307692) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.109091) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](173.628)
+ Initial value: [1](1043.3)
Constraint 12
- speed limit (0.0346154) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.118182) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](278.118)
+ Initial value: [1](1242.24)
Constraint 13
- speed limit (0.0384615) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.127273) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](421.573)
+ Initial value: [1](1420.22)
Constraint 14
- speed limit (0.0423077) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.136364) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](582.696)
+ Initial value: [1](1569.85)
Constraint 15
- speed limit (0.0461538) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.145455) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](747.156)
+ Initial value: [1](1685.26)
Constraint 16
- speed limit (0.05) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.154545) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](907.061)
+ Initial value: [1](1762.12)
Constraint 17
- speed limit (0.0538462) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.163636) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1055.53)
+ Initial value: [1](1797.62)
Constraint 18
- speed limit (0.0576923) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.172727) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1186.71)
+ Initial value: [1](1800)
Constraint 19
- speed limit (0.0615385) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.181818) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1295.76)
+ Initial value: [1](1800)
Constraint 20
- speed limit (0.0653846) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.190909) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1378.85)
+ Initial value: [1](1800)
Constraint 21
- speed limit (0.0692308) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.2) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1433.17)
+ Initial value: [1](1800)
Constraint 22
- speed limit (0.0730769) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.209091) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1456.94)
+ Initial value: [1](1800)
Constraint 23
- speed limit (0.0769231) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.218182) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 24
- speed limit (0.0807692) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.227273) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 25
- speed limit (0.0846154) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.236364) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 26
- speed limit (0.0884615) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.245455) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 27
- speed limit (0.0923077) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.254545) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 28
- speed limit (0.0961538) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.263636) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 29
- speed limit (0.1) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.272727) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 30
- speed limit (0.103846) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.281818) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 31
- speed limit (0.107692) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.290909) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 32
- speed limit (0.111538) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.3) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 33
- speed limit (0.115385) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.309091) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 34
- speed limit (0.119231) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.318182) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 35
- speed limit (0.123077) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.327273) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 36
- speed limit (0.126923) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.336364) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 37
- speed limit (0.130769) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.345455) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 38
- speed limit (0.134615) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.354545) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 39
- speed limit (0.138462) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.363636) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 40
- speed limit (0.142308) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.372727) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 41
- speed limit (0.146154) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.381818) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 42
- speed limit (0.15) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.390909) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 43
- speed limit (0.153846) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.4) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 44
- speed limit (0.157692) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.409091) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 45
- speed limit (0.161538) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.418182) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 46
- speed limit (0.165385) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.427273) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 47
- speed limit (0.169231) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.436364) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 48
- speed limit (0.173077) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.445455) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 49
- speed limit (0.176923) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.454545) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 50
- speed limit (0.180769) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.463636) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 51
- speed limit (0.184615) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.472727) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 52
- speed limit (0.188462) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.481818) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 53
- speed limit (0.192308) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.490909) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 54
- speed limit (0.196154) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.5) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 55
- speed limit (0.2) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.509091) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 56
- speed limit (0.203846) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.518182) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 57
- speed limit (0.207692) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.527273) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 58
- speed limit (0.211538) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.536364) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 59
- speed limit (0.215385) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.545455) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 60
- speed limit (0.219231) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.554545) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 61
- speed limit (0.223077) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.563636) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 62
- speed limit (0.226923) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.572727) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 63
- speed limit (0.230769) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.581818) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 64
- speed limit (0.234615) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.590909) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 65
- speed limit (0.238462) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.6) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 66
- speed limit (0.242308) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.609091) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 67
- speed limit (0.246154) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.618182) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 68
- speed limit (0.25) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.627273) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 69
- speed limit (0.253846) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.636364) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 70
- speed limit (0.257692) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.645455) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 71
- speed limit (0.261538) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.654545) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 72
- speed limit (0.265385) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.663636) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 73
- speed limit (0.269231) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.672727) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 74
- speed limit (0.273077) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.681818) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 75
- speed limit (0.276923) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.690909) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 76
- speed limit (0.280769) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.7) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 77
- speed limit (0.284615) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.709091) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 78
- speed limit (0.288462) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.718182) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 79
- speed limit (0.292308) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.727273) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 80
- speed limit (0.296154) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.736364) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 81
- speed limit (0.3) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.745455) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 82
- speed limit (0.303846) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.754545) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 83
- speed limit (0.307692) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.763636) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 84
- speed limit (0.311538) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.772727) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 85
- speed limit (0.315385) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.781818) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 86
- speed limit (0.319231) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.790909) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 87
- speed limit (0.323077) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.8) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 88
- speed limit (0.326923) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.809091) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 89
- speed limit (0.330769) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.818182) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 90
- speed limit (0.334615) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.827273) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1800)
Constraint 91
- speed limit (0.338462) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.836364) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1797.62)
Constraint 92
- speed limit (0.342308) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.845455) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1762.12)
Constraint 93
- speed limit (0.346154) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.854545) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1685.26)
Constraint 94
- speed limit (0.35) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.863636) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1569.85)
Constraint 95
- speed limit (0.353846) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.872727) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1420.22)
Constraint 96
- speed limit (0.357692) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.881818) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1242.24)
Constraint 97
- speed limit (0.361538) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.890909) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1043.3)
Constraint 98
- speed limit (0.365385) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.9) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](832.32)
Constraint 99
- speed limit (0.369231) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.909091) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](619.753)
Constraint 100
- speed limit (0.373077) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.918182) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](418.155)
Constraint 101
- speed limit (0.376923) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.927273) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](261.052)
Constraint 102
- speed limit (0.380769) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.936364) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](153.024)
Constraint 103
- speed limit (0.384615) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.945455) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](82.5984)
Constraint 104
- speed limit (0.388462) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.954545) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](39.8333)
Constraint 105
- speed limit (0.392308) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.963636) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](16.3157)
Constraint 106
- speed limit (0.396154) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.972727) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](5.1624)
Constraint 107
- speed limit (0.4) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.981818) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](1458)
+ Initial value: [1](1.01973)
Constraint 108
- speed limit (0.403846) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 109
- speed limit (0.407692) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 110
- speed limit (0.411538) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 111
- speed limit (0.415385) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 112
- speed limit (0.419231) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 113
- speed limit (0.423077) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 114
- speed limit (0.426923) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 115
- speed limit (0.430769) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 116
- speed limit (0.434615) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 117
- speed limit (0.438462) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 118
- speed limit (0.442308) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 119
- speed limit (0.446154) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 120
- speed limit (0.45) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 121
- speed limit (0.453846) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 122
- speed limit (0.457692) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 123
- speed limit (0.461538) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 124
- speed limit (0.465385) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 125
- speed limit (0.469231) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 126
- speed limit (0.473077) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 127
- speed limit (0.476923) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 128
- speed limit (0.480769) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 129
- speed limit (0.484615) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 130
- speed limit (0.488462) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 131
- speed limit (0.492308) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 132
- speed limit (0.496154) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 133
- speed limit (0.5) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 134
- speed limit (0.503846) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 135
- speed limit (0.507692) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 136
- speed limit (0.511538) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 137
- speed limit (0.515385) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 138
- speed limit (0.519231) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 139
- speed limit (0.523077) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 140
- speed limit (0.526923) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 141
- speed limit (0.530769) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 142
- speed limit (0.534615) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 143
- speed limit (0.538462) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 144
- speed limit (0.542308) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 145
- speed limit (0.546154) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 146
- speed limit (0.55) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 147
- speed limit (0.553846) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 148
- speed limit (0.557692) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 149
- speed limit (0.561538) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 150
- speed limit (0.565385) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 151
- speed limit (0.569231) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 152
- speed limit (0.573077) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 153
- speed limit (0.576923) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 154
- speed limit (0.580769) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 155
- speed limit (0.584615) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 156
- speed limit (0.588462) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 157
- speed limit (0.592308) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 158
- speed limit (0.596154) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 159
- speed limit (0.6) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 160
- speed limit (0.603846) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 161
- speed limit (0.607692) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 162
- speed limit (0.611538) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 163
- speed limit (0.615385) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 164
- speed limit (0.619231) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 165
- speed limit (0.623077) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 166
- speed limit (0.626923) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 167
- speed limit (0.630769) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 168
- speed limit (0.634615) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 169
- speed limit (0.638462) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 170
- speed limit (0.642308) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 171
- speed limit (0.646154) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 172
- speed limit (0.65) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 173
- speed limit (0.653846) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 174
- speed limit (0.657692) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 175
- speed limit (0.661538) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 176
- speed limit (0.665385) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 177
- speed limit (0.669231) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 178
- speed limit (0.673077) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 179
- speed limit (0.676923) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 180
- speed limit (0.680769) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 181
- speed limit (0.684615) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 182
- speed limit (0.688462) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 183
- speed limit (0.692308) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 184
- speed limit (0.696154) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 185
- speed limit (0.7) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 186
- speed limit (0.703846) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 187
- speed limit (0.707692) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 188
- speed limit (0.711538) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 189
- speed limit (0.715385) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 190
- speed limit (0.719231) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 191
- speed limit (0.723077) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 192
- speed limit (0.726923) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 193
- speed limit (0.730769) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 194
- speed limit (0.734615) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 195
- speed limit (0.738462) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 196
- speed limit (0.742308) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 197
- speed limit (0.746154) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 198
- speed limit (0.75) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 199
- speed limit (0.753846) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 200
- speed limit (0.757692) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 201
- speed limit (0.761538) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 202
- speed limit (0.765385) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 203
- speed limit (0.769231) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 204
- speed limit (0.773077) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 205
- speed limit (0.776923) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 206
- speed limit (0.780769) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 207
- speed limit (0.784615) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 208
- speed limit (0.788462) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 209
- speed limit (0.792308) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 210
- speed limit (0.796154) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 211
- speed limit (0.8) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 212
- speed limit (0.803846) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 213
- speed limit (0.807692) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 214
- speed limit (0.811538) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 215
- speed limit (0.815385) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 216
- speed limit (0.819231) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 217
- speed limit (0.823077) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 218
- speed limit (0.826923) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 219
- speed limit (0.830769) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 220
- speed limit (0.834615) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 221
- speed limit (0.838462) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 222
- speed limit (0.842308) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 223
- speed limit (0.846154) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 224
- speed limit (0.85) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 225
- speed limit (0.853846) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 226
- speed limit (0.857692) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 227
- speed limit (0.861538) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 228
- speed limit (0.865385) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 229
- speed limit (0.869231) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 230
- speed limit (0.873077) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 231
- speed limit (0.876923) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 232
- speed limit (0.880769) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 233
- speed limit (0.884615) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 234
- speed limit (0.888462) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 235
- speed limit (0.892308) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 236
- speed limit (0.896154) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 237
- speed limit (0.9) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 238
- speed limit (0.903846) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 239
- speed limit (0.907692) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 240
- speed limit (0.911538) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 241
- speed limit (0.915385) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 242
- speed limit (0.919231) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 243
- speed limit (0.923077) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1458)
-
- Constraint 244
- speed limit (0.926923) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1456.94)
-
- Constraint 245
- speed limit (0.930769) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1433.17)
-
- Constraint 246
- speed limit (0.934615) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1378.85)
-
- Constraint 247
- speed limit (0.938462) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1295.76)
-
- Constraint 248
- speed limit (0.942308) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1186.71)
-
- Constraint 249
- speed limit (0.946154) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](1055.53)
-
- Constraint 250
- speed limit (0.95) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](907.061)
-
- Constraint 251
- speed limit (0.953846) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](747.156)
-
- Constraint 252
- speed limit (0.957692) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](582.696)
-
- Constraint 253
- speed limit (0.961538) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](421.573)
-
- Constraint 254
- speed limit (0.965385) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](278.118)
-
- Constraint 255
- speed limit (0.969231) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](173.628)
-
- Constraint 256
- speed limit (0.973077) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](101.777)
-
- Constraint 257
- speed limit (0.976923) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](54.9369)
-
- Constraint 258
- speed limit (0.980769) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](26.4935)
-
- Constraint 259
- speed limit (0.984615) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](10.8517)
-
- Constraint 260
- speed limit (0.988462) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](3.43356)
-
- Constraint 261
- speed limit (0.992308) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](0.678233)
-
- Constraint 262
- speed limit (0.996154) (derivable function)
- Bounds: (0, 31250)
- Scales: 1
- Initial value: [1](0.0423896)
-
- Constraint 263
- speed limit (1) (derivable function)
- Bounds: (0, 31250)
+ speed limit (0.990909) (derivable function)
+ Bounds: (0, 3612.5)
Scales: 1
- Initial value: [1](6.66587e-29)
+ Initial value: [1](0.0637334)
- Starting point: [27](1,0,8,16,24,32,40,48,56,64,72,80,88,96,104,112,120,128,136,144,152,160,168,176,184,192,200)
- Starting value: [1](1)
+ Starting point: [12](1,0,20,40,60,80,100,120,140,160,180,200)
+ Starting value: [1](-1)
Infinity value (for all functions): inf
CFSQP specific variables:
- Nineq: 523
- Nineqn: 1
- Neq: 2
+ Nineq: 218
+ Nineqn: 218
+ Neq: 0
Neqn: 0
Mode: 100
Iprint: 0
@@ -1610,11 +674,10 @@ CFSQP specific variables:
Eps: 1e-08
Epseqn: 1e-08
Udelta: 1e-08
- CFSQP constraints: (0, 1), (3, 1), (3, 0), (4, 1), (4, 0), (5, 1), (5, 0), (6, 1), (6, 0), (7, 1), (7, 0), (8, 1), (8, 0), (9, 1), (9, 0), (10, 1), (10, 0), (11, 1), (11, 0), (12, 1), (12, 0), (13, 1), (13, 0), (14, 1), (14, 0), (15, 1), (15, 0), (16, 1), (16, 0), (17, 1), (17, 0), (18, 1), (18, 0), (19, 1), (19, 0), (20, 1), (20, 0), (21, 1), (21, 0), (22, 1), (22, 0), (23, 1), (23, 0), (24, 1), (24, 0), (25, 1), (25, 0), (26, 1), (26, 0), (27, 1), (27, 0), (28, 1), (28, 0), (29, 1), (29, 0), (30, 1), (30, 0), (31, 1), (31, 0), (32, 1), (32, 0), (33, 1), (33, 0), (34, 1), (34, 0), (35, 1), (35, 0), (36, 1), (36, 0), (37, 1), (37, 0), (38, 1), (38, 0), (39, 1), (39, 0), (40, 1), (40, 0), (41, 1), (41, 0), (42, 1), (42, 0), (43, 1), (43, 0), (44, 1), (44, 0), (45, 1), (45, 0), (46, 1), (46, 0), (47, 1), (47, 0), (48, 1), (48, 0), (49, 1), (49, 0), (50, 1), (50, 0), (51, 1), (51, 0), (52, 1), (52, 0), (53, 1), (53, 0), (54, 1), (54, 0), (55, 1), (55, 0), (56, 1), (56, 0), (57, 1), (57, 0), (58, 1), (58, 0), (59, 1), (59, 0), (60, 1), (60, 0), (61, 1), (61, 0), (62, 1), (62, 0), (63, 1), (63, 0), (64, 1), (64, 0), (65, 1), (65, 0), (66, 1), (66, 0), (67, 1), (67, 0), (68, 1), (68, 0), (69, 1), (69, 0), (70, 1), (70, 0), (71, 1), (71, 0), (72, 1), (72, 0), (73, 1), (73, 0), (74, 1), (74, 0), (75, 1), (75, 0), (76, 1), (76, 0), (77, 1), (77, 0), (78, 1), (78, 0), (79, 1), (79, 0), (80, 1), (80, 0), (81, 1), (81, 0), (82, 1), (82, 0), (83, 1), (83, 0), (84, 1), (84, 0), (85, 1), (85, 0), (86, 1), (86, 0), (87, 1), (87, 0), (88, 1), (88, 0), (89, 1), (89, 0), (90, 1), (90, 0), (91, 1), (91, 0), (92, 1), (92, 0), (93, 1), (93, 0), (94, 1), (94, 0), (95, 1), (95, 0), (96, 1), (96, 0), (97, 1), (97, 0), (98, 1), (98, 0), (99, 1), (99, 0), (100, 1), (100, 0), (101, 1), (101, 0), (102, 1), (102, 0), (103, 1), (103, 0), (104, 1), (104, 0), (105, 1), (105, 0), (106, 1), (106, 0), (107, 1), (107, 0), (108, 1), (108, 0), (109, 1), (109, 0), (110, 1), (110, 0), (111, 1), (111, 0), (112, 1), (112, 0), (113, 1), (113, 0), (11
1), (114, 0), (115, 1), (115, 0), (116, 1), (116, 0), (117, 1), (117, 0), (118, 1), (118, 0), (119, 1), (119, 0), (120, 1), (120, 0), (121, 1), (121, 0), (122, 1), (122, 0), (123, 1), (123, 0), (124, 1), (124, 0), (125, 1), (125, 0), (126, 1), (126, 0), (127, 1), (127, 0), (128, 1), (128, 0), (129, 1), (129, 0), (130, 1), (130, 0), (131, 1), (131, 0), (132, 1), (132, 0), (133, 1), (133, 0), (134, 1), (134, 0), (135, 1), (135, 0), (136, 1), (136, 0), (137, 1), (137, 0), (138, 1), (138, 0), (139, 1), (139, 0), (140, 1), (140, 0), (141, 1), (141, 0), (142, 1), (142, 0), (143, 1), (143, 0), (144, 1), (144, 0), (145, 1), (145, 0), (146, 1), (146, 0), (147, 1), (147, 0), (148, 1), (148, 0), (149, 1), (149, 0), (150, 1), (150, 0), (151, 1), (151, 0), (152, 1), (152, 0), (153, 1), (153, 0), (154, 1), (154, 0), (155, 1), (155, 0), (156, 1), (156, 0), (157, 1), (157, 0), (158, 1), (158, 0), (159, 1), (159, 0), (160, 1), (160, 0), (161, 1), (161, 0), (162, 1), (162, 0), (163, 1), (163, 0), (164, 1), (164, 0), (165, 1), (165, 0), (166, 1), (166, 0), (167, 1), (167, 0), (168, 1), (168, 0), (169, 1), (169, 0), (170, 1), (170, 0), (171, 1), (171, 0), (172, 1), (172, 0), (173, 1), (173, 0), (174, 1), (174, 0), (175, 1), (175, 0), (176, 1), (176, 0), (177, 1), (177, 0), (178, 1), (178, 0), (179, 1), (179, 0), (180, 1), (180, 0), (181, 1), (181, 0), (182, 1), (182, 0), (183, 1), (183, 0), (184, 1), (184, 0), (185, 1), (185, 0), (186, 1), (186, 0), (187, 1), (187, 0), (188, 1), (188, 0), (189, 1), (189, 0), (190, 1), (190, 0), (191, 1), (191, 0), (192, 1), (192, 0), (193, 1), (193, 0), (194, 1), (194, 0), (195, 1), (195, 0), (196, 1), (196, 0), (197, 1), (197, 0), (198, 1), (198, 0), (199, 1), (199, 0), (200, 1), (200, 0), (201, 1), (201, 0), (202, 1), (202, 0), (203, 1), (203, 0), (204, 1), (204, 0), (205, 1), (205, 0), (206, 1), (206, 0), (207, 1), (207, 0), (208, 1), (208, 0), (209, 1), (209, 0), (210, 1), (210, 0), (211, 1), (211, 0), (212, 1), (212, 0), (213, 1), (213, 0), (214, 1), (214, 0), (215, 1), (215, 0), (216, 1), (
, 0), (217, 1), (217, 0), (218, 1), (218, 0), (219, 1), (219, 0), (220, 1), (220, 0), (221, 1), (221, 0), (222, 1), (222, 0), (223, 1), (223, 0), (224, 1), (224, 0), (225, 1), (225, 0), (226, 1), (226, 0), (227, 1), (227, 0), (228, 1), (228, 0), (229, 1), (229, 0), (230, 1), (230, 0), (231, 1), (231, 0), (232, 1), (232, 0), (233, 1), (233, 0), (234, 1), (234, 0), (235, 1), (235, 0), (236, 1), (236, 0), (237, 1), (237, 0), (238, 1), (238, 0), (239, 1), (239, 0), (240, 1), (240, 0), (241, 1), (241, 0), (242, 1), (242, 0), (243, 1), (243, 0), (244, 1), (244, 0), (245, 1)...
[truncated message content] |
|
From: Thomas M. <tho...@us...> - 2009-07-30 06:49:20
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via 9e22ec65e1a249c9001befc4eaf23f4fa2253a61 (commit)
via 51dacf300afca758dbf1b7688cc25619c2eb66a9 (commit)
via 25afb24e0eefa74818ced1ede380162794f5af68 (commit)
from ce953d32040a8b6ccc1f0b60b4ba6f9e3ac6ffb4 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 9e22ec65e1a249c9001befc4eaf23f4fa2253a61
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 30 15:48:23 2009 +0900
Do not add constraints on trajectory bounds as gradient is null.
* include/roboptim/trajectory/limit-speed.hxx: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index f488341..dbe034e 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-07-30 Thomas Moulard <tho...@gm...>
+ Do not add constraints on trajectory bounds as gradient is null.
+ * include/roboptim/trajectory/limit-speed.hxx: Here.
+
+2009-07-30 Thomas Moulard <tho...@gm...>
+
Precise derivation order explicitly.
* include/roboptim/trajectory/limit-speed.hxx: Here.
diff --git a/include/roboptim/trajectory/limit-speed.hxx b/include/roboptim/trajectory/limit-speed.hxx
index 1143df7..3a5a3e0 100644
--- a/include/roboptim/trajectory/limit-speed.hxx
+++ b/include/roboptim/trajectory/limit-speed.hxx
@@ -98,7 +98,10 @@ namespace roboptim
using namespace boost;
if (nConstraints == 0)
return;
- for (double i = 0; i < 1.; i += 1. / nConstraints)
+
+ const value_type delta = 1. / nConstraints;
+
+ for (double i = delta; i < 1. - delta; i += delta)
{
shared_ptr<LimitSpeed> speed (new LimitSpeed (i * tMax, trajectory));
problem.addConstraint
commit 51dacf300afca758dbf1b7688cc25619c2eb66a9
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 30 15:47:03 2009 +0900
Precise derivation order explicitly.
* include/roboptim/trajectory/limit-speed.hxx: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 8316904..f488341 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-07-30 Thomas Moulard <tho...@gm...>
+ Precise derivation order explicitly.
+ * include/roboptim/trajectory/limit-speed.hxx: Here.
+
+2009-07-30 Thomas Moulard <tho...@gm...>
+
Use constraint type from cfsqp.hh.
* tests/spline-optimization.cc,
* tests/spline-time-optimization.cc:
diff --git a/include/roboptim/trajectory/limit-speed.hxx b/include/roboptim/trajectory/limit-speed.hxx
index c034429..1143df7 100644
--- a/include/roboptim/trajectory/limit-speed.hxx
+++ b/include/roboptim/trajectory/limit-speed.hxx
@@ -68,8 +68,9 @@ namespace roboptim
boost::scoped_ptr<T> updatedTrajectory (trajectory_.clone ());
updatedTrajectory->setParameters (p);
- res[0] = prec_inner_prod (updatedTrajectory->derivative (timePoint_),
- updatedTrajectory->derivative (timePoint_));
+
+ res[0] = prec_inner_prod (updatedTrajectory->derivative (timePoint_, 1),
+ updatedTrajectory->derivative (timePoint_, 1));
res[0] /= 2;
}
commit 25afb24e0eefa74818ced1ede380162794f5af68
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 30 15:46:05 2009 +0900
Use constraint type from cfsqp.hh.
* tests/spline-optimization.cc,
* tests/spline-time-optimization.cc:
Factorize constranit type definition.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 954bcdb..8316904 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,12 @@
2009-07-30 Thomas Moulard <tho...@gm...>
+ Use constraint type from cfsqp.hh.
+ * tests/spline-optimization.cc,
+ * tests/spline-time-optimization.cc:
+ Factorize constranit type definition.
+
+2009-07-30 Thomas Moulard <tho...@gm...>
+
Check variationConfigWrtParam in FreeTimeTrajectory class.
* tests/free-time-trajectory.cc: Check variationConfigWrtParam
using finite difference gradient.
diff --git a/tests/spline-optimization.cc b/tests/spline-optimization.cc
index d247ce7..bb02b52 100644
--- a/tests/spline-optimization.cc
+++ b/tests/spline-optimization.cc
@@ -33,14 +33,18 @@
#include <roboptim/trajectory/trajectory-cost.hh>
#include <roboptim/trajectory/visualization/trajectory.hh>
+
+#include <roboptim/core/plugin/cfsqp.hh>
+
+
#include "common.hh"
using namespace roboptim;
using namespace roboptim::visualization;
using namespace roboptim::visualization::gnuplot;
-typedef boost::mpl::vector<DerivableFunction, LinearFunction> constraint_t;
-typedef Solver<DerivableFunction, constraint_t> solver_t;
+typedef CFSQPSolver::problem_t::constraints_t constraint_t;
+typedef CFSQPSolver solver_t;
int run_test ()
{
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index 89d2b7f..07d2bd7 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -39,19 +39,22 @@
#include <roboptim/trajectory/visualization/limit-speed.hh>
+#include <roboptim/core/plugin/cfsqp.hh>
+
+
#include "common.hh"
using namespace roboptim;
using namespace roboptim::visualization;
using namespace roboptim::visualization::gnuplot;
-typedef boost::mpl::vector<DerivableFunction, LinearFunction> constraint_t;
-typedef Solver<DerivableFunction, constraint_t> solver_t;
+typedef CFSQPSolver::problem_t::constraints_t constraint_t;
+typedef CFSQPSolver solver_t;
typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
// Problem parameters.
-const unsigned nControlPoints = 6;
+const unsigned nControlPoints = 11;
const unsigned nConstraintsPerCtrlPts = 1;
const double vMax = 75.;
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 17 +++++++++++++++++
include/roboptim/trajectory/limit-speed.hxx | 10 +++++++---
tests/spline-optimization.cc | 8 ++++++--
tests/spline-time-optimization.cc | 9 ++++++---
4 files changed, 36 insertions(+), 8 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-30 04:53:25
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via ce953d32040a8b6ccc1f0b60b4ba6f9e3ac6ffb4 (commit)
from b8540cf60f944ae51fc6c6a683ecc0ca90013bad (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit ce953d32040a8b6ccc1f0b60b4ba6f9e3ac6ffb4
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 30 13:52:58 2009 +0900
Check variationConfigWrtParam in FreeTimeTrajectory class.
* tests/free-time-trajectory.cc: Check variationConfigWrtParam
using finite difference gradient.
* tests/free-time-trajectory.stdout: Regenerate.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 08788b4..954bcdb 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,10 @@
+2009-07-30 Thomas Moulard <tho...@gm...>
+
+ Check variationConfigWrtParam in FreeTimeTrajectory class.
+ * tests/free-time-trajectory.cc: Check variationConfigWrtParam
+ using finite difference gradient.
+ * tests/free-time-trajectory.stdout: Regenerate.
+
2009-07-29 Thomas Moulard <tho...@gm...>
Rewrite variationDerivWrtParam in freeTimeTrajectory.
diff --git a/tests/free-time-trajectory.cc b/tests/free-time-trajectory.cc
index bb8627f..d81c955 100644
--- a/tests/free-time-trajectory.cc
+++ b/tests/free-time-trajectory.cc
@@ -16,9 +16,10 @@
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#include <boost/format.hpp>
-#include <boost/numeric/ublas/io.hpp>
+#include <boost/scoped_ptr.hpp>
#include <roboptim/core/finite-difference-gradient.hh>
+#include <roboptim/core/io.hh>
#include <roboptim/trajectory/free-time-trajectory.hh>
#include <roboptim/trajectory/fwd.hh>
@@ -35,6 +36,43 @@ using namespace roboptim;
typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
+struct ConfigWrtParam : public DerivableFunction
+{
+ ConfigWrtParam (const freeTime_t& traj, double t) throw ()
+ : DerivableFunction (traj.parameters ().size (),
+ traj.outputSize (),
+ "config wrt param"),
+ traj_ (traj),
+ t_ (t)
+ {
+ }
+
+ ~ConfigWrtParam () throw ()
+ {
+ }
+
+ void
+ impl_compute (result_t& res, const argument_t& p) const throw ()
+ {
+ boost::scoped_ptr<freeTime_t> updatedTrajectory (traj_.clone ());
+ updatedTrajectory->setParameters (p);
+ res = (*updatedTrajectory) (t_);
+ }
+
+ void
+ impl_gradient (gradient_t& grad, const argument_t& p, size_type i)
+ const throw ()
+ {
+ boost::scoped_ptr<freeTime_t> updatedTrajectory (traj_.clone ());
+ updatedTrajectory->setParameters (p);
+ matrix_t tmp = updatedTrajectory->variationConfigWrtParam (t_);
+ grad = row (tmp, 0);
+ }
+
+ const freeTime_t& traj_;
+ double t_;
+};
+
void printTable (const Spline& spline, const freeTime_t& freeTimeTraj);
@@ -105,8 +143,43 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
std::cout << bg << std::endl;
}
}
- std::cout << std::endl;
+ std::cout << std::endl << std::endl;
+
+ std::cout << "Variation of the configuration w.r.t to parameters:" << std::endl;
+ format fmterConfig ("%1% %|50t|%2%");
+ for (double t = fttTmin; t <= fttTmax + 1e-3; t += .1)
+ {
+ if (t > fttTmax)
+ t = fttTmax;
+
+ if (tmin <= t && t <= tmax)
+ {
+ Spline::jacobian_t splineVarConfig =
+ spline.variationConfigWrtParam (t);
+ fmterConfig % splineVarConfig;
+ }
+ else
+ fmterConfig % "N/A";
+
+ freeTime_t::jacobian_t fttVarConfig =
+ freeTimeTraj.variationConfigWrtParam (t);
+ fmterConfig % fttVarConfig;
+
+ try
+ {
+ ConfigWrtParam configWrtParam (freeTimeTraj, t);
+ checkGradientAndThrow (configWrtParam, 0,
+ freeTimeTraj.parameters ());
+ }
+ catch (BadGradient& bg)
+ {
+ std::cout << bg << std::endl;
+ }
+
+ std::cout << fmterConfig << std::endl;
+ }
+ std::cout << std::endl << std::endl;
std::cout << "Variation of the derivative w.r.t to parameters:" << std::endl;
format fmterDeriv ("%1% %|50t|%2%");
@@ -154,6 +227,9 @@ int run_test ()
Spline spline (timeRange, 1, removeScaleFromParameters (params), "before");
FreeTimeTrajectory<Spline::derivabilityOrder> freeTimeTraj (spline, 1.);
+ assert (freeTimeTraj.inputSize () == 1);
+ assert (freeTimeTraj.outputSize () == 1);
+
printTable (spline, freeTimeTraj);
params[0] = .5;
diff --git a/tests/free-time-trajectory.stdout b/tests/free-time-trajectory.stdout
index 7ad16d0..8bc7003 100644
--- a/tests/free-time-trajectory.stdout
+++ b/tests/free-time-trajectory.stdout
@@ -130,6 +130,51 @@ Free time trajectory gradient.
Spline gradient.
Free time trajectory gradient.
+
+Variation of the configuration w.r.t to parameters:
+[1,4]((1,0,0,0)) [1,5]((0,1,0,0,0))
+[1,4]((0.999674,0.000325521,0,0)) [1,5]((0.0244141,0.999674,0.000325521,0,0))
+[1,4]((0.997396,0.00260417,0,0)) [1,5]((0.195312,0.997396,0.00260417,0,0))
+[1,4]((0.991211,0.00878906,0,0)) [1,5]((0.65918,0.991211,0.00878906,0,0))
+[1,4]((0.979167,0.0208333,0,0)) [1,5]((1.5625,0.979167,0.0208333,0,0))
+[1,4]((0.95931,0.0406901,0,0)) [1,5]((3.05176,0.95931,0.0406901,0,0))
+[1,4]((0.929688,0.0703125,0,0)) [1,5]((5.27344,0.929688,0.0703125,0,0))
+[1,4]((0.888346,0.111654,0,0)) [1,5]((8.37402,0.888346,0.111654,0,0))
+[1,4]((0.833333,0.166667,0,0)) [1,5]((12.5,0.833333,0.166667,0,0))
+[1,4]((0.763672,0.236003,0.000325521,0)) [1,5]((17.5781,0.763672,0.236003,0.000325521,0))
+[1,4]((0.682292,0.315104,0.00260417,0)) [1,5]((23.4375,0.682292,0.315104,0.00260417,0))
+[1,4]((0.593099,0.398112,0.00878906,0)) [1,5]((30.0781,0.593099,0.398112,0.00878906,0))
+[1,4]((0.5,0.479167,0.0208333,0)) [1,5]((37.5,0.5,0.479167,0.0208333,0))
+[1,4]((0.406901,0.552409,0.0406901,0)) [1,5]((45.7031,0.406901,0.552409,0.0406901,0))
+[1,4]((0.317708,0.611979,0.0703125,0)) [1,5]((54.6875,0.317708,0.611979,0.0703125,0))
+[1,4]((0.236328,0.652018,0.111654,0)) [1,5]((64.4531,0.236328,0.652018,0.111654,0))
+[1,4]((0.166667,0.666667,0.166667,0)) [1,5]((75,0.166667,0.666667,0.166667,0))
+[1,4]((0.111654,0.652018,0.236003,0.000325521)) [1,5]((85.498,0.111654,0.652018,0.236003,0.000325521))
+[1,4]((0.0703125,0.611979,0.315104,0.00260417)) [1,5]((94.9219,0.0703125,0.611979,0.315104,0.00260417))
+[1,4]((0.0406901,0.552409,0.398112,0.00878906)) [1,5]((102.979,0.0406901,0.552409,0.398112,0.00878906))
+[1,4]((0.0208333,0.479167,0.479167,0.0208333)) [1,5]((109.375,0.0208333,0.479167,0.479167,0.0208333))
+[1,4]((0.00878906,0.398112,0.552409,0.0406901)) [1,5]((113.818,0.00878906,0.398112,0.552409,0.0406901))
+[1,4]((0.00260417,0.315104,0.611979,0.0703125)) [1,5]((116.016,0.00260417,0.315104,0.611979,0.0703125))
+[1,4]((0.000325521,0.236003,0.652018,0.111654)) [1,5]((115.674,0.000325521,0.236003,0.652018,0.111654))
+[1,4]((0,0.166667,0.666667,0.166667)) [1,5]((112.5,0,0.166667,0.666667,0.166667))
+[1,4]((0,0.111654,0.652018,0.236328)) [1,5]((107.422,0,0.111654,0.652018,0.236328))
+[1,4]((0,0.0703125,0.611979,0.317708)) [1,5]((101.562,0,0.0703125,0.611979,0.317708))
+[1,4]((0,0.0406901,0.552409,0.406901)) [1,5]((94.9219,0,0.0406901,0.552409,0.406901))
+[1,4]((0,0.0208333,0.479167,0.5)) [1,5]((87.5,0,0.0208333,0.479167,0.5))
+[1,4]((0,0.00878906,0.398112,0.593099)) [1,5]((79.2969,0,0.00878906,0.398112,0.593099))
+[1,4]((0,0.00260417,0.315104,0.682292)) [1,5]((70.3125,0,0.00260417,0.315104,0.682292))
+[1,4]((0,0.000325521,0.236003,0.763672)) [1,5]((60.5469,0,0.000325521,0.236003,0.763672))
+[1,4]((0,0,0.166667,0.833333)) [1,5]((50,0,0,0.166667,0.833333))
+[1,4]((0,0,0.111654,0.888346)) [1,5]((39.4775,0,0,0.111654,0.888346))
+[1,4]((0,0,0.0703125,0.929688)) [1,5]((29.8828,0,0,0.0703125,0.929688))
+[1,4]((0,0,0.0406901,0.95931)) [1,5]((21.3623,0,0,0.0406901,0.95931))
+[1,4]((0,0,0.0208333,0.979167)) [1,5]((14.0625,0,0,0.0208333,0.979167))
+[1,4]((0,0,0.00878906,0.991211)) [1,5]((8.12988,0,0,0.00878906,0.991211))
+[1,4]((0,0,0.00260417,0.997396)) [1,5]((3.71094,0,0,0.00260417,0.997396))
+[1,4]((0,0,0.000325521,0.999674)) [1,5]((0.952148,0,0,0.000325521,0.999674))
+[1,4]((0,0,-9.26993e-18,1)) [1,5]((-8.32667e-14,0,0,-9.26993e-18,1))
+
+
Variation of the derivative w.r.t to parameters:
[1,4]((0,0,0,0)) [1,5]((0,0,0,0,0))
[1,4]((-0.00976562,0.00976562,0,0)) [1,5]((0.268555,-0.00976562,0.00976562,0,0))
@@ -425,6 +470,91 @@ Free time trajectory gradient.
Spline gradient.
Free time trajectory gradient.
+
+Variation of the configuration w.r.t to parameters:
+[1,4]((1,0,0,0)) [1,5]((0,1,0,0,0))
+[1,4]((0.999674,0.000325521,0,0)) [1,5]((0.00610352,0.999959,4.06901e-05,0,0))
+[1,4]((0.997396,0.00260417,0,0)) [1,5]((0.0488281,0.999674,0.000325521,0,0))
+[1,4]((0.991211,0.00878906,0,0)) [1,5]((0.164795,0.998901,0.00109863,0,0))
+[1,4]((0.979167,0.0208333,0,0)) [1,5]((0.390625,0.997396,0.00260417,0,0))
+[1,4]((0.95931,0.0406901,0,0)) [1,5]((0.762939,0.994914,0.00508626,0,0))
+[1,4]((0.929688,0.0703125,0,0)) [1,5]((1.31836,0.991211,0.00878906,0,0))
+[1,4]((0.888346,0.111654,0,0)) [1,5]((2.09351,0.986043,0.0139567,0,0))
+[1,4]((0.833333,0.166667,0,0)) [1,5]((3.125,0.979167,0.0208333,0,0))
+[1,4]((0.763672,0.236003,0.000325521,0)) [1,5]((4.44946,0.970337,0.0296631,0,0))
+[1,4]((0.682292,0.315104,0.00260417,0)) [1,5]((6.10352,0.95931,0.0406901,0,0))
+[1,4]((0.593099,0.398112,0.00878906,0)) [1,5]((8.12378,0.945841,0.0541585,0,0))
+[1,4]((0.5,0.479167,0.0208333,0)) [1,5]((10.5469,0.929688,0.0703125,0,0))
+[1,4]((0.406901,0.552409,0.0406901,0)) [1,5]((13.4094,0.910604,0.0893962,0,0))
+[1,4]((0.317708,0.611979,0.0703125,0)) [1,5]((16.748,0.888346,0.111654,0,0))
+[1,4]((0.236328,0.652018,0.111654,0)) [1,5]((20.5994,0.862671,0.137329,0,0))
+[1,4]((0.166667,0.666667,0.166667,0)) [1,5]((25,0.833333,0.166667,1.82461e-48,0))
+[1,4]((0.111654,0.652018,0.236003,0.000325521)) [1,5]((29.8828,0.800212,0.199748,4.06901e-05,0))
+[1,4]((0.0703125,0.611979,0.315104,0.00260417)) [1,5]((35.1563,0.763672,0.236003,0.000325521,0))
+[1,4]((0.0406901,0.552409,0.398112,0.00878906)) [1,5]((40.8203,0.724202,0.274699,0.00109863,0))
+[1,4]((0.0208333,0.479167,0.479167,0.0208333)) [1,5]((46.875,0.682292,0.315104,0.00260417,0))
+[1,4]((0.00878906,0.398112,0.552409,0.0406901)) [1,5]((53.3203,0.638428,0.356486,0.00508626,0))
+[1,4]((0.00260417,0.315104,0.611979,0.0703125)) [1,5]((60.1563,0.593099,0.398112,0.00878906,0))
+[1,4]((0.000325521,0.236003,0.652018,0.111654)) [1,5]((67.3828,0.546794,0.43925,0.0139567,0))
+[1,4]((0,0.166667,0.666667,0.166667)) [1,5]((75,0.5,0.479167,0.0208333,0))
+[1,4]((0,0.111654,0.652018,0.236328)) [1,5]((83.0078,0.453206,0.517131,0.0296631,0))
+[1,4]((0,0.0703125,0.611979,0.317708)) [1,5]((91.4063,0.406901,0.552409,0.0406901,0))
+[1,4]((0,0.0406901,0.552409,0.406901)) [1,5]((100.195,0.361572,0.584269,0.0541585,0))
+[1,4]((0,0.0208333,0.479167,0.5)) [1,5]((109.375,0.317708,0.611979,0.0703125,0))
+[1,4]((0,0.00878906,0.398112,0.593099)) [1,5]((118.945,0.275798,0.634806,0.0893962,0))
+[1,4]((0,0.00260417,0.315104,0.682292)) [1,5]((128.906,0.236328,0.652018,0.111654,0))
+[1,4]((0,0.000325521,0.236003,0.763672)) [1,5]((139.258,0.199788,0.662882,0.137329,0))
+[1,4]((0,0,0.166667,0.833333)) [1,5]((150,0.166667,0.666667,0.166667,0))
+[1,4]((0,0,0.111654,0.888346)) [1,5]((160.73,0.137329,0.662882,0.199748,4.06901e-05))
+[1,4]((0,0,0.0703125,0.929688)) [1,5]((170.996,0.111654,0.652018,0.236003,0.000325521))
+[1,4]((0,0,0.0406901,0.95931)) [1,5]((180.725,0.0893962,0.634806,0.274699,0.00109863))
+[1,4]((0,0,0.0208333,0.979167)) [1,5]((189.844,0.0703125,0.611979,0.315104,0.00260417))
+[1,4]((0,0,0.00878906,0.991211)) [1,5]((198.279,0.0541585,0.584269,0.356486,0.00508626))
+[1,4]((0,0,0.00260417,0.997396)) [1,5]((205.957,0.0406901,0.552409,0.398112,0.00878906))
+[1,4]((0,0,0.000325521,0.999674)) [1,5]((212.805,0.0296631,0.517131,0.43925,0.0139567))
+N/A [1,5]((218.75,0.0208333,0.479167,0.479167,0.0208333))
+N/A [1,5]((223.718,0.0139567,0.43925,0.517131,0.0296631))
+N/A [1,5]((227.637,0.00878906,0.398112,0.552409,0.0406901))
+N/A [1,5]((230.432,0.00508626,0.356486,0.584269,0.0541585))
+N/A [1,5]((232.031,0.00260417,0.315104,0.611979,0.0703125))
+N/A [1,5]((232.361,0.00109863,0.274699,0.634806,0.0893962))
+N/A [1,5]((231.348,0.000325521,0.236003,0.652018,0.111654))
+N/A [1,5]((228.918,4.06901e-05,0.199748,0.662882,0.137329))
+N/A [1,5]((225,-9.26993e-18,0.166667,0.666667,0.166667))
+N/A [1,5]((220.117,0,0.137329,0.662882,0.199788))
+N/A [1,5]((214.844,0,0.111654,0.652018,0.236328))
+N/A [1,5]((209.18,0,0.0893962,0.634806,0.275798))
+N/A [1,5]((203.125,0,0.0703125,0.611979,0.317708))
+N/A [1,5]((196.68,0,0.0541585,0.584269,0.361572))
+N/A [1,5]((189.844,0,0.0406901,0.552409,0.406901))
+N/A [1,5]((182.617,0,0.0296631,0.517131,0.453206))
+N/A [1,5]((175,0,0.0208333,0.479167,0.5))
+N/A [1,5]((166.992,0,0.0139567,0.43925,0.546794))
+N/A [1,5]((158.594,0,0.00878906,0.398112,0.593099))
+N/A [1,5]((149.805,0,0.00508626,0.356486,0.638428))
+N/A [1,5]((140.625,0,0.00260417,0.315104,0.682292))
+N/A [1,5]((131.055,0,0.00109863,0.274699,0.724202))
+N/A [1,5]((121.094,0,0.000325521,0.236003,0.763672))
+N/A [1,5]((110.742,0,4.06901e-05,0.199748,0.800212))
+N/A [1,5]((100,0,-9.26993e-18,0.166667,0.833333))
+N/A [1,5]((89.2639,0,0,0.137329,0.862671))
+N/A [1,5]((78.9551,0,0,0.111654,0.888346))
+N/A [1,5]((69.1101,0,0,0.0893962,0.910604))
+N/A [1,5]((59.7656,0,0,0.0703125,0.929687))
+N/A [1,5]((50.9583,0,0,0.0541585,0.945841))
+N/A [1,5]((42.7246,0,0,0.0406901,0.95931))
+N/A [1,5]((35.1013,0,0,0.0296631,0.970337))
+N/A [1,5]((28.125,0,0,0.0208333,0.979167))
+N/A [1,5]((21.8323,0,0,0.0139567,0.986043))
+N/A [1,5]((16.2598,0,0,0.00878906,0.991211))
+N/A [1,5]((11.4441,0,0,0.00508626,0.994914))
+N/A [1,5]((7.42188,0,0,0.00260417,0.997396))
+N/A [1,5]((4.22974,0,0,0.00109863,0.998901))
+N/A [1,5]((1.9043,0,0,0.000325521,0.999674))
+N/A [1,5]((0.482178,0,0,4.06901e-05,0.999959))
+N/A [1,5]((7.50511e-14,0,0,-9.26993e-18,1))
+
+
Variation of the derivative w.r.t to parameters:
[1,4]((0,0,0,0)) [1,5]((0,0,0,0,0))
[1,4]((-0.00976562,0.00976562,0,0)) [1,5]((0.0640869,-0.0012207,0.0012207,0,0))
@@ -580,6 +710,31 @@ Free time trajectory gradient.
Spline gradient.
Free time trajectory gradient.
+
+Variation of the configuration w.r.t to parameters:
+[1,4]((1,0,0,0)) [1,5]((0,1,0,0,0))
+[1,4]((0.999674,0.000325521,0,0)) [1,5]((0.0976562,0.997396,0.00260417,0,0))
+[1,4]((0.997396,0.00260417,0,0)) [1,5]((0.78125,0.979167,0.0208333,0,0))
+[1,4]((0.991211,0.00878906,0,0)) [1,5]((2.63672,0.929688,0.0703125,0,0))
+[1,4]((0.979167,0.0208333,0,0)) [1,5]((6.25,0.833333,0.166667,0,0))
+[1,4]((0.95931,0.0406901,0,0)) [1,5]((11.7188,0.682292,0.315104,0.00260417,0))
+[1,4]((0.929688,0.0703125,0,0)) [1,5]((18.75,0.5,0.479167,0.0208333,0))
+[1,4]((0.888346,0.111654,0,0)) [1,5]((27.3437,0.317708,0.611979,0.0703125,0))
+[1,4]((0.833333,0.166667,0,0)) [1,5]((37.5,0.166667,0.666667,0.166667,0))
+[1,4]((0.763672,0.236003,0.000325521,0)) [1,5]((47.4609,0.0703125,0.611979,0.315104,0.00260417))
+[1,4]((0.682292,0.315104,0.00260417,0)) [1,5]((54.6875,0.0208333,0.479167,0.479167,0.0208333))
+[1,4]((0.593099,0.398112,0.00878906,0)) [1,5]((58.0078,0.00260417,0.315104,0.611979,0.0703125))
+[1,4]((0.5,0.479167,0.0208333,0)) [1,5]((56.25,-9.26993e-18,0.166667,0.666667,0.166667))
+[1,4]((0.406901,0.552409,0.0406901,0)) [1,5]((50.7812,0,0.0703125,0.611979,0.317708))
+[1,4]((0.317708,0.611979,0.0703125,0)) [1,5]((43.75,0,0.0208333,0.479167,0.5))
+[1,4]((0.236328,0.652018,0.111654,0)) [1,5]((35.1562,0,0.00260417,0.315104,0.682292))
+[1,4]((0.166667,0.666667,0.166667,0)) [1,5]((25,0,0,0.166667,0.833333))
+[1,4]((0.111654,0.652018,0.236003,0.000325521)) [1,5]((14.9414,0,0,0.0703125,0.929688))
+[1,4]((0.0703125,0.611979,0.315104,0.00260417)) [1,5]((7.03125,0,0,0.0208333,0.979167))
+[1,4]((0.0406901,0.552409,0.398112,0.00878906)) [1,5]((1.85547,0,0,0.00260417,0.997396))
+[1,4]((0.0208333,0.479167,0.479167,0.0208333)) [1,5]((-4.16334e-14,0,0,-9.26993e-18,1))
+
+
Variation of the derivative w.r.t to parameters:
[1,4]((0,0,0,0)) [1,5]((0,0,0,0,0))
[1,4]((-0.00976562,0.00976562,0,0)) [1,5]((1.17188,-0.078125,0.078125,0,0))
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 7 ++
tests/free-time-trajectory.cc | 80 +++++++++++++++++++-
tests/free-time-trajectory.stdout | 155 +++++++++++++++++++++++++++++++++++++
3 files changed, 240 insertions(+), 2 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-30 02:20:57
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, core has been updated
via 41dca3fc37534a61a2509dff87462170d0758d31 (commit)
from a9dface720a0761e3d09e5848b5736b6ba408771 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 41dca3fc37534a61a2509dff87462170d0758d31
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 30 11:20:23 2009 +0900
Re-enable gcov support in plug-in.
* src/Makefile.am: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index f3a02d5..e490b33 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-07-30 Thomas Moulard <tho...@gm...>
+
+ Re-enable gcov support in plug-in.
+ * src/Makefile.am: Here.
+
2009-07-29 Thomas Moulard <tho...@gm...>
Avoid failure when copying a null vector.
diff --git a/src/Makefile.am b/src/Makefile.am
index ddab16a..f25f1f3 100644
--- a/src/Makefile.am
+++ b/src/Makefile.am
@@ -38,5 +38,5 @@ roboptim_core_dummy_plugin_la_LDFLAGS = -module -version-info 1:1:0
# Make sure one does not compile a plug-in with test coverage support as
# it seems to trigger a segv at exit.
-roboptim_core_dummy_plugin_la_CXXFLAGS = \
- `echo $(CXXFLAGS) | sed -e 's/-ftest-coverage//' -e 's/-fprofile-arcs//'`
+#roboptim_core_dummy_plugin_la_CXXFLAGS = \
+# `echo $(CXXFLAGS) | sed -e 's/-ftest-coverage//' -e 's/-fprofile-arcs//'`
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
src/Makefile.am | 4 ++--
2 files changed, 7 insertions(+), 2 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-29 09:41:24
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via b8540cf60f944ae51fc6c6a683ecc0ca90013bad (commit)
from 2cb97784e72b9b0f07897b48f8f86ad29ced5579 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit b8540cf60f944ae51fc6c6a683ecc0ca90013bad
Author: Thomas Moulard <tho...@gm...>
Date: Wed Jul 29 18:41:00 2009 +0900
Rewrite variationDerivWrtParam in freeTimeTrajectory.
* include/roboptim/trajectory/free-time-trajectory.hxx: Restyle.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 7cdbbd5..08788b4 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-07-29 Thomas Moulard <tho...@gm...>
+ Rewrite variationDerivWrtParam in freeTimeTrajectory.
+ * include/roboptim/trajectory/free-time-trajectory.hxx: Restyle.
+
+2009-07-29 Thomas Moulard <tho...@gm...>
+
Re-implement free-time-trajectory.
* include/roboptim/trajectory/free-time-trajectory.hh,
* include/roboptim/trajectory/free-time-trajectory.hxx:
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index 7bed07d..78371d5 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -135,10 +135,9 @@ namespace roboptim
result.clear ();
// Compute variation w.r.t time scale (p_0)
- column (result, 0) = trajectory_->derivative (scaled, 1) * order;
- column (result, 0) += trajectory_->derivative (scaled, 1)
- * this->timeScale () * (t - tMin);
- column (result, 0) *= std::pow (this->timeScale (), order - 1.);
+ column (result, 0) = trajectory_->derivative (scaled, order)
+ * std::pow (this->timeScale (), order - 1.);
+ column (result, 0) *= order + (this->timeScale () * (t - tMin));
// Fill 1..(n-1) lines with original jacobian.
project (result, range (0, result.size1 ()), range (1, result.size2 ()))
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
.../roboptim/trajectory/free-time-trajectory.hxx | 7 +++----
2 files changed, 8 insertions(+), 4 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-29 09:22:11
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via 2cb97784e72b9b0f07897b48f8f86ad29ced5579 (commit)
from 3b0398a85d760ecc69a9df97e34d6abbf253beac (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 2cb97784e72b9b0f07897b48f8f86ad29ced5579
Author: Thomas Moulard <tho...@gm...>
Date: Wed Jul 29 18:21:38 2009 +0900
Re-implement free-time-trajectory.
* include/roboptim/trajectory/free-time-trajectory.hh,
* include/roboptim/trajectory/free-time-trajectory.hxx:
Store and use 1/scale instead of scale.
* tests/free-time-trajectory.cc:
Update test case to match new implementation.
* tests/free-time-trajectory.stdout: Regenerate.
* tests/spline-time-optimization.cc:
Update test case to match new implementation.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 8017e59..7cdbbd5 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,17 @@
2009-07-29 Thomas Moulard <tho...@gm...>
+ Re-implement free-time-trajectory.
+ * include/roboptim/trajectory/free-time-trajectory.hh,
+ * include/roboptim/trajectory/free-time-trajectory.hxx:
+ Store and use 1/scale instead of scale.
+ * tests/free-time-trajectory.cc:
+ Update test case to match new implementation.
+ * tests/free-time-trajectory.stdout: Regenerate.
+ * tests/spline-time-optimization.cc:
+ Update test case to match new implementation.
+
+2009-07-29 Thomas Moulard <tho...@gm...>
+
Use argument bounds to freeze parameters.
* include/roboptim/trajectory/freeze.hh,
* include/roboptim/trajectory/freeze.hxx: Rewrite to simplify
diff --git a/include/roboptim/trajectory/free-time-trajectory.hh b/include/roboptim/trajectory/free-time-trajectory.hh
index 95c70e4..2e527ce 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hh
+++ b/include/roboptim/trajectory/free-time-trajectory.hh
@@ -50,6 +50,9 @@ namespace roboptim
/// \brief Import interval type.
typedef typename parent_t::interval_t interval_t;
+ using typename parent_t::variationConfigWrtParam;
+ using typename parent_t::variationDerivWrtParam;
+
/// Constructor with fixed definition interval trajectory
///
/// \param traj trajectory defining this one by reparameterization
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index 99d8ee3..7bed07d 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -31,7 +31,7 @@ namespace roboptim
Function::value_type min,
Function::value_type scale)
{
- return min + (unscaled - min) * scale;
+ return min + (unscaled - min) / scale;
}
template <unsigned dorder>
@@ -91,37 +91,59 @@ namespace roboptim
assert (order >= 0);
double scaled = this->scaleTime (t);
trajectory_->derivative (derivative, scaled, order);
- derivative /= std::pow (this->timeScale (), 0. + order);
+ derivative *= std::pow (this->timeScale (), 0. + order);
}
template <unsigned dorder>
typename FreeTimeTrajectory<dorder>::jacobian_t
FreeTimeTrajectory<dorder>::variationConfigWrtParam (double t) const throw ()
{
- return this->variationDerivWrtParam (t, 0.);
+ using namespace boost::numeric::ublas;
+ value_type scaled = this->scaleTime (t);
+
+ double tMin = this->getLowerBound (this->trajectory_->timeRange ());
+
+ jacobian_t result (this->outputSize (),
+ this->parameters ().size ());
+ result.clear ();
+
+ // Compute variation w.r.t time scale (p_0)
+ column (result, 0) = (t - tMin) * trajectory_->derivative (scaled, 1);
+
+ // Fill 1..(n-1) lines with original jacobian.
+ project (result, range (0, result.size1 ()), range (1, result.size2 ()))
+ = trajectory_->variationConfigWrtParam (scaled);
+
+ return result;
}
- //FIXME: check that!
template <unsigned dorder>
typename FreeTimeTrajectory<dorder>::jacobian_t
FreeTimeTrajectory<dorder>::variationDerivWrtParam (double t, size_type order)
const throw ()
{
+ if (order == 0)
+ return this->variationConfigWrtParam (t);
+
using namespace boost::numeric::ublas;
value_type scaled = this->scaleTime (t);
- double tMin = this->getLowerBound (this->timeRange ());
+ double tMin = this->getLowerBound (this->trajectory_->timeRange ());
jacobian_t result (this->outputSize (),
this->parameters ().size ());
result.clear ();
// Compute variation w.r.t time scale (p_0)
- column (result, 0) = (t - tMin) * trajectory_->derivative (scaled);
+ column (result, 0) = trajectory_->derivative (scaled, 1) * order;
+ column (result, 0) += trajectory_->derivative (scaled, 1)
+ * this->timeScale () * (t - tMin);
+ column (result, 0) *= std::pow (this->timeScale (), order - 1.);
// Fill 1..(n-1) lines with original jacobian.
project (result, range (0, result.size1 ()), range (1, result.size2 ()))
- = trajectory_->variationDerivWrtParam (scaled, order);
+ = trajectory_->variationDerivWrtParam (scaled, order)
+ * std::pow (this->timeScale (), 0. + order);
return result;
}
@@ -132,7 +154,7 @@ namespace roboptim
{
double tMin = this->getLowerBound (this->timeRange ());
return tMin + (trajectory_->singularPointAtRank (rank) - tMin)
- / this->timeScale ();
+ * this->timeScale ();
}
template <unsigned dorder>
@@ -184,7 +206,7 @@ namespace roboptim
unscaled = detail::fixTime (unscaled, *this);
assert (this->isValidTime (unscaled));
- value_type res = tmin + (unscaled - tMin) / timeScale ();
+ value_type res = tmin + (unscaled - tMin) * timeScale ();
if (res > tmax)
res = tmax;
@@ -204,7 +226,7 @@ namespace roboptim
scaled = detail::fixTime (scaled, *this);
assert (trajectory_->isValidTime (scaled));
- value_type res = tMin + (scaled - tmin) * timeScale ();
+ value_type res = tMin + (scaled - tmin) / timeScale ();
if (res > tMax)
res = tMax;
diff --git a/tests/free-time-trajectory.cc b/tests/free-time-trajectory.cc
index 478015f..bb8627f 100644
--- a/tests/free-time-trajectory.cc
+++ b/tests/free-time-trajectory.cc
@@ -156,11 +156,11 @@ int run_test ()
printTable (spline, freeTimeTraj);
- params[0] = 2.;
+ params[0] = .5;
freeTimeTraj.setParameters (params);
printTable (spline, freeTimeTraj);
- params[0] = .5;
+ params[0] = 2.;
freeTimeTraj.setParameters (params);
printTable (spline, freeTimeTraj);
diff --git a/tests/free-time-trajectory.stdout b/tests/free-time-trajectory.stdout
index 7bd0924..7ad16d0 100644
--- a/tests/free-time-trajectory.stdout
+++ b/tests/free-time-trajectory.stdout
@@ -132,46 +132,46 @@ Free time trajectory gradient.
Variation of the derivative w.r.t to parameters:
[1,4]((0,0,0,0)) [1,5]((0,0,0,0,0))
-[1,4]((-0.00976562,0.00976562,0,0)) [1,5]((0.0244141,-0.00976562,0.00976562,0,0))
-[1,4]((-0.0390625,0.0390625,0,0)) [1,5]((0.195312,-0.0390625,0.0390625,0,0))
-[1,4]((-0.0878906,0.0878906,0,0)) [1,5]((0.65918,-0.0878906,0.0878906,0,0))
-[1,4]((-0.15625,0.15625,0,0)) [1,5]((1.5625,-0.15625,0.15625,0,0))
-[1,4]((-0.244141,0.244141,0,0)) [1,5]((3.05176,-0.244141,0.244141,0,0))
-[1,4]((-0.351562,0.351562,0,0)) [1,5]((5.27344,-0.351562,0.351562,0,0))
-[1,4]((-0.478516,0.478516,0,0)) [1,5]((8.37402,-0.478516,0.478516,0,0))
-[1,4]((-0.625,0.625,0,0)) [1,5]((12.5,-0.625,0.625,0,0))
-[1,4]((-0.761719,0.751953,0.00976562,0)) [1,5]((17.5781,-0.761719,0.751953,0.00976562,0))
-[1,4]((-0.859375,0.820312,0.0390625,0)) [1,5]((23.4375,-0.859375,0.820312,0.0390625,0))
-[1,4]((-0.917969,0.830078,0.0878906,0)) [1,5]((30.0781,-0.917969,0.830078,0.0878906,0))
-[1,4]((-0.9375,0.78125,0.15625,0)) [1,5]((37.5,-0.9375,0.78125,0.15625,0))
-[1,4]((-0.917969,0.673828,0.244141,0)) [1,5]((45.7031,-0.917969,0.673828,0.244141,0))
-[1,4]((-0.859375,0.507812,0.351562,0)) [1,5]((54.6875,-0.859375,0.507812,0.351562,0))
-[1,4]((-0.761719,0.283203,0.478516,0)) [1,5]((64.4531,-0.761719,0.283203,0.478516,0))
-[1,4]((-0.625,-1.11022e-15,0.625,-0)) [1,5]((75,-0.625,-1.11022e-15,0.625,-0))
-[1,4]((-0.478516,-0.283203,0.751953,0.00976563)) [1,5]((85.498,-0.478516,-0.283203,0.751953,0.00976563))
-[1,4]((-0.351562,-0.507813,0.820313,0.0390625)) [1,5]((94.9219,-0.351562,-0.507813,0.820313,0.0390625))
-[1,4]((-0.244141,-0.673828,0.830078,0.0878906)) [1,5]((102.979,-0.244141,-0.673828,0.830078,0.0878906))
-[1,4]((-0.15625,-0.78125,0.78125,0.15625)) [1,5]((109.375,-0.15625,-0.78125,0.78125,0.15625))
-[1,4]((-0.0878906,-0.830078,0.673828,0.244141)) [1,5]((113.818,-0.0878906,-0.830078,0.673828,0.244141))
-[1,4]((-0.0390625,-0.820312,0.507812,0.351563)) [1,5]((116.016,-0.0390625,-0.820312,0.507812,0.351563))
-[1,4]((-0.00976562,-0.751953,0.283203,0.478516)) [1,5]((115.674,-0.00976562,-0.751953,0.283203,0.478516))
-[1,4]((0,-0.625,-2.22045e-15,0.625)) [1,5]((112.5,0,-0.625,-2.22045e-15,0.625))
-[1,4]((0,-0.478516,-0.283203,0.761719)) [1,5]((107.422,0,-0.478516,-0.283203,0.761719))
-[1,4]((0,-0.351562,-0.507813,0.859375)) [1,5]((101.562,0,-0.351562,-0.507813,0.859375))
-[1,4]((0,-0.244141,-0.673828,0.917969)) [1,5]((94.9219,0,-0.244141,-0.673828,0.917969))
-[1,4]((0,-0.15625,-0.78125,0.9375)) [1,5]((87.5,0,-0.15625,-0.78125,0.9375))
-[1,4]((0,-0.0878906,-0.830078,0.917969)) [1,5]((79.2969,0,-0.0878906,-0.830078,0.917969))
-[1,4]((0,-0.0390625,-0.820312,0.859375)) [1,5]((70.3125,0,-0.0390625,-0.820312,0.859375))
-[1,4]((0,-0.00976562,-0.751953,0.761719)) [1,5]((60.5469,0,-0.00976562,-0.751953,0.761719))
-[1,4]((0,0,-0.625,0.625)) [1,5]((50,0,0,-0.625,0.625))
-[1,4]((0,0,-0.478516,0.478516)) [1,5]((39.4775,0,0,-0.478516,0.478516))
-[1,4]((0,0,-0.351562,0.351562)) [1,5]((29.8828,0,0,-0.351562,0.351562))
-[1,4]((0,0,-0.244141,0.244141)) [1,5]((21.3623,0,0,-0.244141,0.244141))
-[1,4]((0,0,-0.15625,0.15625)) [1,5]((14.0625,0,0,-0.15625,0.15625))
-[1,4]((0,0,-0.0878906,0.0878906)) [1,5]((8.12988,0,0,-0.0878906,0.0878906))
-[1,4]((0,0,-0.0390625,0.0390625)) [1,5]((3.71094,0,0,-0.0390625,0.0390625))
-[1,4]((0,0,-0.00976562,0.00976562)) [1,5]((0.952148,0,0,-0.00976562,0.00976562))
-[1,4]((0,0,0,0)) [1,5]((-8.32667e-14,0,0,0,0))
+[1,4]((-0.00976562,0.00976562,0,0)) [1,5]((0.268555,-0.00976562,0.00976562,0,0))
+[1,4]((-0.0390625,0.0390625,0,0)) [1,5]((1.17188,-0.0390625,0.0390625,0,0))
+[1,4]((-0.0878906,0.0878906,0,0)) [1,5]((2.85645,-0.0878906,0.0878906,0,0))
+[1,4]((-0.15625,0.15625,0,0)) [1,5]((5.46875,-0.15625,0.15625,0,0))
+[1,4]((-0.244141,0.244141,0,0)) [1,5]((9.15527,-0.244141,0.244141,0,0))
+[1,4]((-0.351562,0.351562,0,0)) [1,5]((14.0625,-0.351562,0.351562,0,0))
+[1,4]((-0.478516,0.478516,0,0)) [1,5]((20.3369,-0.478516,0.478516,0,0))
+[1,4]((-0.625,0.625,0,0)) [1,5]((28.125,-0.625,0.625,0,0))
+[1,4]((-0.761719,0.751953,0.00976562,0)) [1,5]((37.1094,-0.761719,0.751953,0.00976562,0))
+[1,4]((-0.859375,0.820312,0.0390625,0)) [1,5]((46.875,-0.859375,0.820312,0.0390625,0))
+[1,4]((-0.917969,0.830078,0.0878906,0)) [1,5]((57.4219,-0.917969,0.830078,0.0878906,0))
+[1,4]((-0.9375,0.78125,0.15625,0)) [1,5]((68.75,-0.9375,0.78125,0.15625,0))
+[1,4]((-0.917969,0.673828,0.244141,0)) [1,5]((80.8594,-0.917969,0.673828,0.244141,0))
+[1,4]((-0.859375,0.507812,0.351562,0)) [1,5]((93.75,-0.859375,0.507812,0.351562,0))
+[1,4]((-0.761719,0.283203,0.478516,0)) [1,5]((107.422,-0.761719,0.283203,0.478516,0))
+[1,4]((-0.625,-1.11022e-15,0.625,-0)) [1,5]((121.875,-0.625,-1.11022e-15,0.625,-0))
+[1,4]((-0.478516,-0.283203,0.751953,0.00976563)) [1,5]((135.791,-0.478516,-0.283203,0.751953,0.00976563))
+[1,4]((-0.351562,-0.507813,0.820313,0.0390625)) [1,5]((147.656,-0.351562,-0.507813,0.820313,0.0390625))
+[1,4]((-0.244141,-0.673828,0.830078,0.0878906)) [1,5]((157.178,-0.244141,-0.673828,0.830078,0.0878906))
+[1,4]((-0.15625,-0.78125,0.78125,0.15625)) [1,5]((164.063,-0.15625,-0.78125,0.78125,0.15625))
+[1,4]((-0.0878906,-0.830078,0.673828,0.244141)) [1,5]((168.018,-0.0878906,-0.830078,0.673828,0.244141))
+[1,4]((-0.0390625,-0.820312,0.507812,0.351563)) [1,5]((168.75,-0.0390625,-0.820312,0.507812,0.351563))
+[1,4]((-0.00976562,-0.751953,0.283203,0.478516)) [1,5]((165.967,-0.00976562,-0.751953,0.283203,0.478516))
+[1,4]((0,-0.625,-2.22045e-15,0.625)) [1,5]((159.375,0,-0.625,-2.22045e-15,0.625))
+[1,4]((0,-0.478516,-0.283203,0.761719)) [1,5]((150.391,0,-0.478516,-0.283203,0.761719))
+[1,4]((0,-0.351562,-0.507813,0.859375)) [1,5]((140.625,0,-0.351562,-0.507813,0.859375))
+[1,4]((0,-0.244141,-0.673828,0.917969)) [1,5]((130.078,0,-0.244141,-0.673828,0.917969))
+[1,4]((0,-0.15625,-0.78125,0.9375)) [1,5]((118.75,0,-0.15625,-0.78125,0.9375))
+[1,4]((0,-0.0878906,-0.830078,0.917969)) [1,5]((106.641,0,-0.0878906,-0.830078,0.917969))
+[1,4]((0,-0.0390625,-0.820312,0.859375)) [1,5]((93.75,0,-0.0390625,-0.820312,0.859375))
+[1,4]((0,-0.00976562,-0.751953,0.761719)) [1,5]((80.0781,0,-0.00976562,-0.751953,0.761719))
+[1,4]((0,0,-0.625,0.625)) [1,5]((65.625,0,0,-0.625,0.625))
+[1,4]((0,0,-0.478516,0.478516)) [1,5]((51.4404,0,0,-0.478516,0.478516))
+[1,4]((0,0,-0.351562,0.351562)) [1,5]((38.6719,0,0,-0.351562,0.351562))
+[1,4]((0,0,-0.244141,0.244141)) [1,5]((27.4658,0,0,-0.244141,0.244141))
+[1,4]((0,0,-0.15625,0.15625)) [1,5]((17.9687,0,0,-0.15625,0.15625))
+[1,4]((0,0,-0.0878906,0.0878906)) [1,5]((10.3271,0,0,-0.0878906,0.0878906))
+[1,4]((0,0,-0.0390625,0.0390625)) [1,5]((4.6875,0,0,-0.0390625,0.0390625))
+[1,4]((0,0,-0.00976562,0.00976562)) [1,5]((1.19629,0,0,-0.00976562,0.00976562))
+[1,4]((0,0,0,0)) [1,5]((-1.04083e-13,0,0,0,0))
Spline range: [0, 4]
FTT range: [0, 8]
@@ -427,86 +427,86 @@ Free time trajectory gradient.
Variation of the derivative w.r.t to parameters:
[1,4]((0,0,0,0)) [1,5]((0,0,0,0,0))
-[1,4]((-0.00976562,0.00976562,0,0)) [1,5]((0.00610352,-0.00244141,0.00244141,0,0))
-[1,4]((-0.0390625,0.0390625,0,0)) [1,5]((0.0488281,-0.00976562,0.00976562,0,0))
-[1,4]((-0.0878906,0.0878906,0,0)) [1,5]((0.164795,-0.0219727,0.0219727,0,0))
-[1,4]((-0.15625,0.15625,0,0)) [1,5]((0.390625,-0.0390625,0.0390625,0,0))
-[1,4]((-0.244141,0.244141,0,0)) [1,5]((0.762939,-0.0610352,0.0610352,0,0))
-[1,4]((-0.351562,0.351562,0,0)) [1,5]((1.31836,-0.0878906,0.0878906,0,0))
-[1,4]((-0.478516,0.478516,0,0)) [1,5]((2.09351,-0.119629,0.119629,0,0))
-[1,4]((-0.625,0.625,0,0)) [1,5]((3.125,-0.15625,0.15625,0,0))
-[1,4]((-0.761719,0.751953,0.00976562,0)) [1,5]((4.44946,-0.197754,0.197754,0,0))
-[1,4]((-0.859375,0.820312,0.0390625,0)) [1,5]((6.10352,-0.244141,0.244141,0,0))
-[1,4]((-0.917969,0.830078,0.0878906,0)) [1,5]((8.12378,-0.29541,0.29541,0,0))
-[1,4]((-0.9375,0.78125,0.15625,0)) [1,5]((10.5469,-0.351562,0.351562,0,0))
-[1,4]((-0.917969,0.673828,0.244141,0)) [1,5]((13.4094,-0.412598,0.412598,0,0))
-[1,4]((-0.859375,0.507812,0.351562,0)) [1,5]((16.748,-0.478516,0.478516,0,0))
-[1,4]((-0.761719,0.283203,0.478516,0)) [1,5]((20.5994,-0.549316,0.549316,0,0))
-[1,4]((-0.625,-1.11022e-15,0.625,-0)) [1,5]((25,-0.625,0.625,3.08149e-32,0))
-[1,4]((-0.478516,-0.283203,0.751953,0.00976563)) [1,5]((29.8828,-0.698242,0.695801,0.00244141,0))
-[1,4]((-0.351562,-0.507813,0.820313,0.0390625)) [1,5]((35.1563,-0.761719,0.751953,0.00976563,0))
-[1,4]((-0.244141,-0.673828,0.830078,0.0878906)) [1,5]((40.8203,-0.81543,0.793457,0.0219727,0))
-[1,4]((-0.15625,-0.78125,0.78125,0.15625)) [1,5]((46.875,-0.859375,0.820312,0.0390625,0))
-[1,4]((-0.0878906,-0.830078,0.673828,0.244141)) [1,5]((53.3203,-0.893555,0.83252,0.0610352,0))
-[1,4]((-0.0390625,-0.820312,0.507812,0.351563)) [1,5]((60.1563,-0.917969,0.830078,0.0878906,0))
-[1,4]((-0.00976562,-0.751953,0.283203,0.478516)) [1,5]((67.3828,-0.932617,0.812988,0.119629,0))
-[1,4]((0,-0.625,-2.22045e-15,0.625)) [1,5]((75,-0.9375,0.78125,0.15625,0))
-[1,4]((0,-0.478516,-0.283203,0.761719)) [1,5]((83.0078,-0.932617,0.734863,0.197754,0))
-[1,4]((0,-0.351562,-0.507813,0.859375)) [1,5]((91.4063,-0.917969,0.673828,0.244141,0))
-[1,4]((0,-0.244141,-0.673828,0.917969)) [1,5]((100.195,-0.893555,0.598145,0.29541,0))
-[1,4]((0,-0.15625,-0.78125,0.9375)) [1,5]((109.375,-0.859375,0.507812,0.351563,0))
-[1,4]((0,-0.0878906,-0.830078,0.917969)) [1,5]((118.945,-0.81543,0.402832,0.412598,0))
-[1,4]((0,-0.0390625,-0.820312,0.859375)) [1,5]((128.906,-0.761719,0.283203,0.478516,0))
-[1,4]((0,-0.00976562,-0.751953,0.761719)) [1,5]((139.258,-0.698242,0.148926,0.549316,0))
-[1,4]((0,0,-0.625,0.625)) [1,5]((150,-0.625,-2.22045e-15,0.625,-0))
-[1,4]((0,0,-0.478516,0.478516)) [1,5]((160.73,-0.549316,-0.148926,0.695801,0.00244141))
-[1,4]((0,0,-0.351562,0.351562)) [1,5]((170.996,-0.478516,-0.283203,0.751953,0.00976563))
-[1,4]((0,0,-0.244141,0.244141)) [1,5]((180.725,-0.412598,-0.402832,0.793457,0.0219727))
-[1,4]((0,0,-0.15625,0.15625)) [1,5]((189.844,-0.351562,-0.507813,0.820313,0.0390625))
-[1,4]((0,0,-0.0878906,0.0878906)) [1,5]((198.279,-0.29541,-0.598145,0.83252,0.0610352))
-[1,4]((0,0,-0.0390625,0.0390625)) [1,5]((205.957,-0.244141,-0.673828,0.830078,0.0878906))
-[1,4]((0,0,-0.00976562,0.00976562)) [1,5]((212.805,-0.197754,-0.734863,0.812988,0.119629))
-N/A [1,5]((218.75,-0.15625,-0.78125,0.78125,0.15625))
-N/A [1,5]((223.718,-0.119629,-0.812988,0.734863,0.197754))
-N/A [1,5]((227.637,-0.0878906,-0.830078,0.673828,0.244141))
-N/A [1,5]((230.432,-0.0610352,-0.83252,0.598145,0.29541))
-N/A [1,5]((232.031,-0.0390625,-0.820312,0.507812,0.351562))
-N/A [1,5]((232.361,-0.0219727,-0.793457,0.402832,0.412598))
-N/A [1,5]((231.348,-0.00976563,-0.751953,0.283203,0.478516))
-N/A [1,5]((228.918,-0.00244141,-0.695801,0.148926,0.549316))
-N/A [1,5]((225,0,-0.625,2.22045e-15,0.625))
-N/A [1,5]((220.117,0,-0.549316,-0.148926,0.698242))
-N/A [1,5]((214.844,0,-0.478516,-0.283203,0.761719))
-N/A [1,5]((209.18,0,-0.412598,-0.402832,0.81543))
-N/A [1,5]((203.125,0,-0.351563,-0.507812,0.859375))
-N/A [1,5]((196.68,0,-0.29541,-0.598145,0.893555))
-N/A [1,5]((189.844,0,-0.244141,-0.673828,0.917969))
-N/A [1,5]((182.617,0,-0.197754,-0.734863,0.932617))
-N/A [1,5]((175,0,-0.15625,-0.78125,0.9375))
-N/A [1,5]((166.992,0,-0.119629,-0.812988,0.932617))
-N/A [1,5]((158.594,0,-0.0878906,-0.830078,0.917969))
-N/A [1,5]((149.805,0,-0.0610352,-0.83252,0.893555))
-N/A [1,5]((140.625,0,-0.0390625,-0.820313,0.859375))
-N/A [1,5]((131.055,0,-0.0219727,-0.793457,0.81543))
-N/A [1,5]((121.094,0,-0.00976563,-0.751953,0.761719))
-N/A [1,5]((110.742,0,-0.00244141,-0.695801,0.698242))
-N/A [1,5]((100,0,0,-0.625,0.625))
-N/A [1,5]((89.2639,0,0,-0.549316,0.549316))
-N/A [1,5]((78.9551,0,0,-0.478516,0.478516))
-N/A [1,5]((69.1101,0,0,-0.412598,0.412598))
-N/A [1,5]((59.7656,0,0,-0.351563,0.351563))
-N/A [1,5]((50.9583,0,0,-0.29541,0.29541))
-N/A [1,5]((42.7246,0,0,-0.244141,0.244141))
-N/A [1,5]((35.1013,0,0,-0.197754,0.197754))
-N/A [1,5]((28.125,0,0,-0.15625,0.15625))
-N/A [1,5]((21.8323,0,0,-0.119629,0.119629))
-N/A [1,5]((16.2598,0,0,-0.0878906,0.0878906))
-N/A [1,5]((11.4441,0,0,-0.0610352,0.0610352))
-N/A [1,5]((7.42188,0,0,-0.0390625,0.0390625))
-N/A [1,5]((4.22974,0,0,-0.0219727,0.0219727))
-N/A [1,5]((1.9043,0,0,-0.00976563,0.00976563))
-N/A [1,5]((0.482178,0,0,-0.00244141,0.00244141))
-N/A [1,5]((7.50511e-14,0,0,0,4.44089e-16))
+[1,4]((-0.00976562,0.00976562,0,0)) [1,5]((0.0640869,-0.0012207,0.0012207,0,0))
+[1,4]((-0.0390625,0.0390625,0,0)) [1,5]((0.268555,-0.00488281,0.00488281,0,0))
+[1,4]((-0.0878906,0.0878906,0,0)) [1,5]((0.631714,-0.0109863,0.0109863,0,0))
+[1,4]((-0.15625,0.15625,0,0)) [1,5]((1.17188,-0.0195312,0.0195312,0,0))
+[1,4]((-0.244141,0.244141,0,0)) [1,5]((1.90735,-0.0305176,0.0305176,0,0))
+[1,4]((-0.351562,0.351562,0,0)) [1,5]((2.85645,-0.0439453,0.0439453,0,0))
+[1,4]((-0.478516,0.478516,0,0)) [1,5]((4.03748,-0.0598145,0.0598145,0,0))
+[1,4]((-0.625,0.625,0,0)) [1,5]((5.46875,-0.078125,0.078125,0,0))
+[1,4]((-0.761719,0.751953,0.00976562,0)) [1,5]((7.16858,-0.098877,0.098877,0,0))
+[1,4]((-0.859375,0.820312,0.0390625,0)) [1,5]((9.15527,-0.12207,0.12207,0,0))
+[1,4]((-0.917969,0.830078,0.0878906,0)) [1,5]((11.4471,-0.147705,0.147705,0,0))
+[1,4]((-0.9375,0.78125,0.15625,0)) [1,5]((14.0625,-0.175781,0.175781,0,0))
+[1,4]((-0.917969,0.673828,0.244141,0)) [1,5]((17.0197,-0.206299,0.206299,0,0))
+[1,4]((-0.859375,0.507812,0.351562,0)) [1,5]((20.3369,-0.239258,0.239258,0,0))
+[1,4]((-0.761719,0.283203,0.478516,0)) [1,5]((24.0326,-0.274658,0.274658,0,0))
+[1,4]((-0.625,-1.11022e-15,0.625,-0)) [1,5]((28.125,-0.3125,0.3125,1.54074e-32,0))
+[1,4]((-0.478516,-0.283203,0.751953,0.00976563)) [1,5]((32.5195,-0.349121,0.3479,0.0012207,0))
+[1,4]((-0.351562,-0.507813,0.820313,0.0390625)) [1,5]((37.1094,-0.380859,0.375977,0.00488281,0))
+[1,4]((-0.244141,-0.673828,0.830078,0.0878906)) [1,5]((41.8945,-0.407715,0.396729,0.0109863,0))
+[1,4]((-0.15625,-0.78125,0.78125,0.15625)) [1,5]((46.875,-0.429688,0.410156,0.0195313,0))
+[1,4]((-0.0878906,-0.830078,0.673828,0.244141)) [1,5]((52.0508,-0.446777,0.41626,0.0305176,0))
+[1,4]((-0.0390625,-0.820312,0.507812,0.351563)) [1,5]((57.4219,-0.458984,0.415039,0.0439453,0))
+[1,4]((-0.00976562,-0.751953,0.283203,0.478516)) [1,5]((62.9883,-0.466309,0.406494,0.0598145,0))
+[1,4]((0,-0.625,-2.22045e-15,0.625)) [1,5]((68.75,-0.46875,0.390625,0.078125,0))
+[1,4]((0,-0.478516,-0.283203,0.761719)) [1,5]((74.707,-0.466309,0.367432,0.098877,0))
+[1,4]((0,-0.351562,-0.507813,0.859375)) [1,5]((80.8594,-0.458984,0.336914,0.12207,0))
+[1,4]((0,-0.244141,-0.673828,0.917969)) [1,5]((87.207,-0.446777,0.299072,0.147705,0))
+[1,4]((0,-0.15625,-0.78125,0.9375)) [1,5]((93.75,-0.429687,0.253906,0.175781,0))
+[1,4]((0,-0.0878906,-0.830078,0.917969)) [1,5]((100.488,-0.407715,0.201416,0.206299,0))
+[1,4]((0,-0.0390625,-0.820312,0.859375)) [1,5]((107.422,-0.380859,0.141602,0.239258,0))
+[1,4]((0,-0.00976562,-0.751953,0.761719)) [1,5]((114.551,-0.349121,0.0744629,0.274658,0))
+[1,4]((0,0,-0.625,0.625)) [1,5]((121.875,-0.3125,-1.11022e-15,0.3125,-0))
+[1,4]((0,0,-0.478516,0.478516)) [1,5]((129.071,-0.274658,-0.0744629,0.3479,0.0012207))
+[1,4]((0,0,-0.351562,0.351562)) [1,5]((135.791,-0.239258,-0.141602,0.375977,0.00488281))
+[1,4]((0,0,-0.244141,0.244141)) [1,5]((141.998,-0.206299,-0.201416,0.396729,0.0109863))
+[1,4]((0,0,-0.15625,0.15625)) [1,5]((147.656,-0.175781,-0.253906,0.410156,0.0195313))
+[1,4]((0,0,-0.0878906,0.0878906)) [1,5]((152.728,-0.147705,-0.299072,0.41626,0.0305176))
+[1,4]((0,0,-0.0390625,0.0390625)) [1,5]((157.178,-0.12207,-0.336914,0.415039,0.0439453))
+[1,4]((0,0,-0.00976562,0.00976562)) [1,5]((160.968,-0.098877,-0.367432,0.406494,0.0598145))
+N/A [1,5]((164.063,-0.078125,-0.390625,0.390625,0.078125))
+N/A [1,5]((166.425,-0.0598145,-0.406494,0.367432,0.098877))
+N/A [1,5]((168.018,-0.0439453,-0.415039,0.336914,0.12207))
+N/A [1,5]((168.805,-0.0305176,-0.41626,0.299072,0.147705))
+N/A [1,5]((168.75,-0.0195312,-0.410156,0.253906,0.175781))
+N/A [1,5]((167.816,-0.0109863,-0.396729,0.201416,0.206299))
+N/A [1,5]((165.967,-0.00488281,-0.375977,0.141602,0.239258))
+N/A [1,5]((163.165,-0.0012207,-0.3479,0.0744629,0.274658))
+N/A [1,5]((159.375,0,-0.3125,1.11022e-15,0.3125))
+N/A [1,5]((154.98,0,-0.274658,-0.0744629,0.349121))
+N/A [1,5]((150.391,0,-0.239258,-0.141602,0.380859))
+N/A [1,5]((145.605,0,-0.206299,-0.201416,0.407715))
+N/A [1,5]((140.625,0,-0.175781,-0.253906,0.429687))
+N/A [1,5]((135.449,0,-0.147705,-0.299072,0.446777))
+N/A [1,5]((130.078,0,-0.12207,-0.336914,0.458984))
+N/A [1,5]((124.512,0,-0.098877,-0.367432,0.466309))
+N/A [1,5]((118.75,0,-0.078125,-0.390625,0.46875))
+N/A [1,5]((112.793,0,-0.0598145,-0.406494,0.466309))
+N/A [1,5]((106.641,0,-0.0439453,-0.415039,0.458984))
+N/A [1,5]((100.293,0,-0.0305176,-0.41626,0.446777))
+N/A [1,5]((93.75,0,-0.0195313,-0.410156,0.429688))
+N/A [1,5]((87.0117,0,-0.0109863,-0.396729,0.407715))
+N/A [1,5]((80.0781,0,-0.00488281,-0.375977,0.380859))
+N/A [1,5]((72.9492,0,-0.0012207,-0.3479,0.349121))
+N/A [1,5]((65.625,0,0,-0.3125,0.3125))
+N/A [1,5]((58.3649,0,0,-0.274658,0.274658))
+N/A [1,5]((51.4404,0,0,-0.239258,0.239258))
+N/A [1,5]((44.87,0,0,-0.206299,0.206299))
+N/A [1,5]((38.6719,0,0,-0.175781,0.175781))
+N/A [1,5]((32.8644,0,0,-0.147705,0.147705))
+N/A [1,5]((27.4658,0,0,-0.12207,0.12207))
+N/A [1,5]((22.4945,0,0,-0.098877,0.098877))
+N/A [1,5]((17.9688,0,0,-0.078125,0.078125))
+N/A [1,5]((13.9069,0,0,-0.0598145,0.0598145))
+N/A [1,5]((10.3271,0,0,-0.0439453,0.0439453))
+N/A [1,5]((7.24792,0,0,-0.0305176,0.0305176))
+N/A [1,5]((4.6875,0,0,-0.0195313,0.0195313))
+N/A [1,5]((2.66418,0,0,-0.0109863,0.0109863))
+N/A [1,5]((1.19629,0,0,-0.00488281,0.00488281))
+N/A [1,5]((0.302124,0,0,-0.0012207,0.0012207))
+N/A [1,5]((4.69069e-14,0,0,0,2.22045e-16))
Spline range: [0, 4]
FTT range: [0, 2]
@@ -582,24 +582,24 @@ Free time trajectory gradient.
Variation of the derivative w.r.t to parameters:
[1,4]((0,0,0,0)) [1,5]((0,0,0,0,0))
-[1,4]((-0.00976562,0.00976562,0,0)) [1,5]((0.0976562,-0.0390625,0.0390625,0,0))
-[1,4]((-0.0390625,0.0390625,0,0)) [1,5]((0.78125,-0.15625,0.15625,0,0))
-[1,4]((-0.0878906,0.0878906,0,0)) [1,5]((2.63672,-0.351563,0.351563,0,0))
-[1,4]((-0.15625,0.15625,0,0)) [1,5]((6.25,-0.625,0.625,0,0))
-[1,4]((-0.244141,0.244141,0,0)) [1,5]((11.7188,-0.859375,0.820312,0.0390625,0))
-[1,4]((-0.351562,0.351562,0,0)) [1,5]((18.75,-0.9375,0.78125,0.15625,0))
-[1,4]((-0.478516,0.478516,0,0)) [1,5]((27.3437,-0.859375,0.507813,0.351562,0))
-[1,4]((-0.625,0.625,0,0)) [1,5]((37.5,-0.625,5.55112e-16,0.625,0))
-[1,4]((-0.761719,0.751953,0.00976562,0)) [1,5]((47.4609,-0.351563,-0.507812,0.820312,0.0390625))
-[1,4]((-0.859375,0.820312,0.0390625,0)) [1,5]((54.6875,-0.15625,-0.78125,0.78125,0.15625))
-[1,4]((-0.917969,0.830078,0.0878906,0)) [1,5]((58.0078,-0.0390625,-0.820313,0.507813,0.351562))
-[1,4]((-0.9375,0.78125,0.15625,0)) [1,5]((56.25,0,-0.625,1.11022e-15,0.625))
-[1,4]((-0.917969,0.673828,0.244141,0)) [1,5]((50.7812,0,-0.351562,-0.507812,0.859375))
-[1,4]((-0.859375,0.507812,0.351562,0)) [1,5]((43.75,0,-0.15625,-0.78125,0.9375))
-[1,4]((-0.761719,0.283203,0.478516,0)) [1,5]((35.1562,0,-0.0390625,-0.820312,0.859375))
-[1,4]((-0.625,-1.11022e-15,0.625,-0)) [1,5]((25,0,0,-0.625,0.625))
-[1,4]((-0.478516,-0.283203,0.751953,0.00976563)) [1,5]((14.9414,0,0,-0.351562,0.351562))
-[1,4]((-0.351562,-0.507813,0.820313,0.0390625)) [1,5]((7.03125,0,0,-0.15625,0.15625))
-[1,4]((-0.244141,-0.673828,0.830078,0.0878906)) [1,5]((1.85547,0,0,-0.0390625,0.0390625))
-[1,4]((-0.15625,-0.78125,0.78125,0.15625)) [1,5]((-4.16334e-14,0,0,0,0))
+[1,4]((-0.00976562,0.00976562,0,0)) [1,5]((1.17188,-0.078125,0.078125,0,0))
+[1,4]((-0.0390625,0.0390625,0,0)) [1,5]((5.46875,-0.3125,0.3125,0,0))
+[1,4]((-0.0878906,0.0878906,0,0)) [1,5]((14.0625,-0.703125,0.703125,0,0))
+[1,4]((-0.15625,0.15625,0,0)) [1,5]((28.125,-1.25,1.25,0,0))
+[1,4]((-0.244141,0.244141,0,0)) [1,5]((46.875,-1.71875,1.64062,0.078125,0))
+[1,4]((-0.351562,0.351562,0,0)) [1,5]((68.75,-1.875,1.5625,0.3125,0))
+[1,4]((-0.478516,0.478516,0,0)) [1,5]((93.75,-1.71875,1.01563,0.703125,0))
+[1,4]((-0.625,0.625,0,0)) [1,5]((121.875,-1.25,1.11022e-15,1.25,0))
+[1,4]((-0.761719,0.751953,0.00976562,0)) [1,5]((147.656,-0.703125,-1.01562,1.64062,0.078125))
+[1,4]((-0.859375,0.820312,0.0390625,0)) [1,5]((164.062,-0.3125,-1.5625,1.5625,0.3125))
+[1,4]((-0.917969,0.830078,0.0878906,0)) [1,5]((168.75,-0.078125,-1.64063,1.01563,0.703125))
+[1,4]((-0.9375,0.78125,0.15625,0)) [1,5]((159.375,0,-1.25,2.22045e-15,1.25))
+[1,4]((-0.917969,0.673828,0.244141,0)) [1,5]((140.625,0,-0.703125,-1.01562,1.71875))
+[1,4]((-0.859375,0.507812,0.351562,0)) [1,5]((118.75,0,-0.3125,-1.5625,1.875))
+[1,4]((-0.761719,0.283203,0.478516,0)) [1,5]((93.75,0,-0.078125,-1.64062,1.71875))
+[1,4]((-0.625,-1.11022e-15,0.625,-0)) [1,5]((65.625,0,0,-1.25,1.25))
+[1,4]((-0.478516,-0.283203,0.751953,0.00976563)) [1,5]((38.6719,0,0,-0.703125,0.703125))
+[1,4]((-0.351562,-0.507813,0.820313,0.0390625)) [1,5]((17.9687,0,0,-0.3125,0.3125))
+[1,4]((-0.244141,-0.673828,0.830078,0.0878906)) [1,5]((4.6875,0,0,-0.078125,0.078125))
+[1,4]((-0.15625,-0.78125,0.78125,0.15625)) [1,5]((-1.04083e-13,0,0,0,0))
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index eb46217..89d2b7f 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -51,8 +51,9 @@ typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
// Problem parameters.
-const unsigned nControlPoints = 31;
-const double vMax = 200.;
+const unsigned nControlPoints = 6;
+const unsigned nConstraintsPerCtrlPts = 1;
+const double vMax = 75.;
int run_test ()
{
@@ -73,7 +74,7 @@ int run_test ()
// Define cost.
Function::matrix_t a (1, freeTimeTraj.parameters ().size ());
a.clear ();
- a (0, 0) = 1.;
+ a (0, 0) = -1.;
Function::vector_t b (1);
b.clear ();
roboptim::NumericLinearFunction cost (a, b);
@@ -94,7 +95,7 @@ int run_test ()
Function::interval_t vRange (0., .5 * vMax * vMax);
LimitSpeed<FreeTimeTrajectory<Spline::derivabilityOrder> >::addToProblem
- (freeTimeTraj, problem, vRange, nControlPoints * 10);
+ (freeTimeTraj, problem, vRange, nControlPoints * nConstraintsPerCtrlPts);
std::ofstream limitSpeedStream ("limit-speed.gp");
Gnuplot gnuplot = Gnuplot::make_interactive_gnuplot ();
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 12 +
.../roboptim/trajectory/free-time-trajectory.hh | 3 +
.../roboptim/trajectory/free-time-trajectory.hxx | 42 +++-
tests/free-time-trajectory.cc | 4 +-
tests/free-time-trajectory.stdout | 280 ++++++++++----------
tests/spline-time-optimization.cc | 9 +-
6 files changed, 194 insertions(+), 156 deletions(-)
hooks/post-receive
--
roboptim
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|
From: Thomas M. <tho...@us...> - 2009-07-29 04:32:35
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via 3b0398a85d760ecc69a9df97e34d6abbf253beac (commit)
via fa3970fa903e55320fb19f73739fc0a8ccfa8686 (commit)
from 0ccb812c94fdde729f567b73dd38c110a83ac6b4 (commit)
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- Log -----------------------------------------------------------------
commit 3b0398a85d760ecc69a9df97e34d6abbf253beac
Author: Thomas Moulard <tho...@gm...>
Date: Wed Jul 29 13:32:08 2009 +0900
Use argument bounds to freeze parameters.
* include/roboptim/trajectory/freeze.hh,
* include/roboptim/trajectory/freeze.hxx: Rewrite to simplify
use and freeze using argument bounds.
* tests/spline-optimization.cc,
* tests/spline-time-optimization.cc: Use new interface.
* tests/spline-optimization.stdout: Regenerate.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 1700ad4..8017e59 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,15 @@
2009-07-29 Thomas Moulard <tho...@gm...>
+ Use argument bounds to freeze parameters.
+ * include/roboptim/trajectory/freeze.hh,
+ * include/roboptim/trajectory/freeze.hxx: Rewrite to simplify
+ use and freeze using argument bounds.
+ * tests/spline-optimization.cc,
+ * tests/spline-time-optimization.cc: Use new interface.
+ * tests/spline-optimization.stdout: Regenerate.
+
+2009-07-29 Thomas Moulard <tho...@gm...>
+
Use argument bounds to force a positive scale.
* tests/spline-time-optimization.cc: Force a positive scale properly.
diff --git a/include/roboptim/trajectory/freeze.hh b/include/roboptim/trajectory/freeze.hh
index 4d13fa7..da87a1c 100644
--- a/include/roboptim/trajectory/freeze.hh
+++ b/include/roboptim/trajectory/freeze.hh
@@ -34,9 +34,8 @@ namespace roboptim
/// For instance, the vector: [(0, 5.), (3, -12.)] forces the first
/// parameter to five and the fourth one to minus twelve.
///
- /// This class adds to the problem one linear constraint per
- /// frozen parameter.
- template <typename F, typename CLIST, typename C>
+ /// This adds to the problem one linear constraint per frozen parameter.
+ template <typename P>
class Freeze
{
public:
@@ -44,7 +43,7 @@ namespace roboptim
typedef std::pair<size_t, Function::value_type> frozenArgument_t;
/// \brief Problem type.
- typedef Problem<F, CLIST> problem_t;
+ typedef P problem_t;
/// \brief Vector of pairs (argument index, value).
///
@@ -55,22 +54,31 @@ namespace roboptim
/// \brief Create the constraint from a vector of pairs.
///
/// \param problem problem that will be modified.
- /// \param fa Vector of pairs containing what to freeze and to what value.
- Freeze (problem_t& problem, const frozenArguments_t fa) throw ();
+ Freeze (problem_t& problem) throw ();
virtual ~Freeze () throw ();
/// \brief Apply modification.
- void operator () () throw ();
+ /// \param fa Vector of pairs containing what to freeze and to what value.
+ void operator () (const frozenArguments_t fa) throw ();
+
+ /// \brief Apply modification.
+ /// \param indices Vector of parameters index that will be frozen.
+ /// \param values Vector of parameters values.
+ void operator () (const std::vector<Function::size_type>& indices,
+ const Function::vector_t& values) throw ();
private:
/// \brief Reference to the problem that will be modified.
problem_t& problem_;
-
- /// \brief Vector which defines how to freeze values.
- const frozenArguments_t frozenArguments_;
};
+ template <typename P>
+ Freeze<P> makeFreeze (P& problem) throw ()
+ {
+ return Freeze<P> (problem);
+ }
+
/// Example shows freeze use.
/// \example spline-optimization.cc
diff --git a/include/roboptim/trajectory/freeze.hxx b/include/roboptim/trajectory/freeze.hxx
index e2137a5..3539070 100644
--- a/include/roboptim/trajectory/freeze.hxx
+++ b/include/roboptim/trajectory/freeze.hxx
@@ -21,46 +21,52 @@
namespace roboptim
{
- template <typename F, typename CLIST, typename C>
- Freeze<F, CLIST, C>::Freeze (problem_t& problem,
- const frozenArguments_t fa) throw ()
- : problem_ (problem),
- frozenArguments_ (fa)
+ template <typename P>
+ Freeze<P>::Freeze (problem_t& problem) throw ()
+ : problem_ (problem)
{
}
- template <typename F, typename CLIST, typename C>
- Freeze<F, CLIST, C>::~Freeze () throw ()
+ template <typename P>
+ Freeze<P>::~Freeze () throw ()
{
}
- template <typename F, typename CLIST, typename C>
+ template <typename P>
void
- Freeze<F, CLIST, C>::operator () () throw ()
+ Freeze<P>::operator () (const frozenArguments_t frozenArguments) throw ()
{
using namespace boost;
typedef frozenArguments_t::const_iterator citer_t;
- for (citer_t it = frozenArguments_.begin ();
- it != frozenArguments_.end (); ++it)
+ for (citer_t it = frozenArguments.begin ();
+ it != frozenArguments.end (); ++it)
{
assert (it->first < problem_.function ().inputSize ());
- Function::matrix_t a (1, problem_.function ().inputSize ());
- Function::vector_t b (1);
+ Function::interval_t& interval =
+ this->problem_.argumentBounds()[it->first];
- a.clear (), b.clear ();
-
- a(0, it->first) = 1.;
-
- b[0] = -it->second;
+ Function::value_type min =
+ std::max (Function::getLowerBound (interval), it->second);
+ Function::value_type max =
+ std::min (Function::getUpperBound (interval), it->second);
+ this->problem_.argumentBounds()[it->first] = Function::makeInterval (min, max);
+ }
+ }
- NumericLinearFunction* ptr = new NumericLinearFunction (a, b);
- shared_ptr<C> constraint =
- static_pointer_cast<C> (shared_ptr<NumericLinearFunction> (ptr));
- this->problem_.addConstraint (constraint,
- Function::makeInterval (0., 0.));
+ template <typename P>
+ void
+ Freeze<P>::operator () (const std::vector<Function::size_type>& indices,
+ const Function::vector_t& values) throw ()
+ {
+ frozenArguments_t fa;
+ for (unsigned i = 0; i < indices.size (); ++i)
+ {
+ assert (indices[i] < values.size ());
+ fa.push_back (std::make_pair (indices[i], values[indices[i]]));
}
+ (*this) (fa);
}
} // end of namespace roboptim.
diff --git a/tests/spline-optimization.cc b/tests/spline-optimization.cc
index b55a229..d247ce7 100644
--- a/tests/spline-optimization.cc
+++ b/tests/spline-optimization.cc
@@ -111,14 +111,12 @@ int run_test ()
solver_t::problem_t problem (cost);
problem.startingPoint () = params;
- typedef Freeze<DerivableFunction, constraint_t, LinearFunction> freeze_t;
- freeze_t freeze (problem,
- list_of <freeze_t::frozenArgument_t>
- (0, params[0])
- (1, params[1])
- (params.size () - 2, params[params.size () - 2])
- (params.size () - 1, params[params.size () - 1]));
- freeze ();
+ std::vector<Function::size_type> indices;
+ indices.push_back (0);
+ indices.push_back (1);
+ indices.push_back (params.size () - 2);
+ indices.push_back (params.size () - 1);
+ makeFreeze (problem) (indices, params);
SolverFactory<solver_t> factory ("cfsqp", problem);
solver_t& solver = factory ();
@@ -126,10 +124,10 @@ int run_test ()
std::cerr << "Cost function (before): " << cost (params) << std::endl;
std::cerr << "Parameters (before): " << params << std::endl;
- solver_t::result_t res = solver.minimum ();
-
std::cerr << solver << std::endl;
+ solver_t::result_t res = solver.minimum ();
+
switch (res.which ())
{
case GenericSolver::SOLVER_VALUE:
diff --git a/tests/spline-optimization.stdout b/tests/spline-optimization.stdout
index acaf55d..917825a 100644
--- a/tests/spline-optimization.stdout
+++ b/tests/spline-optimization.stdout
@@ -424,7 +424,7 @@ plot '-' title 'before' with line
e
plot '-' title 'after' with line
--0.000000 -0.000000
+0.000000 -0.000000
0.000013 0.000013
0.000107 0.000107
0.000362 0.000362
@@ -556,7 +556,7 @@ plot '-' title 'after' with line
24.749037 24.749037
25.170293 25.170293
25.591649 25.591649
-26.012979 26.012979
+26.012980 26.012980
26.434157 26.434157
26.855055 26.855055
27.275547 27.275547
@@ -657,7 +657,7 @@ plot '-' title 'after' with line
59.212328 59.212328
59.548593 59.548593
59.887730 59.887730
-60.229829 60.229830
+60.229830 60.229830
60.574985 60.574985
60.923290 60.923290
61.274836 61.274836
@@ -692,10 +692,10 @@ plot '-' title 'after' with line
72.724453 72.724453
73.144945 73.144945
73.565843 73.565843
-73.987020 73.987021
+73.987020 73.987020
74.408351 74.408351
74.829707 74.829707
-75.250962 75.250963
+75.250963 75.250963
75.671990 75.671990
76.092663 76.092663
76.512855 76.512855
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index 2ebdec5..eb46217 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -86,15 +86,11 @@ int run_test ()
problem.argumentBounds ()[0] = Function::makeLowerInterval (0.);
const freeTime_t::vector_t freeTimeParams = freeTimeTraj.parameters ();
- const unsigned freeTimeParamsSize = freeTimeParams.size ();
-
- typedef Freeze<DerivableFunction, constraint_t, DerivableFunction> freeze_t;
- freeze_t freeze (problem,
- list_of <freeze_t::frozenArgument_t>
- (1, freeTimeParams[1])
- (freeTimeParamsSize - 1,
- freeTimeParams[freeTimeParamsSize - 1]));
- freeze ();
+
+ std::vector<Function::size_type> indices;
+ indices.push_back (1);
+ indices.push_back (freeTimeParams.size () - 1);
+ makeFreeze (problem) (indices, freeTimeParams);
Function::interval_t vRange (0., .5 * vMax * vMax);
LimitSpeed<FreeTimeTrajectory<Spline::derivabilityOrder> >::addToProblem
commit fa3970fa903e55320fb19f73739fc0a8ccfa8686
Author: Thomas Moulard <tho...@gm...>
Date: Wed Jul 29 11:25:18 2009 +0900
Use argument bounds to force a positive scale.
* tests/spline-time-optimization.cc: Force a positive scale properly.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 45b8b54..1700ad4 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-07-29 Thomas Moulard <tho...@gm...>
+
+ Use argument bounds to force a positive scale.
+ * tests/spline-time-optimization.cc: Force a positive scale properly.
+
2009-07-28 Thomas Moulard <tho...@gm...>
Fix speed limit vmax computation and output.
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index e1ec25b..2ebdec5 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -82,18 +82,8 @@ int run_test ()
solver_t::problem_t problem (cost);
problem.startingPoint () = freeTimeTraj.parameters ();
- {
- // Be sure that scale is positive.
- Function::matrix_t a (1, problem.function ().inputSize ());
- Function::vector_t b (1);
- a.clear (), b.clear ();
- a (0, 0) = 1.;
- shared_ptr<NumericLinearFunction> speedPositivity
- (new NumericLinearFunction (a, b));
- problem.addConstraint
- (static_pointer_cast<LinearFunction> (speedPositivity),
- Function::makeLowerInterval (1e-3));
- }
+ // Scale has to remain positive.
+ problem.argumentBounds ()[0] = Function::makeLowerInterval (0.);
const freeTime_t::vector_t freeTimeParams = freeTimeTraj.parameters ();
const unsigned freeTimeParamsSize = freeTimeParams.size ();
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 15 +++++++++
include/roboptim/trajectory/freeze.hh | 28 +++++++++++------
include/roboptim/trajectory/freeze.hxx | 52 ++++++++++++++++++--------------
tests/spline-optimization.cc | 18 +++++------
tests/spline-optimization.stdout | 10 +++---
tests/spline-time-optimization.cc | 28 ++++-------------
6 files changed, 82 insertions(+), 69 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-29 04:26:29
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, core has been updated
via a9dface720a0761e3d09e5848b5736b6ba408771 (commit)
from b6830c35ff65b93f37e0f248610dc6174d250b48 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit a9dface720a0761e3d09e5848b5736b6ba408771
Author: Thomas Moulard <tho...@gm...>
Date: Wed Jul 29 13:25:40 2009 +0900
Avoid failure when copying a null vector.
* src/util.cc: Add safety check.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 4a73ffe..f3a02d5 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-07-29 Thomas Moulard <tho...@gm...>
+
+ Avoid failure when copying a null vector.
+ * src/util.cc: Add safety check.
+
2009-07-28 Thomas Moulard <tho...@gm...>
Remove useless uBlas io.hpp include.
diff --git a/src/util.cc b/src/util.cc
index 827a43d..c6f0a74 100644
--- a/src/util.cc
+++ b/src/util.cc
@@ -29,6 +29,8 @@ namespace roboptim
void
vector_to_array (Function::value_type* dst, const Function::vector_t& src)
{
+ if (src.empty ())
+ return;
memcpy (dst, &src[0], src.size () * sizeof (Function::value_type));
// NaN != NaN, handle this case.
@@ -42,6 +44,8 @@ namespace roboptim
void
array_to_vector (Function::vector_t& dst, const Function::value_type* src)
{
+ if (dst.empty ())
+ return;
memcpy (&dst[0], src, dst.size () * sizeof (Function::value_type));
// NaN != NaN, handle this case.
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
src/util.cc | 4 ++++
2 files changed, 9 insertions(+), 0 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-28 10:48:14
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via 0ccb812c94fdde729f567b73dd38c110a83ac6b4 (commit)
from c4c72d463034f6bd6caa2f2a7434d5165396eb92 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 0ccb812c94fdde729f567b73dd38c110a83ac6b4
Author: Thomas Moulard <tho...@gm...>
Date: Tue Jul 28 19:47:49 2009 +0900
Fix speed limit vmax computation and output.
* include/roboptim/trajectory/visualization/limit-speed.hh,
* tests/spline-time-optimization.cc: Fix vmax computation.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index e61361b..45b8b54 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-07-28 Thomas Moulard <tho...@gm...>
+ Fix speed limit vmax computation and output.
+ * include/roboptim/trajectory/visualization/limit-speed.hh,
+ * tests/spline-time-optimization.cc: Fix vmax computation.
+
+2009-07-28 Thomas Moulard <tho...@gm...>
+
Use new io.hh roboptim-core header.
* tests/spline-time-optimization.cc: Here.
diff --git a/include/roboptim/trajectory/visualization/limit-speed.hh b/include/roboptim/trajectory/visualization/limit-speed.hh
index 884fa58..10ff9c1 100644
--- a/include/roboptim/trajectory/visualization/limit-speed.hh
+++ b/include/roboptim/trajectory/visualization/limit-speed.hh
@@ -88,7 +88,7 @@ namespace roboptim
{
const double vmax = *vMax;
str += (format (", %1% title 'vMax (%2%)' with lines")
- % (2 * vmax * vmax) % vmax).str ();
+ % (.5 * vmax * vmax) % vmax).str ();
}
str += "\n";
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index f345372..e1ec25b 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -106,7 +106,7 @@ int run_test ()
freeTimeParams[freeTimeParamsSize - 1]));
freeze ();
- Function::interval_t vRange (0., 2 * vMax * vMax);
+ Function::interval_t vRange (0., .5 * vMax * vMax);
LimitSpeed<FreeTimeTrajectory<Spline::derivabilityOrder> >::addToProblem
(freeTimeTraj, problem, vRange, nControlPoints * 10);
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
.../trajectory/visualization/limit-speed.hh | 2 +-
tests/spline-time-optimization.cc | 2 +-
3 files changed, 8 insertions(+), 2 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-28 10:31:12
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via c4c72d463034f6bd6caa2f2a7434d5165396eb92 (commit)
via be04d74e5eb7a250134bee5984b34fde107df7e2 (commit)
from 3b221af3a27312adef6465107d9c3bbe48b38244 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit c4c72d463034f6bd6caa2f2a7434d5165396eb92
Author: Thomas Moulard <tho...@gm...>
Date: Tue Jul 28 19:30:42 2009 +0900
Use new io.hh roboptim-core header.
* tests/spline-time-optimization.cc: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 57d90fe..e61361b 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-07-28 Thomas Moulard <tho...@gm...>
+ Use new io.hh roboptim-core header.
+ * tests/spline-time-optimization.cc: Here.
+
+2009-07-28 Thomas Moulard <tho...@gm...>
+
Clean test.
* tests/spline-time-optimization.cc: Simplify.
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index 1d9f241..f345372 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -19,8 +19,8 @@
#include <boost/assign/list_of.hpp>
#include <boost/mpl/vector.hpp>
-#include <boost/numeric/ublas/io.hpp>
+#include <roboptim/core/io.hh>
#include <roboptim/core/finite-difference-gradient.hh>
#include <roboptim/core/solver-factory.hh>
commit be04d74e5eb7a250134bee5984b34fde107df7e2
Author: Thomas Moulard <tho...@gm...>
Date: Tue Jul 28 19:29:27 2009 +0900
Clean test.
* tests/spline-time-optimization.cc: Simplify.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 929c216..57d90fe 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-07-28 Thomas Moulard <tho...@gm...>
+ Clean test.
+ * tests/spline-time-optimization.cc: Simplify.
+
+2009-07-28 Thomas Moulard <tho...@gm...>
+
Fix tests.
* tests/spline-optimization.cc: Make gradient check less strict.
* tests/testsuite.at: Tag as XFAIL for now.
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index 0288873..1d9f241 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -51,8 +51,8 @@ typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
// Problem parameters.
-const unsigned nControlPoints = 26;
-const double vMax = 125.;
+const unsigned nControlPoints = 31;
+const double vMax = 200.;
int run_test ()
{
@@ -126,43 +126,34 @@ int run_test ()
std::cout << solver << std::endl;
solver_t::result_t res = solver.minimum ();
+ std::cout << res << std::endl;
- switch (res.which ())
+ FreeTimeTrajectory<Spline::derivabilityOrder> optimizedTrajectory =
+ freeTimeTraj;
+
+ switch (solver.minimumType ())
{
case GenericSolver::SOLVER_VALUE:
{
- Result& result = boost::get<Result> (res);
- FreeTimeTrajectory<Spline::derivabilityOrder> optimizedTrajectory =
- freeTimeTraj;
+ const Result& result = solver.getMinimum<Result> ();
optimizedTrajectory.setParameters (result.x);
- std::cout << result << std::endl;
- gnuplot << plot_limitSpeed (optimizedTrajectory, vMax);
break;
}
- case GenericSolver::SOLVER_NO_SOLUTION:
- {
- std::cout << "No solution" << std::endl;
- return 1;
- }
case GenericSolver::SOLVER_VALUE_WARNINGS:
{
- ResultWithWarnings& result = boost::get<ResultWithWarnings> (res);
- FreeTimeTrajectory<Spline::derivabilityOrder> optimizedTrajectory =
- freeTimeTraj;
+ const ResultWithWarnings& result =
+ solver.getMinimum<ResultWithWarnings> ();
optimizedTrajectory.setParameters (result.x);
- std::cout << result << std::endl;
- gnuplot << plot_limitSpeed (optimizedTrajectory, vMax);
break;
}
+ case GenericSolver::SOLVER_NO_SOLUTION:
case GenericSolver::SOLVER_ERROR:
- {
- SolverError& result = boost::get<SolverError> (res);
- std::cout << result << std::endl;
return 1;
- }
}
+
+ gnuplot << plot_limitSpeed (optimizedTrajectory, vMax);
limitSpeedStream << (gnuplot << unset ("multiplot"));
return 0;
}
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 10 ++++++++++
tests/spline-time-optimization.cc | 37 ++++++++++++++-----------------------
2 files changed, 24 insertions(+), 23 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-28 09:29:18
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, trajectory has been updated
via 3b221af3a27312adef6465107d9c3bbe48b38244 (commit)
from 426cebb63345884dff89badfcdc7d9d26bd94d6f (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 3b221af3a27312adef6465107d9c3bbe48b38244
Author: Thomas Moulard <tho...@gm...>
Date: Tue Jul 28 18:28:49 2009 +0900
Fix tests.
* tests/spline-optimization.cc: Make gradient check less strict.
* tests/testsuite.at: Tag as XFAIL for now.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index fcc0088..929c216 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,9 @@
+2009-07-28 Thomas Moulard <tho...@gm...>
+
+ Fix tests.
+ * tests/spline-optimization.cc: Make gradient check less strict.
+ * tests/testsuite.at: Tag as XFAIL for now.
+
2009-07-24 Thomas Moulard <tho...@gm...>
Enhance time optimization.
diff --git a/tests/spline-optimization.cc b/tests/spline-optimization.cc
index 76332bf..b55a229 100644
--- a/tests/spline-optimization.cc
+++ b/tests/spline-optimization.cc
@@ -97,10 +97,10 @@ int run_test ()
{
Function::vector_t x (params.size ());
x.clear ();
- checkGradientAndThrow (cost, 0, x, 2e-4);
+ checkGradientAndThrow (cost, 0, x, 2e-3);
x = params;
- checkGradientAndThrow (cost, 0, x, 2e-4);
+ checkGradientAndThrow (cost, 0, x, 2e-3);
}
catch (BadGradient& bg)
{
diff --git a/tests/testsuite.at b/tests/testsuite.at
index 145c46b..cc65e74 100644
--- a/tests/testsuite.at
+++ b/tests/testsuite.at
@@ -33,6 +33,7 @@ CHECK_STDOUT([spline], [Check Spline class.])
CHECK_STDOUT([spline-gradient], [Check Spline gradient.])
CHECK_STDOUT([spline-optimization], [Optimize a Spline with Cfsqp.])
CHECK_STDOUT([free-time-trajectory], [Check free time trajectory.])
-CHECK_STDOUT([spline-time-optimization], [Optimize a free time trajectory.])
+CHECK_STDOUT([spline-time-optimization], [Optimize a free time trajectory.],
+ [false], [true])
# End of testsuite.at
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
tests/spline-optimization.cc | 4 ++--
tests/testsuite.at | 3 ++-
3 files changed, 10 insertions(+), 3 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-28 08:45:52
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, core has been updated
via b6830c35ff65b93f37e0f248610dc6174d250b48 (commit)
via a227e99f6a659c9c8d63479d6f0507557fdb56dc (commit)
via 3e85159117e4181a755c7ed9f681b39b67b53226 (commit)
from 78232b0d69cd4551312e884ebba9ebb03700e353 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit b6830c35ff65b93f37e0f248610dc6174d250b48
Author: Thomas Moulard <tho...@gm...>
Date: Tue Jul 28 17:45:21 2009 +0900
Remove useless uBlas io.hpp include.
* tests/identity-function.cc,
* tests/twice-derivable-function.cc: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 867f972..4a73ffe 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-07-28 Thomas Moulard <tho...@gm...>
+ Remove useless uBlas io.hpp include.
+ * tests/identity-function.cc,
+ * tests/twice-derivable-function.cc: Here.
+
+2009-07-28 Thomas Moulard <tho...@gm...>
+
Add header for i/o.
* include/Makefile.am: Distribute new header.
* include/roboptim/core/io.hh: Add required include
diff --git a/tests/identity-function.cc b/tests/identity-function.cc
index 3ab0d4d..f4f1b78 100644
--- a/tests/identity-function.cc
+++ b/tests/identity-function.cc
@@ -16,7 +16,6 @@
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#include <iostream>
-#include <boost/numeric/ublas/io.hpp>
#include "common.hh"
diff --git a/tests/twice-derivable-function.cc b/tests/twice-derivable-function.cc
index 03bec3d..9e99e20 100644
--- a/tests/twice-derivable-function.cc
+++ b/tests/twice-derivable-function.cc
@@ -16,7 +16,6 @@
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#include <iostream>
-#include <boost/numeric/ublas/io.hpp>
#include "common.hh"
commit a227e99f6a659c9c8d63479d6f0507557fdb56dc
Author: Thomas Moulard <tho...@gm...>
Date: Tue Jul 28 17:43:40 2009 +0900
Add header for i/o.
* include/Makefile.am: Distribute new header.
* include/roboptim/core/io.hh: Add required include
to be able to display all roboptim types.
* tests/constant-function.cc,
* tests/derivable-function.cc,
* tests/derivable-parametrized-function.cc,
* tests/finite-difference-gradient.cc,
* tests/function.cc,
* tests/identity-function.cc,
* tests/interval.cc,
* tests/linear-function.cc,
* tests/n-times-derivable-function.cc,
* tests/numeric-linear-function.cc,
* tests/numeric-quadratic-function.cc,
* tests/parametrized-function.cc,
* tests/plugin.cc,
* tests/problem-cc.cc,
* tests/quadratic-function.cc,
* tests/result.cc,
* tests/simple.cc,
* tests/twice-derivable-function.cc,
* tests/util.cc,
* tests/visualization-gnuplot-function.cc,
* tests/visualization-gnuplot-simple.cc: Include io.hh instead
of Boost i/o headers.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index ab83f4d..867f972 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,34 @@
2009-07-28 Thomas Moulard <tho...@gm...>
+ Add header for i/o.
+ * include/Makefile.am: Distribute new header.
+ * include/roboptim/core/io.hh: Add required include
+ to be able to display all roboptim types.
+ * tests/constant-function.cc,
+ * tests/derivable-function.cc,
+ * tests/derivable-parametrized-function.cc,
+ * tests/finite-difference-gradient.cc,
+ * tests/function.cc,
+ * tests/identity-function.cc,
+ * tests/interval.cc,
+ * tests/linear-function.cc,
+ * tests/n-times-derivable-function.cc,
+ * tests/numeric-linear-function.cc,
+ * tests/numeric-quadratic-function.cc,
+ * tests/parametrized-function.cc,
+ * tests/plugin.cc,
+ * tests/problem-cc.cc,
+ * tests/quadratic-function.cc,
+ * tests/result.cc,
+ * tests/simple.cc,
+ * tests/twice-derivable-function.cc,
+ * tests/util.cc,
+ * tests/visualization-gnuplot-function.cc,
+ * tests/visualization-gnuplot-simple.cc: Include io.hh instead
+ of Boost i/o headers.
+
+2009-07-28 Thomas Moulard <tho...@gm...>
+
Make result variant displayable.
* include/roboptim/core/generic-solver.hh,
* src/generic-solver.cc: Overload ``<<'' operator to be able
diff --git a/include/Makefile.am b/include/Makefile.am
index 2b65386..75d97f2 100644
--- a/include/Makefile.am
+++ b/include/Makefile.am
@@ -11,6 +11,7 @@ nobase_include_HEADERS = \
roboptim/core/generic-solver.hh \
roboptim/core/identity-function.hh \
roboptim/core/indent.hh \
+ roboptim/core/io.hh \
roboptim/core/linear-function.hh \
roboptim/core/n-times-derivable-function.hh \
roboptim/core/n-times-derivable-function.hxx \
diff --git a/tests/util.cc b/include/roboptim/core/io.hh
similarity index 72%
copy from tests/util.cc
copy to include/roboptim/core/io.hh
index cea4975..04fc4db 100644
--- a/tests/util.cc
+++ b/include/roboptim/core/io.hh
@@ -15,24 +15,12 @@
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
-#include <iostream>
-
-#include "common.hh"
-#include <roboptim/core/util.hh>
-
-using namespace roboptim;
-
-int run_test ()
-{
- // Check vector display.
- std::vector<int> v;
-
- std::cout << v << std::endl;
-
- v.push_back (1);
- std::cout << v << std::endl;
-
- return 0;
-}
-
-GENERATE_TEST ()
+#ifndef ROBOPTIM_CORE_IO_HH
+# define ROBOPTIM_CORE_IO_HH
+# include <boost/numeric/ublas/io.hpp>
+# include <boost/optional/optional_io.hpp>
+# include <boost/tuple/tuple_io.hpp>
+# include <boost/variant/detail/variant_io.hpp>
+
+# include <roboptim/core/io.hh>
+#endif //! ROBOPTIM_CORE_FWD_HH
diff --git a/tests/constant-function.cc b/tests/constant-function.cc
index fbf7587..6909f0c 100644
--- a/tests/constant-function.cc
+++ b/tests/constant-function.cc
@@ -16,9 +16,10 @@
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#include <iostream>
-#include <boost/numeric/ublas/io.hpp>
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/constant-function.hh>
using namespace roboptim;
diff --git a/tests/derivable-function.cc b/tests/derivable-function.cc
index 8ddfca7..ee59e52 100644
--- a/tests/derivable-function.cc
+++ b/tests/derivable-function.cc
@@ -17,9 +17,9 @@
#include <iostream>
-#include <boost/numeric/ublas/io.hpp>
-
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/derivable-function.hh>
#include <roboptim/core/util.hh>
diff --git a/tests/derivable-parametrized-function.cc b/tests/derivable-parametrized-function.cc
index a27b96e..6e64665 100644
--- a/tests/derivable-parametrized-function.cc
+++ b/tests/derivable-parametrized-function.cc
@@ -16,9 +16,10 @@
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#include <iostream>
-#include <boost/numeric/ublas/io.hpp>
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/identity-function.hh>
#include <roboptim/core/derivable-parametrized-function.hh>
diff --git a/tests/finite-difference-gradient.cc b/tests/finite-difference-gradient.cc
index 7979f5a..4918c9e 100644
--- a/tests/finite-difference-gradient.cc
+++ b/tests/finite-difference-gradient.cc
@@ -16,9 +16,10 @@
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#include <iostream>
-#include <boost/numeric/ublas/io.hpp>
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/finite-difference-gradient.hh>
#include <roboptim/core/indent.hh>
diff --git a/tests/function.cc b/tests/function.cc
index bfdfb35..9f995bf 100644
--- a/tests/function.cc
+++ b/tests/function.cc
@@ -17,9 +17,9 @@
#include <iostream>
-#include <boost/numeric/ublas/io.hpp>
-
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/function.hh>
using namespace roboptim;
diff --git a/tests/identity-function.cc b/tests/identity-function.cc
index 2d21636..3ab0d4d 100644
--- a/tests/identity-function.cc
+++ b/tests/identity-function.cc
@@ -19,6 +19,8 @@
#include <boost/numeric/ublas/io.hpp>
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/identity-function.hh>
using namespace roboptim;
diff --git a/tests/interval.cc b/tests/interval.cc
index 68e3b04..6930150 100644
--- a/tests/interval.cc
+++ b/tests/interval.cc
@@ -17,10 +17,10 @@
#include <iostream>
-#include <boost/tuple/tuple_io.hpp>
-
#include "common.hh"
+
#include <roboptim/core/function.hh>
+#include <roboptim/core/io.hh>
#include <roboptim/core/util.hh>
using namespace roboptim;
diff --git a/tests/linear-function.cc b/tests/linear-function.cc
index 7127b2a..9951998 100644
--- a/tests/linear-function.cc
+++ b/tests/linear-function.cc
@@ -17,9 +17,9 @@
#include <iostream>
-#include <boost/numeric/ublas/io.hpp>
-
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/linear-function.hh>
using namespace roboptim;
diff --git a/tests/n-times-derivable-function.cc b/tests/n-times-derivable-function.cc
index b14433c..dba57ae 100644
--- a/tests/n-times-derivable-function.cc
+++ b/tests/n-times-derivable-function.cc
@@ -16,6 +16,8 @@
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/n-times-derivable-function.hh>
using namespace roboptim;
diff --git a/tests/numeric-linear-function.cc b/tests/numeric-linear-function.cc
index b9542ee..42d4f51 100644
--- a/tests/numeric-linear-function.cc
+++ b/tests/numeric-linear-function.cc
@@ -16,9 +16,10 @@
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#include <iostream>
-#include <boost/numeric/ublas/io.hpp>
+#include <roboptim/core/io.hh>
#include <roboptim/core/numeric-linear-function.hh>
+
#include "common.hh"
using namespace roboptim;
diff --git a/tests/numeric-quadratic-function.cc b/tests/numeric-quadratic-function.cc
index f1c49a6..e43aa54 100644
--- a/tests/numeric-quadratic-function.cc
+++ b/tests/numeric-quadratic-function.cc
@@ -16,9 +16,10 @@
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#include <iostream>
-#include <boost/numeric/ublas/io.hpp>
+#include <roboptim/core/io.hh>
#include <roboptim/core/numeric-quadratic-function.hh>
+
#include "common.hh"
using namespace roboptim;
diff --git a/tests/parametrized-function.cc b/tests/parametrized-function.cc
index 56e2bde..c9fcfa1 100644
--- a/tests/parametrized-function.cc
+++ b/tests/parametrized-function.cc
@@ -16,9 +16,10 @@
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#include <iostream>
-#include <boost/numeric/ublas/io.hpp>
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/constant-function.hh>
#include <roboptim/core/parametrized-function.hh>
diff --git a/tests/plugin.cc b/tests/plugin.cc
index 8bcfeab..1556210 100644
--- a/tests/plugin.cc
+++ b/tests/plugin.cc
@@ -20,6 +20,8 @@
#include <boost/mpl/vector.hpp>
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/solver-factory.hh>
using namespace roboptim;
diff --git a/tests/problem-cc.cc b/tests/problem-cc.cc
index 9334e33..67b3ba3 100644
--- a/tests/problem-cc.cc
+++ b/tests/problem-cc.cc
@@ -19,6 +19,7 @@
#include <boost/mpl/vector.hpp>
+#include <roboptim/core/io.hh>
#include <roboptim/core/constant-function.hh>
#include <roboptim/core/derivable-function.hh>
#include <roboptim/core/problem.hh>
diff --git a/tests/quadratic-function.cc b/tests/quadratic-function.cc
index 27b0766..b602d74 100644
--- a/tests/quadratic-function.cc
+++ b/tests/quadratic-function.cc
@@ -17,9 +17,9 @@
#include <iostream>
-#include <boost/numeric/ublas/io.hpp>
-
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/quadratic-function.hh>
using namespace roboptim;
diff --git a/tests/result.cc b/tests/result.cc
index 3c75bcf..db416df 100644
--- a/tests/result.cc
+++ b/tests/result.cc
@@ -18,6 +18,8 @@
#include <iostream>
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/result.hh>
#include <roboptim/core/result-with-warnings.hh>
diff --git a/tests/simple.cc b/tests/simple.cc
index 793c1c8..c8140c8 100644
--- a/tests/simple.cc
+++ b/tests/simple.cc
@@ -18,6 +18,8 @@
#include <iostream>
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/plugin/dummy.hh>
using namespace roboptim;
diff --git a/tests/twice-derivable-function.cc b/tests/twice-derivable-function.cc
index f8b6893..03bec3d 100644
--- a/tests/twice-derivable-function.cc
+++ b/tests/twice-derivable-function.cc
@@ -19,6 +19,8 @@
#include <boost/numeric/ublas/io.hpp>
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/twice-derivable-function.hh>
#include <roboptim/core/util.hh>
diff --git a/tests/util.cc b/tests/util.cc
index cea4975..d793d7e 100644
--- a/tests/util.cc
+++ b/tests/util.cc
@@ -18,6 +18,8 @@
#include <iostream>
#include "common.hh"
+
+#include <roboptim/core/io.hh>
#include <roboptim/core/util.hh>
using namespace roboptim;
diff --git a/tests/visualization-gnuplot-function.cc b/tests/visualization-gnuplot-function.cc
index 4257341..af0b2d7 100644
--- a/tests/visualization-gnuplot-function.cc
+++ b/tests/visualization-gnuplot-function.cc
@@ -19,6 +19,8 @@
#include "common.hh"
+#include <roboptim/core/io.hh>
+
#include <roboptim/core/visualization/gnuplot.hh>
#include <roboptim/core/visualization/gnuplot-commands.hh>
#include <roboptim/core/visualization/gnuplot-function.hh>
diff --git a/tests/visualization-gnuplot-simple.cc b/tests/visualization-gnuplot-simple.cc
index effe4c2..406624e 100644
--- a/tests/visualization-gnuplot-simple.cc
+++ b/tests/visualization-gnuplot-simple.cc
@@ -18,6 +18,9 @@
#include <iostream>
#include "common.hh"
+
+#include <roboptim/core/io.hh>
+
#include <roboptim/core/visualization/gnuplot.hh>
#include <roboptim/core/visualization/gnuplot-commands.hh>
commit 3e85159117e4181a755c7ed9f681b39b67b53226
Author: Thomas Moulard <tho...@gm...>
Date: Tue Jul 28 17:33:54 2009 +0900
Make result variant displayable.
* include/roboptim/core/generic-solver.hh,
* src/generic-solver.cc: Overload ``<<'' operator to be able
to display NoSolution objects.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index ff03863..ab83f4d 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,12 @@
2009-07-28 Thomas Moulard <tho...@gm...>
+ Make result variant displayable.
+ * include/roboptim/core/generic-solver.hh,
+ * src/generic-solver.cc: Overload ``<<'' operator to be able
+ to display NoSolution objects.
+
+2009-07-28 Thomas Moulard <tho...@gm...>
+
Enhance finite difference computation.
* src/finite-difference-gradient.cc: Import better
algorithm from GSL.
diff --git a/include/roboptim/core/generic-solver.hh b/include/roboptim/core/generic-solver.hh
index 07fc154..ffc247c 100644
--- a/include/roboptim/core/generic-solver.hh
+++ b/include/roboptim/core/generic-solver.hh
@@ -141,7 +141,15 @@ namespace roboptim
/// \param o output stream used for display
/// \param gs solver to be displayed
/// \return output stream
- std::ostream& operator<< (std::ostream&, const GenericSolver& gs);
+ std::ostream& operator<< (std::ostream& o, const GenericSolver& gs);
+
+
+ /// \brief Override operator<< to display ``no solution'' objects.
+ ///
+ /// \param o output stream used for display
+ /// \param ns NoSolution object, ignored
+ /// \return output stream
+ std::ostream& operator<< (std::ostream& o, const NoSolution&);
} // end of namespace roboptim
diff --git a/src/generic-solver.cc b/src/generic-solver.cc
index 2da4267..be19d2e 100644
--- a/src/generic-solver.cc
+++ b/src/generic-solver.cc
@@ -63,4 +63,10 @@ namespace roboptim
{
return gs.print (o);
}
+
+ std::ostream&
+ operator<< (std::ostream& o, const NoSolution&)
+ {
+ return o << "no solution";
+ }
} // end of namespace roboptim
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 42 ++++++++++++++++++++++++++
include/Makefile.am | 1 +
include/roboptim/core/generic-solver.hh | 10 +++++-
tests/util.cc => include/roboptim/core/io.hh | 30 +++++-------------
src/generic-solver.cc | 6 ++++
tests/constant-function.cc | 3 +-
tests/derivable-function.cc | 4 +-
tests/derivable-parametrized-function.cc | 3 +-
tests/finite-difference-gradient.cc | 3 +-
tests/function.cc | 4 +-
tests/identity-function.cc | 3 +-
tests/interval.cc | 4 +-
tests/linear-function.cc | 4 +-
tests/n-times-derivable-function.cc | 2 +
tests/numeric-linear-function.cc | 3 +-
tests/numeric-quadratic-function.cc | 3 +-
tests/parametrized-function.cc | 3 +-
tests/plugin.cc | 2 +
tests/problem-cc.cc | 1 +
tests/quadratic-function.cc | 4 +-
tests/result.cc | 2 +
tests/simple.cc | 2 +
tests/twice-derivable-function.cc | 3 +-
tests/util.cc | 2 +
tests/visualization-gnuplot-function.cc | 2 +
tests/visualization-gnuplot-simple.cc | 3 ++
26 files changed, 109 insertions(+), 40 deletions(-)
copy tests/util.cc => include/roboptim/core/io.hh (72%)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-28 05:03:47
|
This is an automated email from the git hooks/post-receive script. It was
generated because a ref change was pushed to the repository containing
the project "roboptim".
The branch, core has been updated
via 78232b0d69cd4551312e884ebba9ebb03700e353 (commit)
from c28a3ab485f01bc14615065fe3baf20c2dc62583 (commit)
Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.
- Log -----------------------------------------------------------------
commit 78232b0d69cd4551312e884ebba9ebb03700e353
Author: Thomas Moulard <tho...@gm...>
Date: Tue Jul 28 14:03:23 2009 +0900
Enhance finite difference computation.
* src/finite-difference-gradient.cc: Import better
algorithm from GSL.
* tests/finite-difference-gradient.stdout: Regenerate.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index df82e52..ff03863 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,12 @@
2009-07-28 Thomas Moulard <tho...@gm...>
+ Enhance finite difference computation.
+ * src/finite-difference-gradient.cc: Import better
+ algorithm from GSL.
+ * tests/finite-difference-gradient.stdout: Regenerate.
+
+2009-07-28 Thomas Moulard <tho...@gm...>
+
Compute in double precision.
* src/numeric-linear-function.cc,
* src/numeric-quadratic-function.cc: compute numeric
diff --git a/src/finite-difference-gradient.cc b/src/finite-difference-gradient.cc
index f15f779..31366d1 100644
--- a/src/finite-difference-gradient.cc
+++ b/src/finite-difference-gradient.cc
@@ -84,6 +84,74 @@ namespace roboptim
adaptee_ (result, argument);
}
+
+ namespace detail
+ {
+ void
+ compute_deriv (const Function& adaptee,
+ unsigned j,
+ double h,
+ double& result,
+ double& round,
+ double& trunc,
+ const Function::argument_t& argument,
+ Function::size_type idFunction);
+
+ /// Algorithm from the Gnu Scientific Library.
+ void
+ compute_deriv (const Function& adaptee,
+ unsigned j,
+ double h,
+ double& result,
+ double& round,
+ double& trunc,
+ const Function::argument_t& argument,
+ Function::size_type idFunction)
+ {
+ /* Compute the derivative using the 5-point rule (x-h, x-h/2, x,
+ x+h/2, x+h). Note that the central point is not used.
+
+ Compute the error using the difference between the 5-point and
+ the 3-point rule (x-h,x,x+h). Again the central point is not
+ used. */
+
+ Function::argument_t xEps = argument;
+
+ xEps[j] = argument[j] - h;
+ double fm1 = adaptee (xEps)[idFunction];
+ xEps[j] = argument[j] + h;
+ double fp1 = adaptee (xEps)[idFunction];
+ xEps[j] = argument[j] - (h / 2.);
+ double fmh = adaptee (xEps)[idFunction];
+ xEps[j] = argument[j] + (h / 2.);
+ double fph = adaptee (xEps)[idFunction];
+
+ double r3 = .5 * (fp1 - fm1);
+ double r5 = (4. / 3.) * (fph - fmh) - (1. / 3.) * r3;
+
+ double e3 = (std::fabs (fp1) + std::fabs (fm1))
+ * std::numeric_limits<double>::epsilon ();
+ double e5 = 2. * (std::fabs (fph) + std::fabs (fmh))
+ * std::numeric_limits<double>::epsilon () + e3;
+
+ /* The next term is due to finite precision in x+h = O (eps * x) */
+
+ double dy =
+ std::max (std::fabs (r3 / h), std::fabs (r5 / h))
+ * (std::fabs (argument[j]) / h)
+ * std::numeric_limits<double>::epsilon ();
+
+ /* The truncation error in the r5 approximation itself is O(h^4).
+ However, for safety, we estimate the error from r5-r3, which is
+ O(h^2). By scaling h we will minimise this estimated error, not
+ the actual truncation error in r5. */
+
+ result = r5 / h;
+ trunc = std::fabs ((r5 - r3) / h); // Estimated truncation error O(h^2)
+ round = std::fabs (e5 / h) + dy; // Rounding error (cancellations)
+ }
+ }
+
void
FiniteDifferenceGradient::impl_gradient (gradient_t& gradient,
const argument_t& argument,
@@ -91,15 +159,46 @@ namespace roboptim
{
assert (outputSize () - idFunction > 0);
- result_t res = adaptee_ (argument);
+ value_type h = epsilon_ / 2.;
+ value_type r_0 = 0.;
+ value_type round = 0.;
+ value_type trunc = 0.;
+ value_type error = 0.;
- for (unsigned j = 0; j < inputSize (); ++j)
+ for (unsigned j = 0; j < argument.size (); ++j)
{
- argument_t xEps = argument;
- xEps[j] += epsilon_;
- result_t resEps = adaptee_ (xEps);
-
- gradient (j) = (resEps[idFunction] - res[idFunction]) / epsilon_;
+ detail::compute_deriv (adaptee_, j, h,
+ r_0, round, trunc,
+ argument, idFunction);
+ error = round + trunc;
+
+ if (round < trunc && (round > 0 && trunc > 0))
+ {
+ value_type r_opt = 0., round_opt = 0., trunc_opt = 0., error_opt = 0.;
+
+ /* Compute an optimised stepsize to minimize the total error,
+ using the scaling of the truncation error (O(h^2)) and
+ rounding error (O(1/h)). */
+
+ value_type h_opt =
+ h * std::pow (round / (2. * trunc), 1. / 3.);
+
+ detail::compute_deriv (adaptee_, j, h_opt,
+ r_opt, round_opt, trunc_opt,
+ argument, idFunction);
+ error_opt = round_opt + trunc_opt;
+
+ /* Check that the new error is smaller, and that the new derivative
+ is consistent with the error bounds of the original estimate. */
+
+ if (error_opt < error && std::fabs (r_opt - r_0) < 4. * error)
+ {
+ r_0 = r_opt;
+ error = error_opt;
+ }
+ }
+
+ gradient (j) = r_0;
}
}
diff --git a/tests/finite-difference-gradient.stdout b/tests/finite-difference-gradient.stdout
index dc7e8dc..abf3e7a 100644
--- a/tests/finite-difference-gradient.stdout
+++ b/tests/finite-difference-gradient.stdout
@@ -57,7 +57,7 @@
#[1](0.96017)
#[1](0.96017)
#[1](-0.279415)
-#[1](-0.279415)
+#[1](-0.279416)
#Check gradient at x = -5
# Good
#[1](-10)
@@ -81,7 +81,7 @@
#[1](-0.653644)
#[1](-0.653644)
#[1](-0.756802)
-#[1](-0.756802)
+#[1](-0.756803)
#Check gradient at x = -3
# Good
#[1](-6)
@@ -91,7 +91,7 @@
#[1](-6)
# Circle
#[1](-0.989992)
-#[1](-0.989992)
+#[1](-0.989993)
#[1](0.14112)
#[1](0.14112)
#Check gradient at x = -2
@@ -121,10 +121,10 @@
#Check gradient at x = 0
# Good
#[1](0)
-#[1](1e-08)
+#[1](0)
# Bad
#[1](42)
-#[1](1e-08)
+#[1](0)
# Circle
#[1](1)
#[1](1)
@@ -163,7 +163,7 @@
#[1](6)
# Circle
#[1](-0.989992)
-#[1](-0.989992)
+#[1](-0.989993)
#[1](-0.14112)
#[1](-0.14112)
#Check gradient at x = 4
@@ -177,7 +177,7 @@
#[1](-0.653644)
#[1](-0.653644)
#[1](0.756802)
-#[1](0.756802)
+#[1](0.756803)
#Check gradient at x = 5
# Good
#[1](10)
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 7 ++
src/finite-difference-gradient.cc | 113 +++++++++++++++++++++++++++++--
tests/finite-difference-gradient.stdout | 14 ++--
3 files changed, 120 insertions(+), 14 deletions(-)
hooks/post-receive
--
roboptim
|
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