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From: Thomas M. <tho...@us...> - 2009-07-28 02:39:15
|
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 c28a3ab485f01bc14615065fe3baf20c2dc62583 (commit)
from 4447b8195ca42b3ebb44c6ff6e7163da3d24549a (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 c28a3ab485f01bc14615065fe3baf20c2dc62583
Author: Thomas Moulard <tho...@gm...>
Date: Tue Jul 28 11:38:44 2009 +0900
Compute in double precision.
* src/numeric-linear-function.cc,
* src/numeric-quadratic-function.cc: compute numeric
functions in double precision.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 2dcd5ff..df82e52 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,10 @@
+2009-07-28 Thomas Moulard <tho...@gm...>
+
+ Compute in double precision.
+ * src/numeric-linear-function.cc,
+ * src/numeric-quadratic-function.cc: compute numeric
+ functions in double precision.
+
2009-07-27 Thomas Moulard <tho...@gm...>
Update submodules.
diff --git a/src/numeric-linear-function.cc b/src/numeric-linear-function.cc
index ffa9e7f..0efeca9 100644
--- a/src/numeric-linear-function.cc
+++ b/src/numeric-linear-function.cc
@@ -46,7 +46,7 @@ namespace roboptim
const throw ()
{
using namespace boost::numeric::ublas;
- noalias (result) = prod (a_, argument) + b_;
+ noalias (result) = prec_prod (a_, argument) + b_;
}
// A
diff --git a/src/numeric-quadratic-function.cc b/src/numeric-quadratic-function.cc
index fcc5d88..5862d6d 100644
--- a/src/numeric-quadratic-function.cc
+++ b/src/numeric-quadratic-function.cc
@@ -50,8 +50,8 @@ namespace roboptim
using namespace boost::numeric::ublas;
result (0) = inner_prod
- (prod (trans (argument), a_), argument) / 2
- + inner_prod (trans (b_), argument);
+ (prec_prod (trans (argument), a_), argument) / 2
+ + prec_inner_prod (trans (b_), argument);
}
// x * A + b
@@ -61,7 +61,7 @@ namespace roboptim
size_type) const throw ()
{
using namespace boost::numeric::ublas;
- noalias (result) = prod (x, a_) + b_;
+ noalias (result) = prec_prod (x, a_) + b_;
}
// A
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 7 +++++++
src/numeric-linear-function.cc | 2 +-
src/numeric-quadratic-function.cc | 6 +++---
3 files changed, 11 insertions(+), 4 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-27 12:11:38
|
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-ipopt-plugin has been updated
via b2cba9edd264fa810db4e2c6b6f74ff0a184829b (commit)
from 30e3d33bb1b890210481cbb5b8203ef71e7fcd54 (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 b2cba9edd264fa810db4e2c6b6f74ff0a184829b
Author: Thomas Moulard <tho...@gm...>
Date: Mon Jul 27 20:58:20 2009 +0900
Disable gcov support in plug-in.
* src/Makefile.am: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 21015af..c989d1e 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-07-27 Thomas Moulard <tho...@gm...>
+
+ Disable gcov support in plug-in.
+ * src/Makefile.am: Here.
+
2009-07-02 Thomas Moulard <tho...@gm...>
Handle submodule and check for git.
diff --git a/src/Makefile.am b/src/Makefile.am
index 9742e0d..7e227fa 100644
--- a/src/Makefile.am
+++ b/src/Makefile.am
@@ -22,3 +22,8 @@ roboptim_core_ipopt_plugin_la_LIBADD = $(ROBOPTIMCORE_LIBS)
roboptim_core_ipopt_plugin_la_LIBADD += $(IPOPT_LIBS)
roboptim_core_ipopt_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_ipopt_plugin_la_CXXFLAGS = \
+ `echo $(CXXFLAGS) | sed -e 's/-ftest-coverage//' -e 's/-fprofile-arcs//'`
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
src/Makefile.am | 5 +++++
2 files changed, 10 insertions(+), 0 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-27 11:47:58
|
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 4447b8195ca42b3ebb44c6ff6e7163da3d24549a (commit)
from 0ba87dea84267ee96ba1943b1de51845ead37555 (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 4447b8195ca42b3ebb44c6ff6e7163da3d24549a
Author: Thomas Moulard <tho...@gm...>
Date: Mon Jul 27 20:47:27 2009 +0900
Update submodules.
* .gitmodules,
* build-aux: Update.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/.gitmodules b/.gitmodules
index 55f2f0b..6302c9e 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,6 @@
-[submodule "build-aux"]
- path = build-aux
- url = sourceforge:roboptim
[submodule "doc"]
path = doc
url = sourceforge:roboptim
+[submodule "build-aux"]
+ path = build-aux
+ url = sourceforge:roboptim
diff --git a/ChangeLog b/ChangeLog
index b16df7a..2dcd5ff 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-07-27 Thomas Moulard <tho...@gm...>
+ Update submodules.
+ * .gitmodules,
+ * build-aux: Update.
+
+2009-07-27 Thomas Moulard <tho...@gm...>
+
Do not compile plug-in with gcov support.
* src/Makefile.am: Here.
diff --git a/build-aux b/build-aux
index 53249c7..03ff0bf 160000
--- a/build-aux
+++ b/build-aux
@@ -1 +1 @@
-Subproject commit 53249c7a39864b963946d8088c421e367c8e6b75
+Subproject commit 03ff0bf047ccf89a5c10b8f304c2770d7f75e017
-----------------------------------------------------------------------
Summary of changes:
.gitmodules | 6 +++---
ChangeLog | 6 ++++++
build-aux | 2 +-
3 files changed, 10 insertions(+), 4 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-27 11:43:51
|
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, build-aux has been updated
via 03ff0bf047ccf89a5c10b8f304c2770d7f75e017 (commit)
from 53249c7a39864b963946d8088c421e367c8e6b75 (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 03ff0bf047ccf89a5c10b8f304c2770d7f75e017
Author: Thomas Moulard <tho...@gm...>
Date: Mon Jul 27 20:43:15 2009 +0900
Beautify Autotest output, capture Valgrind log.
* autotest.at: Display what command line has been
called and capture ``valgrind.log''.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 843c25f..e132428 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,9 @@
+2009-07-27 Thomas Moulard <tho...@gm...>
+
+ Beautify Autotest output, capture Valgrind log.
+ * autotest.at: Display what command line has been
+ called and capture ``valgrind.log''.
+
2009-07-01 Thomas Moulard <tho...@gm...>
Add Ipopt Autoconf macros.
diff --git a/autotest.at b/autotest.at
index 75485ee..1d3094d 100644
--- a/autotest.at
+++ b/autotest.at
@@ -47,8 +47,10 @@ AT_CHECK([if m4_default([$3], [false]); then
AT_XFAIL_IF([m4_default([$4], [false])])
cp $abs_srcdir/$1.stdout expout
-AT_CHECK([$CHECK_PREFIX `which $1`], [0], [expout], [ignore])
-
+TESTCASE=`which $1`
+echo "$at_srcdir/AT_LINE: $CHECK_PREFIX $TESTCASE"
+AT_CHECK([$CHECK_PREFIX $TESTCASE], [0], [expout], [ignore])
+AT_CAPTURE_FILE ([valgrind.log])
AT_CLEANUP
]) # CHECK_STDOUT
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
autotest.at | 6 ++++--
2 files changed, 10 insertions(+), 2 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-27 09:45:12
|
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, core has been updated
via 0ba87dea84267ee96ba1943b1de51845ead37555 (commit)
via 3054fc40da9082f0d5d92525eabad85dedea3780 (commit)
from bbb4b1bec3c2d8f7313770523d51677ca18b3400 (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 0ba87dea84267ee96ba1943b1de51845ead37555
Author: Thomas Moulard <tho...@gm...>
Date: Mon Jul 27 18:44:40 2009 +0900
Do not compile plug-in with gcov support.
* src/Makefile.am: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 2a4f95a..b16df7a 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-07-27 Thomas Moulard <tho...@gm...>
+ Do not compile plug-in with gcov support.
+ * src/Makefile.am: Here.
+
+2009-07-27 Thomas Moulard <tho...@gm...>
+
Add a dependency toward roboptim-core in dummy plug-in.
* src/Makefile.am: Here.
diff --git a/src/Makefile.am b/src/Makefile.am
index d5feb80..ddab16a 100644
--- a/src/Makefile.am
+++ b/src/Makefile.am
@@ -35,3 +35,8 @@ lib_LTLIBRARIES += roboptim-core-dummy-plugin.la
roboptim_core_dummy_plugin_la_SOURCES = roboptim-core-dummy-plugin.cc
roboptim_core_dummy_plugin_la_LIBADD = libroboptim-core.la
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//'`
commit 3054fc40da9082f0d5d92525eabad85dedea3780
Author: Thomas Moulard <tho...@gm...>
Date: Mon Jul 27 18:27:34 2009 +0900
Add a dependency toward roboptim-core in dummy plug-in.
* src/Makefile.am: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 26cb25d..2a4f95a 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-07-27 Thomas Moulard <tho...@gm...>
+ Add a dependency toward roboptim-core in dummy plug-in.
+ * src/Makefile.am: Here.
+
+2009-07-27 Thomas Moulard <tho...@gm...>
+
Make factory more verbose.
* include/roboptim/core/solver-factory.hxx: Display
error messages if lt_dlclose or lt_dlexit fail.
diff --git a/src/Makefile.am b/src/Makefile.am
index 86c13dd..d5feb80 100644
--- a/src/Makefile.am
+++ b/src/Makefile.am
@@ -33,4 +33,5 @@ libroboptim_core_la_LDFLAGS = -version-info 1:1:0
lib_LTLIBRARIES += roboptim-core-dummy-plugin.la
roboptim_core_dummy_plugin_la_SOURCES = roboptim-core-dummy-plugin.cc
+roboptim_core_dummy_plugin_la_LIBADD = libroboptim-core.la
roboptim_core_dummy_plugin_la_LDFLAGS = -module -version-info 1:1:0
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 10 ++++++++++
src/Makefile.am | 6 ++++++
2 files changed, 16 insertions(+), 0 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-24 13:29:18
|
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 426cebb63345884dff89badfcdc7d9d26bd94d6f (commit)
via 7ca45f83a5d086f16300b7ee6e6e78fec7683038 (commit)
via 0b99ce1f0d5092feacc0f4727b81680648cb39c5 (commit)
via 29990df3dc3a4752224da685b5c098c776045905 (commit)
via 43285667e3854afe995f6df305433b35435aba7d (commit)
via c07e521ef2ad6609a8d6f227a4da570a9053628f (commit)
via 94a362672c05f2cececc582046e5460bc72696d2 (commit)
via 68542565dfb6e4b7fc963e9e859ac91c2abb0140 (commit)
from e7a5e923e458b43e1a6a42a47511695f76ea4de5 (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 426cebb63345884dff89badfcdc7d9d26bd94d6f
Author: Thomas Moulard <tho...@gm...>
Date: Fri Jul 24 22:28:38 2009 +0900
Enhance time optimization.
* include/roboptim/trajectory/free-time-trajectory.hxx:
Set scale to 0 when one try to insert a negative scale.
* tests/spline-optimization.stdout: Regenerate.
* tests/spline-time-optimization.cc: Better display, handle
any number of control points.
* tests/spline-time-optimization.stdout: Regenerate.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index d7f2807..fcc0088 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,15 @@
2009-07-24 Thomas Moulard <tho...@gm...>
+ Enhance time optimization.
+ * include/roboptim/trajectory/free-time-trajectory.hxx:
+ Set scale to 0 when one try to insert a negative scale.
+ * tests/spline-optimization.stdout: Regenerate.
+ * tests/spline-time-optimization.cc: Better display, handle
+ any number of control points.
+ * tests/spline-time-optimization.stdout: Regenerate.
+
+2009-07-24 Thomas Moulard <tho...@gm...>
+
Fix vMax display in plot_limitSpeed.
* include/roboptim/trajectory/visualization/limit-speed.hh:
Fix vMax display.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index 0da3ba4..99d8ee3 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -156,11 +156,14 @@ namespace roboptim
void
FreeTimeTrajectory<dorder>::setParameters (const vector_t& p) throw ()
{
- assert (p[0] > 0.);
+ //FIXME: is this ok?
+ vector_t p_ = p;
+ if (p_[0] <= 0.)
+ p_[0] = 1e-8;
- this->parameters_ = p;
+ this->parameters_ = p_;
this->timeRange_ = detail::scaleInterval (*trajectory_, this->timeScale ());
- this->trajectory_->setParameters (removeScaleFromParameters (p));
+ this->trajectory_->setParameters (removeScaleFromParameters (p_));
}
template <unsigned dorder>
diff --git a/tests/spline-optimization.stdout b/tests/spline-optimization.stdout
index 4e6ef69..acaf55d 100644
--- a/tests/spline-optimization.stdout
+++ b/tests/spline-optimization.stdout
@@ -425,405 +425,405 @@ e
plot '-' title 'after' with line
-0.000000 -0.000000
-0.000011 0.000011
-0.000086 0.000086
-0.000290 0.000290
-0.000686 0.000686
-0.001340 0.001340
-0.002316 0.002316
-0.003678 0.003678
-0.005490 0.005490
-0.007817 0.007817
-0.010723 0.010723
-0.014272 0.014272
-0.018529 0.018529
-0.023559 0.023559
-0.029424 0.029424
-0.036190 0.036190
-0.043922 0.043922
-0.052682 0.052682
-0.062537 0.062537
-0.073549 0.073549
-0.085784 0.085784
-0.099306 0.099306
-0.114179 0.114179
-0.130467 0.130467
-0.148235 0.148235
-0.167547 0.167547
-0.188468 0.188468
-0.211062 0.211062
-0.235392 0.235392
-0.261524 0.261524
-0.289522 0.289522
-0.319450 0.319450
-0.351373 0.351373
-0.385354 0.385354
-0.421458 0.421458
-0.459750 0.459750
-0.500294 0.500294
-0.543154 0.543154
-0.588395 0.588395
-0.636080 0.636080
-0.686275 0.686275
-0.739043 0.739043
-0.794449 0.794449
-0.852557 0.852557
-0.913431 0.913431
-0.977137 0.977137
-1.043738 1.043738
-1.113298 1.113298
-1.185882 1.185882
-1.261555 1.261555
-1.340380 1.340380
-1.422422 1.422422
-1.507745 1.507745
-1.596414 1.596414
-1.688493 1.688493
-1.784046 1.784046
-1.883137 1.883137
-1.985832 1.985832
-2.092194 2.092194
-2.202287 2.202287
-2.316176 2.316176
-2.433926 2.433926
-2.555600 2.555600
-2.681264 2.681264
-2.810980 2.810980
-2.944815 2.944815
-3.082831 3.082831
-3.225093 3.225093
-3.371667 3.371667
-3.522615 3.522615
-3.678002 3.678002
-3.837894 3.837894
-4.002353 4.002353
-4.171445 4.171445
-4.345233 4.345233
-4.523782 4.523782
-4.707157 4.707157
-4.895421 4.895421
-5.088640 5.088640
-5.286877 5.286877
-5.490196 5.490196
-5.698642 5.698642
-5.912172 5.912172
-6.130726 6.130726
-6.354240 6.354240
-6.582654 6.582654
-6.815904 6.815904
-7.053929 7.053929
-7.296667 7.296667
-7.544055 7.544055
-7.796032 7.796032
-8.052536 8.052536
-8.313505 8.313505
-8.578876 8.578876
-8.848588 8.848588
-9.122578 9.122578
-9.400784 9.400784
-9.683145 9.683145
-9.969599 9.969599
-10.260082 10.260082
-10.554534 10.554534
-10.852893 10.852893
-11.155095 11.155095
-11.461080 11.461080
-11.770784 11.770784
-12.084147 12.084147
-12.401106 12.401106
-12.721599 12.721599
-13.045564 13.045564
-13.372938 13.372938
-13.703661 13.703661
-14.037670 14.037670
-14.374902 14.374902
-14.715296 14.715296
-15.058790 15.058790
-15.405321 15.405321
-15.754828 15.754828
-16.107249 16.107249
-16.462521 16.462521
-16.820583 16.820583
-17.181373 17.181373
-17.544827 17.544827
-17.910885 17.910885
-18.279485 18.279485
-18.650564 18.650564
-19.024060 19.024060
-19.399911 19.399911
-19.778056 19.778056
-20.158431 20.158431
-20.540976 20.540976
-20.925628 20.925628
-21.312325 21.312325
-21.701005 21.701005
-22.091606 22.091606
-22.484066 22.484066
-22.878322 22.878322
-23.274314 23.274314
-23.671978 23.671978
-24.071253 24.071253
-24.472077 24.472077
-24.874387 24.874387
-25.278122 25.278122
-25.683220 25.683220
-26.089618 26.089618
-26.497255 26.497255
-26.906068 26.906068
-27.315996 27.315996
-27.726976 27.726976
-28.138946 28.138946
-28.551845 28.551845
-28.965610 28.965610
-29.380179 29.380179
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e
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index 0eff8cc..0288873 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -47,26 +47,28 @@ using namespace roboptim::visualization::gnuplot;
typedef boost::mpl::vector<DerivableFunction, LinearFunction> constraint_t;
typedef Solver<DerivableFunction, constraint_t> solver_t;
+typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
+
+
+// Problem parameters.
+const unsigned nControlPoints = 26;
+const double vMax = 125.;
int run_test ()
{
using namespace boost;
using namespace boost::assign;
- Spline::vector_t params (4);
- // Initial position.
- params[0] = 0.;
- // Control point 1.
- params[1] = 25.;
- // Control point 2.
- params[2] = 75.;
- // Final position.
- params[3] = 100.;
+ const double finalPos = 200.;
+ Spline::vector_t params (nControlPoints);
+
+ for (unsigned i = 0; i < nControlPoints; ++i)
+ params[i] = finalPos / (nControlPoints - 1) * i;
// Make trajectories.
Spline::interval_t timeRange = Spline::makeInterval (0., 4.);
Spline spline (timeRange, 1, params, "before");
- FreeTimeTrajectory<Spline::derivabilityOrder> freeTimeTraj (spline, 1.);
+ freeTime_t freeTimeTraj (spline, 1.);
// Define cost.
Function::matrix_t a (1, freeTimeTraj.parameters ().size ());
@@ -85,34 +87,41 @@ int run_test ()
Function::matrix_t a (1, problem.function ().inputSize ());
Function::vector_t b (1);
a.clear (), b.clear ();
- a(0, 0) = 1.;
+ a (0, 0) = 1.;
shared_ptr<NumericLinearFunction> speedPositivity
(new NumericLinearFunction (a, b));
problem.addConstraint
- (static_pointer_cast<DerivableFunction> (speedPositivity),
- Function::makeLowerInterval (0.));
+ (static_pointer_cast<LinearFunction> (speedPositivity),
+ Function::makeLowerInterval (1e-3));
}
+ const freeTime_t::vector_t freeTimeParams = freeTimeTraj.parameters ();
+ const unsigned freeTimeParamsSize = freeTimeParams.size ();
- typedef Freeze<DerivableFunction, constraint_t, LinearFunction> freeze_t;
+ typedef Freeze<DerivableFunction, constraint_t, DerivableFunction> freeze_t;
freeze_t freeze (problem,
list_of <freeze_t::frozenArgument_t>
- (1, params[0])
- (params.size (), params[params.size () - 1]));
+ (1, freeTimeParams[1])
+ (freeTimeParamsSize - 1,
+ freeTimeParams[freeTimeParamsSize - 1]));
freeze ();
+ Function::interval_t vRange (0., 2 * vMax * vMax);
+ LimitSpeed<FreeTimeTrajectory<Spline::derivabilityOrder> >::addToProblem
+ (freeTimeTraj, problem, vRange, nControlPoints * 10);
- Function::interval_t vRange (0., 100.);
- LimitSpeed<FreeTimeTrajectory<Spline::derivabilityOrder> >::addToProblem (freeTimeTraj, problem, vRange, 10);
+ std::ofstream limitSpeedStream ("limit-speed.gp");
+ Gnuplot gnuplot = Gnuplot::make_interactive_gnuplot ();
- SolverFactory<solver_t> factory ("cfsqp", problem);
- solver_t& solver = factory ();
+ gnuplot
+ << set ("multiplot layout 1,2 title "
+ "'variation of speed before and after optimization'")
+ << set ("grid");
+ gnuplot << plot_limitSpeed (freeTimeTraj, vMax);
- std::cout << "Cost function (before): " << cost (freeTimeTraj.parameters ())
- << std::endl
- << "Parameters (before): " << freeTimeTraj.parameters ()
- << std::endl;
+ SolverFactory<solver_t> factory ("cfsqp", problem);
+ solver_t& solver = factory ();
std::cout << solver << std::endl;
@@ -126,12 +135,8 @@ int run_test ()
FreeTimeTrajectory<Spline::derivabilityOrder> optimizedTrajectory =
freeTimeTraj;
optimizedTrajectory.setParameters (result.x);
- std::cout << "Parameters (after): " << optimizedTrajectory.parameters ()
- << std::endl;
- std::ofstream limitSpeedStream ("limit-speed.gp");
- limitSpeedStream
- << (Gnuplot::make_interactive_gnuplot ()
- << plot_limitSpeed (optimizedTrajectory));
+ std::cout << result << std::endl;
+ gnuplot << plot_limitSpeed (optimizedTrajectory, vMax);
break;
}
@@ -147,12 +152,7 @@ int run_test ()
freeTimeTraj;
optimizedTrajectory.setParameters (result.x);
std::cout << result << std::endl;
- std::cout << "Parameters (after): " << optimizedTrajectory.parameters ()
- << std::endl;
- std::ofstream limitSpeedStream ("limit-speed.gp");
- limitSpeedStream
- << (Gnuplot::make_interactive_gnuplot ()
- << plot_limitSpeed (optimizedTrajectory));
+ gnuplot << plot_limitSpeed (optimizedTrajectory, vMax);
break;
}
@@ -163,7 +163,7 @@ int run_test ()
return 1;
}
}
-
+ limitSpeedStream << (gnuplot << unset ("multiplot"));
return 0;
}
diff --git a/tests/spline-time-optimization.stdout b/tests/spline-time-optimization.stdout
index 1925e7f..9967d16 100644
--- a/tests/spline-time-optimization.stdout
+++ b/tests/spline-time-optimization.stdout
@@ -1,23 +1,21 @@
-Cost function (before): [1](1)
-Parameters (before): [5](1,0,25,75,100)
Problem:
Numeric linear function
- A = [1,5]((1,0,0,0,0))
+ 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)
- Argument's bounds: (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf)
- Argument's scales: 1, 1, 1, 1, 1
- Number of constraints: 14
+ 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
Constraint 0
Numeric linear function
- A = [1,5]((1,0,0,0,0))
+ 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, inf)
+ Bounds: (0.001, inf)
Scales: 1
Initial value: [1](1)
Constraint 1
Numeric linear function
- A = [1,5]((0,1,0,0,0))
+ 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)
Scales: 1
@@ -25,86 +23,1586 @@ Problem:
Constraint 2
Numeric linear function
- A = [1,5]((0,0,0,0,1))
- B = [1](-100)
+ 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)
Scales: 1
Initial value: [1](0)
Constraint 3
- limit speed (derivable function)
- Bounds: (0, 100)
+ speed limit (0) (derivable function)
+ Bounds: (0, 31250)
Scales: 1
Initial value: [1](0)
Constraint 4
- limit speed (derivable function)
- Bounds: (0, 100)
+ speed limit (0.00384615) (derivable function)
+ Bounds: (0, 31250)
Scales: 1
- Initial value: [1](3.90625)
+ Initial value: [1](0.0423896)
Constraint 5
- limit speed (derivable function)
- Bounds: (0, 100)
+ speed limit (0.00769231) (derivable function)
+ Bounds: (0, 31250)
Scales: 1
- Initial value: [1](15.625)
+ Initial value: [1](0.678233)
Constraint 6
- limit speed (derivable function)
- Bounds: (0, 100)
+ speed limit (0.0115385) (derivable function)
+ Bounds: (0, 31250)
Scales: 1
- Initial value: [1](31.25)
+ Initial value: [1](3.43356)
Constraint 7
- limit speed (derivable function)
- Bounds: (0, 100)
+ speed limit (0.0153846) (derivable function)
+ Bounds: (0, 31250)
Scales: 1
- Initial value: [1](46.875)
+ Initial value: [1](10.8517)
Constraint 8
- limit speed (derivable function)
- Bounds: (0, 100)
+ speed limit (0.0192308) (derivable function)
+ Bounds: (0, 31250)
Scales: 1
- Initial value: [1](54.6875)
+ Initial value: [1](26.4935)
Constraint 9
- limit speed (derivable function)
- Bounds: (0, 100)
+ speed limit (0.0230769) (derivable function)
+ Bounds: (0, 31250)
Scales: 1
- Initial value: [1](46.875)
+ Initial value: [1](54.9369)
Constraint 10
- limit speed (derivable function)
- Bounds: (0, 100)
+ speed limit (0.0269231) (derivable function)
+ Bounds: (0, 31250)
Scales: 1
- Initial value: [1](31.25)
+ Initial value: [1](101.777)
Constraint 11
- limit speed (derivable function)
- Bounds: (0, 100)
+ speed limit (0.0307692) (derivable function)
+ Bounds: (0, 31250)
Scales: 1
- Initial value: [1](15.625)
+ Initial value: [1](173.628)
Constraint 12
- limit speed (derivable function)
- Bounds: (0, 100)
+ speed limit (0.0346154) (derivable function)
+ Bounds: (0, 31250)
Scales: 1
- Initial value: [1](3.90625)
+ Initial value: [1](278.118)
Constraint 13
- limit speed (derivable function)
- Bounds: (0, 100)
+ speed limit (0.0384615) (derivable function)
+ Bounds: (0, 31250)
Scales: 1
- Initial value: [1](4.82947e-15)
+ Initial value: [1](421.573)
- Starting point: [5](1,0,25,75,100)
+ Constraint 14
+ speed limit (0.0423077) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](582.696)
+
+ Constraint 15
+ speed limit (0.0461538) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](747.156)
+
+ Constraint 16
+ speed limit (0.05) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](907.061)
+
+ Constraint 17
+ speed limit (0.0538462) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1055.53)
+
+ Constraint 18
+ speed limit (0.0576923) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1186.71)
+
+ Constraint 19
+ speed limit (0.0615385) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1295.76)
+
+ Constraint 20
+ speed limit (0.0653846) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1378.85)
+
+ Constraint 21
+ speed limit (0.0692308) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1433.17)
+
+ Constraint 22
+ speed limit (0.0730769) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1456.94)
+
+ Constraint 23
+ speed limit (0.0769231) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 24
+ speed limit (0.0807692) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 25
+ speed limit (0.0846154) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 26
+ speed limit (0.0884615) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 27
+ speed limit (0.0923077) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 28
+ speed limit (0.0961538) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 29
+ speed limit (0.1) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 30
+ speed limit (0.103846) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 31
+ speed limit (0.107692) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 32
+ speed limit (0.111538) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 33
+ speed limit (0.115385) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 34
+ speed limit (0.119231) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 35
+ speed limit (0.123077) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 36
+ speed limit (0.126923) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 37
+ speed limit (0.130769) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 38
+ speed limit (0.134615) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 39
+ speed limit (0.138462) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 40
+ speed limit (0.142308) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 41
+ speed limit (0.146154) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 42
+ speed limit (0.15) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 43
+ speed limit (0.153846) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 44
+ speed limit (0.157692) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 45
+ speed limit (0.161538) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 46
+ speed limit (0.165385) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 47
+ speed limit (0.169231) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 48
+ speed limit (0.173077) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 49
+ speed limit (0.176923) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 50
+ speed limit (0.180769) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 51
+ speed limit (0.184615) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 52
+ speed limit (0.188462) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 53
+ speed limit (0.192308) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 54
+ speed limit (0.196154) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 55
+ speed limit (0.2) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 56
+ speed limit (0.203846) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 57
+ speed limit (0.207692) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 58
+ speed limit (0.211538) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 59
+ speed limit (0.215385) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 60
+ speed limit (0.219231) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 61
+ speed limit (0.223077) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 62
+ speed limit (0.226923) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 63
+ speed limit (0.230769) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 64
+ speed limit (0.234615) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 65
+ speed limit (0.238462) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 66
+ speed limit (0.242308) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 67
+ speed limit (0.246154) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 68
+ speed limit (0.25) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 69
+ speed limit (0.253846) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 70
+ speed limit (0.257692) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 71
+ speed limit (0.261538) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 72
+ speed limit (0.265385) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 73
+ speed limit (0.269231) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 74
+ speed limit (0.273077) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 75
+ speed limit (0.276923) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 76
+ speed limit (0.280769) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 77
+ speed limit (0.284615) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 78
+ speed limit (0.288462) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 79
+ speed limit (0.292308) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 80
+ speed limit (0.296154) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 81
+ speed limit (0.3) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 82
+ speed limit (0.303846) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 83
+ speed limit (0.307692) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 84
+ speed limit (0.311538) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 85
+ speed limit (0.315385) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 86
+ speed limit (0.319231) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 87
+ speed limit (0.323077) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 88
+ speed limit (0.326923) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 89
+ speed limit (0.330769) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 90
+ speed limit (0.334615) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 91
+ speed limit (0.338462) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 92
+ speed limit (0.342308) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 93
+ speed limit (0.346154) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 94
+ speed limit (0.35) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 95
+ speed limit (0.353846) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 96
+ speed limit (0.357692) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 97
+ speed limit (0.361538) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 98
+ speed limit (0.365385) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 99
+ speed limit (0.369231) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 100
+ speed limit (0.373077) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 101
+ speed limit (0.376923) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 102
+ speed limit (0.380769) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 103
+ speed limit (0.384615) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 104
+ speed limit (0.388462) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 105
+ speed limit (0.392308) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 106
+ speed limit (0.396154) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ Constraint 107
+ speed limit (0.4) (derivable function)
+ Bounds: (0, 31250)
+ Scales: 1
+ Initial value: [1](1458)
+
+ 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 lim...
[truncated message content] |
|
From: Thomas M. <tho...@us...> - 2009-07-24 09:58:11
|
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, core has been updated
via 51500c04ce698d5353142b1404be0b631ee50534 (commit)
from 9e5ae38145c8fe9776591711f415451932a96599 (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 51500c04ce698d5353142b1404be0b631ee50534
Author: Thomas Moulard <tho...@gm...>
Date: Fri Jul 24 18:57:49 2009 +0900
Add copy constructor for GenericSolver.
* include/roboptim/core/generic-solver.hh,
* src/generic-solver.cc: Add copy constructor.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 5fa7628..1ad38bf 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-07-24 Thomas Moulard <tho...@gm...>
+ Add copy constructor for GenericSolver.
+ * include/roboptim/core/generic-solver.hh,
+ * src/generic-solver.cc: Add copy constructor.
+
+2009-07-24 Thomas Moulard <tho...@gm...>
+
Make Solver class destructor virtual.
* include/roboptim/core/solver.hh: Here.
diff --git a/include/roboptim/core/generic-solver.hh b/include/roboptim/core/generic-solver.hh
index 3c7baf3..07fc154 100644
--- a/include/roboptim/core/generic-solver.hh
+++ b/include/roboptim/core/generic-solver.hh
@@ -69,6 +69,7 @@ namespace roboptim
/// \name Constructors and destructors.
/// \{
explicit GenericSolver () throw ();
+ explicit GenericSolver (const GenericSolver&) throw ();
virtual ~GenericSolver () throw ();
/// \}
diff --git a/src/generic-solver.cc b/src/generic-solver.cc
index e37900f..2da4267 100644
--- a/src/generic-solver.cc
+++ b/src/generic-solver.cc
@@ -25,6 +25,11 @@ namespace roboptim
{
}
+ GenericSolver::GenericSolver (const GenericSolver& solver) throw ()
+ : result_ (solver.result_)
+ {
+ }
+
GenericSolver::~GenericSolver () throw ()
{
}
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
include/roboptim/core/generic-solver.hh | 1 +
src/generic-solver.cc | 5 +++++
3 files changed, 12 insertions(+), 0 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-24 09:44:58
|
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 9e5ae38145c8fe9776591711f415451932a96599 (commit)
from 2f2a57d36cf61ac2d46fc00b503773d0793508ef (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 9e5ae38145c8fe9776591711f415451932a96599
Author: Thomas Moulard <tho...@gm...>
Date: Fri Jul 24 18:44:36 2009 +0900
Make Solver class destructor virtual.
* include/roboptim/core/solver.hh: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 54c9a3e..5fa7628 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-07-24 Thomas Moulard <tho...@gm...>
+ Make Solver class destructor virtual.
+ * include/roboptim/core/solver.hh: Here.
+
+2009-07-24 Thomas Moulard <tho...@gm...>
+
Add missing initialization list.
* src/result-with-warnings.cc: Here.
diff --git a/include/roboptim/core/solver.hh b/include/roboptim/core/solver.hh
index e596180..6c38821 100644
--- a/include/roboptim/core/solver.hh
+++ b/include/roboptim/core/solver.hh
@@ -77,7 +77,7 @@ namespace roboptim
template <typename F_, typename C_>
explicit Solver (const Problem<F_, C_>& problem) throw ();
- ~Solver () throw ();
+ virtual ~Solver () throw ();
/// \brief Retrieve the problem.
/// \return problem this solver is solving
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
include/roboptim/core/solver.hh | 2 +-
2 files changed, 6 insertions(+), 1 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-24 09:35:15
|
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 2f2a57d36cf61ac2d46fc00b503773d0793508ef (commit)
from 3f3c267127fb151702e2d6e955f4d8da03af721e (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 2f2a57d36cf61ac2d46fc00b503773d0793508ef
Author: Thomas Moulard <tho...@gm...>
Date: Fri Jul 24 18:34:37 2009 +0900
Add missing initialization list.
* src/result-with-warnings.cc: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 26acf40..54c9a3e 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-07-24 Thomas Moulard <tho...@gm...>
+
+ Add missing initialization list.
+ * src/result-with-warnings.cc: Here.
+
2009-07-23 Thomas Moulard <tho...@gm...>
Clean finite difference gradient code.
diff --git a/src/result-with-warnings.cc b/src/result-with-warnings.cc
index ee17924..e70b6dc 100644
--- a/src/result-with-warnings.cc
+++ b/src/result-with-warnings.cc
@@ -31,7 +31,8 @@ namespace roboptim
ResultWithWarnings::ResultWithWarnings (const Function::size_type n,
const Function::size_type m)
throw ()
- : Result (n, m)
+ : Result (n, m),
+ warnings ()
{
}
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
src/result-with-warnings.cc | 3 ++-
2 files changed, 7 insertions(+), 1 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-24 08:15:50
|
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, shared-tests has been updated
via 312d6535e3e856122c79552fe8928b7cb192c114 (commit)
from a566f94bbf6a9f315e35a982b6b682f91e2b01a1 (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 312d6535e3e856122c79552fe8928b7cb192c114
Author: Thomas Moulard <tho...@gm...>
Date: Fri Jul 24 16:59:41 2009 +0900
Fix gradient.
* hs071.hh: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index fa378ed..23b50d0 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,8 @@
+2009-07-24 Thomas Moulard <tho...@gm...>
+
+ Fix gradient.
+ * hs071.hh: Here.
+
2009-07-01 Thomas Moulard <tho...@gm...>
Create separate shared-tests branch.
diff --git a/hs071.hh b/hs071.hh
index ca40f0e..461ed06 100644
--- a/hs071.hh
+++ b/hs071.hh
@@ -40,10 +40,10 @@ struct F : public TwiceDerivableFunction
impl_gradient (gradient_t& grad, const argument_t& x, size_type) const throw ()
{
grad.clear ();
- grad[0] = x[0] * x[3] + x[3] * (x[0] + x[1] + x[2]);
+ grad[0] = x[3] * (2 * x[0] + x[1] + x[2]);
grad[1] = x[0] * x[3];
- grad[2] = x[0] * x[3] + 1;
- grad[3] = x[0] * (x[0] + x[1] + x[2]);
+ grad[2] = x[0] * x[3];
+ grad[3] = x[0] * (x[0] + x[1] + x[2]) + 1;
}
void
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
hs071.hh | 6 +++---
2 files changed, 8 insertions(+), 3 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-24 01:27:23
|
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 e7a5e923e458b43e1a6a42a47511695f76ea4de5 (commit)
from 9983d73a3a8d10b91db4ef44c3796cf9b64ca789 (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 e7a5e923e458b43e1a6a42a47511695f76ea4de5
Author: Thomas Moulard <tho...@gm...>
Date: Fri Jul 24 10:26:35 2009 +0900
Add missing ``inline''.
* include/roboptim/trajectory/free-time-trajectory.hxx: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index d33534c..216b48c 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-07-24 Thomas Moulard <tho...@gm...>
+ Add missing ``inline''.
+ * include/roboptim/trajectory/free-time-trajectory.hxx: Here.
+
+2009-07-24 Thomas Moulard <tho...@gm...>
+
Add missing ``inline'' in header.
* include/roboptim/trajectory/free-time-trajectory.hh: Here.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index 3c8e533..0da3ba4 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -26,7 +26,7 @@ namespace roboptim
{
namespace detail
{
- Function::value_type
+ inline Function::value_type
scaleTime (Function::value_type unscaled,
Function::value_type min,
Function::value_type scale)
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
.../roboptim/trajectory/free-time-trajectory.hxx | 2 +-
2 files changed, 6 insertions(+), 1 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-24 01:11:11
|
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 9983d73a3a8d10b91db4ef44c3796cf9b64ca789 (commit)
from e2120f36f1a42a2348efe6879c22d922564c1972 (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 9983d73a3a8d10b91db4ef44c3796cf9b64ca789
Author: Thomas Moulard <tho...@gm...>
Date: Fri Jul 24 10:10:52 2009 +0900
Add missing ``inline'' in header.
* include/roboptim/trajectory/free-time-trajectory.hh: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index b7d62c9..d33534c 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-07-24 Thomas Moulard <tho...@gm...>
+ Add missing ``inline'' in header.
+ * include/roboptim/trajectory/free-time-trajectory.hh: Here.
+
+2009-07-24 Thomas Moulard <tho...@gm...>
+
Add isValidTime method.
This patch fix a warning due to the fact that some variables
are not used anymore if one compiles with -DNDEBUG
diff --git a/include/roboptim/trajectory/free-time-trajectory.hh b/include/roboptim/trajectory/free-time-trajectory.hh
index d9d1198..95c70e4 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hh
+++ b/include/roboptim/trajectory/free-time-trajectory.hh
@@ -122,7 +122,7 @@ namespace roboptim
Function::vector_t
removeScaleFromParameters (const Function::vector_t& v);
- Function::vector_t
+ inline Function::vector_t
addScaleToParameters (const Function::vector_t& p,
Function::value_type t)
{
@@ -133,7 +133,7 @@ namespace roboptim
return res;
}
- Function::vector_t
+ inline Function::vector_t
removeScaleFromParameters (const Function::vector_t& p)
{
Function::vector_t res (p.size () - 1);
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
.../roboptim/trajectory/free-time-trajectory.hh | 4 ++--
2 files changed, 7 insertions(+), 2 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-24 01:01:43
|
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 e2120f36f1a42a2348efe6879c22d922564c1972 (commit)
from d25b5e2969ac4a1656e03931123ad1033acfe854 (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 e2120f36f1a42a2348efe6879c22d922564c1972
Author: Thomas Moulard <tho...@gm...>
Date: Fri Jul 24 10:01:22 2009 +0900
Add isValidTime method.
This patch fix a warning due to the fact that some variables
are not used anymore if one compiles with -DNDEBUG
(as assertions are dropped).
* include/roboptim/trajectory/free-time-trajectory.hxx: Use isValidTime.
* include/roboptim/trajectory/trajectory.hh,
* include/roboptim/trajectory/trajectory.hxx: Add isValidTime method.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 0a1ba08..b7d62c9 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,15 @@
2009-07-24 Thomas Moulard <tho...@gm...>
+ Add isValidTime method.
+ This patch fix a warning due to the fact that some variables
+ are not used anymore if one compiles with -DNDEBUG
+ (as assertions are dropped).
+ * include/roboptim/trajectory/free-time-trajectory.hxx: Use isValidTime.
+ * include/roboptim/trajectory/trajectory.hh,
+ * include/roboptim/trajectory/trajectory.hxx: Add isValidTime method.
+
+2009-07-24 Thomas Moulard <tho...@gm...>
+
Fix naming clash in inclusion guards.
* include/roboptim/trajectory/visualization/limit-speed.hh: Here.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index efb4678..3c8e533 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -45,7 +45,6 @@ namespace roboptim
scaleTime (Function::getUpperBound (traj.timeRange ()), min, scale);
return Function::makeInterval (min, max);
}
-
} // end of namespace detail
template <unsigned dorder>
@@ -176,12 +175,11 @@ namespace roboptim
FreeTimeTrajectory<dorder>::scaleTime (double unscaled) const throw ()
{
value_type tMin = getLowerBound (this->timeRange ());
- value_type tMax = getUpperBound (this->timeRange ());
value_type tmin = getLowerBound (this->trajectory_->timeRange ());
value_type tmax = getUpperBound (this->trajectory_->timeRange ());
unscaled = detail::fixTime (unscaled, *this);
- assert (tMin <= unscaled && unscaled <= tMax);
+ assert (this->isValidTime (unscaled));
value_type res = tmin + (unscaled - tMin) / timeScale ();
@@ -199,10 +197,9 @@ namespace roboptim
value_type tMin = getLowerBound (this->timeRange ());
value_type tMax = getUpperBound (this->timeRange ());
value_type tmin = getLowerBound (this->trajectory_->timeRange ());
- value_type tmax = getUpperBound (this->trajectory_->timeRange ());
scaled = detail::fixTime (scaled, *this);
- assert (tmin <= scaled && scaled <= tmax);
+ assert (trajectory_->isValidTime (scaled));
value_type res = tMin + (scaled - tmin) * timeScale ();
diff --git a/include/roboptim/trajectory/trajectory.hh b/include/roboptim/trajectory/trajectory.hh
index 1dc0c9b..9593a39 100644
--- a/include/roboptim/trajectory/trajectory.hh
+++ b/include/roboptim/trajectory/trajectory.hh
@@ -229,7 +229,7 @@ namespace roboptim
virtual jacobian_t variationDerivWrtParam (StableTimePoint tp, size_type order)
const throw ();
-
+ bool isValidTime (value_type t) const throw ();
virtual Trajectory<DerivabilityOrder>* clone () const throw () = 0;
diff --git a/include/roboptim/trajectory/trajectory.hxx b/include/roboptim/trajectory/trajectory.hxx
index 3cc76f3..d561332 100644
--- a/include/roboptim/trajectory/trajectory.hxx
+++ b/include/roboptim/trajectory/trajectory.hxx
@@ -158,6 +158,15 @@ namespace roboptim
}
template <unsigned dorder>
+ bool
+ Trajectory<dorder>::isValidTime (value_type t) const throw ()
+ {
+ value_type tmin = getLowerBound (this->timeRange ());
+ value_type tmax = getUpperBound (this->timeRange ());
+ return (tmin <= t && t <= tmax);
+ }
+
+ template <unsigned dorder>
std::ostream&
Trajectory<dorder>::print (std::ostream& o) const throw ()
{
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 10 ++++++++++
.../roboptim/trajectory/free-time-trajectory.hxx | 7 ++-----
include/roboptim/trajectory/trajectory.hh | 2 +-
include/roboptim/trajectory/trajectory.hxx | 9 +++++++++
4 files changed, 22 insertions(+), 6 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-24 00:46:29
|
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, trajectory has been updated
via d25b5e2969ac4a1656e03931123ad1033acfe854 (commit)
from 2a26cddaa6f2adf74b16ac644544b3112d86902c (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 d25b5e2969ac4a1656e03931123ad1033acfe854
Author: Thomas Moulard <tho...@gm...>
Date: Fri Jul 24 09:46:08 2009 +0900
Fix naming clash in inclusion guards.
* include/roboptim/trajectory/visualization/limit-speed.hh: Here.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index bcaff73..0a1ba08 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-07-24 Thomas Moulard <tho...@gm...>
+ Fix naming clash in inclusion guards.
+ * include/roboptim/trajectory/visualization/limit-speed.hh: Here.
+
+2009-07-24 Thomas Moulard <tho...@gm...>
+
Remove orphan stdout file and distribute the right one.
* tests/Makefile.am: Fix typo.
* tests/spline-optimization-time.stdout: Remove.
diff --git a/include/roboptim/trajectory/visualization/limit-speed.hh b/include/roboptim/trajectory/visualization/limit-speed.hh
index 4c3c0ab..c6097c7 100644
--- a/include/roboptim/trajectory/visualization/limit-speed.hh
+++ b/include/roboptim/trajectory/visualization/limit-speed.hh
@@ -15,8 +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/>.
-#ifndef ROBOPTIM_TRAJECTORY_VISUALIZATION_TRAJECTORY_HH
-# define ROBOPTIM_TRAJECTORY_VISUALIZATION_TRAJECTORY_HH
+#ifndef ROBOPTIM_TRAJECTORY_VISUALIZATION_LIMIT_SPEED_HH
+# define ROBOPTIM_TRAJECTORY_VISUALIZATION_LIMIT_SPEED_HH
# include <boost/format.hpp>
# include <roboptim/core/visualization/gnuplot-commands.hh>
@@ -88,4 +88,4 @@ namespace roboptim
} // end of namespace visualization.
} // end of namespace roboptim.
-#endif //! ROBOPTIM_TRAJECTORY_VISUALIZATION_TRAJECTORY_HH
+#endif //! ROBOPTIM_TRAJECTORY_VISUALIZATION_LIMIT_SPEED_HH
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
.../trajectory/visualization/limit-speed.hh | 6 +++---
2 files changed, 8 insertions(+), 3 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-24 00:14:24
|
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 2a26cddaa6f2adf74b16ac644544b3112d86902c (commit)
from 6360e4cc4aaa76a89733089731e0806025c1c651 (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 2a26cddaa6f2adf74b16ac644544b3112d86902c
Author: Thomas Moulard <tho...@gm...>
Date: Fri Jul 24 09:14:01 2009 +0900
Remove orphan stdout file and distribute the right one.
* tests/Makefile.am: Fix typo.
* tests/spline-optimization-time.stdout: Remove.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 90ccdbe..bcaff73 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,9 @@
+2009-07-24 Thomas Moulard <tho...@gm...>
+
+ Remove orphan stdout file and distribute the right one.
+ * tests/Makefile.am: Fix typo.
+ * tests/spline-optimization-time.stdout: Remove.
+
2009-07-23 Thomas Moulard <tho...@gm...>
Fix typo.
diff --git a/tests/Makefile.am b/tests/Makefile.am
index 5a3a950..047a8e2 100644
--- a/tests/Makefile.am
+++ b/tests/Makefile.am
@@ -73,5 +73,5 @@ EXTRA_DIST += \
simple.stdout \
spline-gradient.stdout \
spline-optimization.stdout \
- spline-optimization-time.stdout \
+ spline-time-optimization.stdout \
spline.stdout
diff --git a/tests/spline-optimization-time.stdout b/tests/spline-optimization-time.stdout
deleted file mode 100644
index e69de29..0000000
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
tests/Makefile.am | 2 +-
2 files changed, 7 insertions(+), 1 deletions(-)
delete mode 100644 tests/spline-optimization-time.stdout
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-23 12:20:24
|
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 6360e4cc4aaa76a89733089731e0806025c1c651 (commit)
from a3a373d12f6b72d0f967bf409f20c78a4084850b (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 6360e4cc4aaa76a89733089731e0806025c1c651
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 23 21:20:01 2009 +0900
Fix typo.
* tests/testsuite.at: Fix typo in test case name.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 0d592dd..90ccdbe 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-07-23 Thomas Moulard <tho...@gm...>
+ Fix typo.
+ * tests/testsuite.at: Fix typo in test case name.
+
+2009-07-23 Thomas Moulard <tho...@gm...>
+
Remove tests that was tagged as XFAIL.
* tests/free-time-trajectory.stdout,
* tests/spline-time-optimization.stdout: Regenerate.
diff --git a/tests/testsuite.at b/tests/testsuite.at
index 59f145c..145c46b 100644
--- a/tests/testsuite.at
+++ b/tests/testsuite.at
@@ -33,6 +33,6 @@ 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-optimization-time], [Optimize a free time trajectory.])
+CHECK_STDOUT([spline-time-optimization], [Optimize a free time trajectory.])
# End of testsuite.at
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 5 +++++
tests/testsuite.at | 2 +-
2 files changed, 6 insertions(+), 1 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-23 12:17:37
|
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 a3a373d12f6b72d0f967bf409f20c78a4084850b (commit)
via ad435a753786cc84413be4bdd135e846f190cd09 (commit)
via 5d903cc95a204dee7e86454f921c76fdb533a1a3 (commit)
from e68e36456ec09d884ee2dbad50eb067724d5a723 (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 a3a373d12f6b72d0f967bf409f20c78a4084850b
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 23 21:16:40 2009 +0900
Remove tests that was tagged as XFAIL.
* tests/free-time-trajectory.stdout,
* tests/spline-time-optimization.stdout: Regenerate.
* tests/testsuite.at: Free time trajectory and spline
time optimization tests are not xfail anymore.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 8c85b58..0d592dd 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,13 @@
2009-07-23 Thomas Moulard <tho...@gm...>
+ Remove tests that was tagged as XFAIL.
+ * tests/free-time-trajectory.stdout,
+ * tests/spline-time-optimization.stdout: Regenerate.
+ * tests/testsuite.at: Free time trajectory and spline
+ time optimization tests are not xfail anymore.
+
+2009-07-23 Thomas Moulard <tho...@gm...>
+
Move time stable point gradient interface into Trajectory class.
* include/Makefile.am: Distribue new header.
* include/roboptim/trajectory/free-time-trajectory.hh:,
diff --git a/tests/free-time-trajectory.stdout b/tests/free-time-trajectory.stdout
index e69de29..7bd0924 100644
--- a/tests/free-time-trajectory.stdout
+++ b/tests/free-time-trajectory.stdout
@@ -0,0 +1,605 @@
+Spline range: [0, 4]
+FTT range: [0, 4]
+/------------------------------------------------------------------------------\
+| T || Value | Value (ftt) || Derivative | Derivative (ftt) |
+--------------------------------------------------------------------------------
+| 0 || 0 | 0 || 0 | 0 |
+| 0.1 || 0.00813802 | 0.00813802 || 0.244141 | 0.244141 |
+| 0.2 || 0.0651042 | 0.0651042 || 0.976562 | 0.976562 |
+| 0.3 || 0.219727 | 0.219727 || 2.19727 | 2.19727 |
+| 0.4 || 0.520833 | 0.520833 || 3.90625 | 3.90625 |
+| 0.5 || 1.01725 | 1.01725 || 6.10352 | 6.10352 |
+| 0.6 || 1.75781 | 1.75781 || 8.78906 | 8.78906 |
+| 0.7 || 2.79134 | 2.79134 || 11.9629 | 11.9629 |
+| 0.8 || 4.16667 | 4.16667 || 15.625 | 15.625 |
+| 0.9 || 5.92448 | 5.92448 || 19.5312 | 19.5312 |
+| 1 || 8.07292 | 8.07292 || 23.4375 | 23.4375 |
+| 1.1 || 10.612 | 10.612 || 27.3437 | 27.3437 |
+| 1.2 || 13.5417 | 13.5417 || 31.25 | 31.25 |
+| 1.3 || 16.862 | 16.862 || 35.1562 | 35.1562 |
+| 1.4 || 20.5729 | 20.5729 || 39.0625 | 39.0625 |
+| 1.5 || 24.6745 | 24.6745 || 42.9688 | 42.9688 |
+| 1.6 || 29.1667 | 29.1667 || 46.875 | 46.875 |
+| 1.7 || 34.0332 | 34.0332 || 50.293 | 50.293 |
+| 1.8 || 39.1927 | 39.1927 || 52.7344 | 52.7344 |
+| 1.9 || 44.5475 | 44.5475 || 54.1992 | 54.1992 |
+| 2 || 50 | 50 || 54.6875 | 54.6875 |
+| 2.1 || 55.4525 | 55.4525 || 54.1992 | 54.1992 |
+| 2.2 || 60.8073 | 60.8073 || 52.7344 | 52.7344 |
+| 2.3 || 65.9668 | 65.9668 || 50.293 | 50.293 |
+| 2.4 || 70.8333 | 70.8333 || 46.875 | 46.875 |
+| 2.5 || 75.3255 | 75.3255 || 42.9687 | 42.9687 |
+| 2.6 || 79.4271 | 79.4271 || 39.0625 | 39.0625 |
+| 2.7 || 83.138 | 83.138 || 35.1562 | 35.1562 |
+| 2.8 || 86.4583 | 86.4583 || 31.25 | 31.25 |
+| 2.9 || 89.388 | 89.388 || 27.3437 | 27.3437 |
+| 3 || 91.9271 | 91.9271 || 23.4375 | 23.4375 |
+| 3.1 || 94.0755 | 94.0755 || 19.5312 | 19.5312 |
+| 3.2 || 95.8333 | 95.8333 || 15.625 | 15.625 |
+| 3.3 || 97.2087 | 97.2087 || 11.9629 | 11.9629 |
+| 3.4 || 98.2422 | 98.2422 || 8.78906 | 8.78906 |
+| 3.5 || 98.9827 | 98.9827 || 6.10352 | 6.10352 |
+| 3.6 || 99.4792 | 99.4792 || 3.90625 | 3.90625 |
+| 3.7 || 99.7803 | 99.7803 || 2.19727 | 2.19727 |
+| 3.8 || 99.9349 | 99.9349 || 0.976562 | 0.976562 |
+| 3.9 || 99.9919 | 99.9919 || 0.244141 | 0.244141 |
+| 4 || 100 | 100 || -2.08167e-14 | -2.08167e-14 |
+\------------------------------------------------------------------------------/
+
+Gradient check.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+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))
+
+Spline range: [0, 4]
+FTT range: [0, 8]
+/------------------------------------------------------------------------------\
+| T || Value | Value (ftt) || Derivative | Derivative (ftt) |
+--------------------------------------------------------------------------------
+| 0 || 0 | 0 || 0 | 0 |
+| 0.1 || 0.00813802 | 0.00101725 || 0.244141 | 0.0305176 |
+| 0.2 || 0.0651042 | 0.00813802 || 0.976562 | 0.12207 |
+| 0.3 || 0.219727 | 0.0274658 || 2.19727 | 0.274658 |
+| 0.4 || 0.520833 | 0.0651042 || 3.90625 | 0.488281 |
+| 0.5 || 1.01725 | 0.127157 || 6.10352 | 0.762939 |
+| 0.6 || 1.75781 | 0.219727 || 8.78906 | 1.09863 |
+| 0.7 || 2.79134 | 0.348918 || 11.9629 | 1.49536 |
+| 0.8 || 4.16667 | 0.520833 || 15.625 | 1.95312 |
+| 0.9 || 5.92448 | 0.741577 || 19.5312 | 2.47192 |
+| 1 || 8.07292 | 1.01725 || 23.4375 | 3.05176 |
+| 1.1 || 10.612 | 1.35396 || 27.3437 | 3.69263 |
+| 1.2 || 13.5417 | 1.75781 || 31.25 | 4.39453 |
+| 1.3 || 16.862 | 2.2349 || 35.1562 | 5.15747 |
+| 1.4 || 20.5729 | 2.79134 || 39.0625 | 5.98145 |
+| 1.5 || 24.6745 | 3.43323 || 42.9688 | 6.86646 |
+| 1.6 || 29.1667 | 4.16667 || 46.875 | 7.8125 |
+| 1.7 || 34.0332 | 4.99674 || 50.293 | 8.78906 |
+| 1.8 || 39.1927 | 5.92448 || 52.7344 | 9.76563 |
+| 1.9 || 44.5475 | 6.94987 || 54.1992 | 10.7422 |
+| 2 || 50 | 8.07292 || 54.6875 | 11.7188 |
+| 2.1 || 55.4525 | 9.29362 || 54.1992 | 12.6953 |
+| 2.2 || 60.8073 | 10.612 || 52.7344 | 13.6719 |
+| 2.3 || 65.9668 | 12.028 || 50.293 | 14.6484 |
+| 2.4 || 70.8333 | 13.5417 || 46.875 | 15.625 |
+| 2.5 || 75.3255 | 15.153 || 42.9687 | 16.6016 |
+| 2.6 || 79.4271 | 16.862 || 39.0625 | 17.5781 |
+| 2.7 || 83.138 | 18.6686 || 35.1562 | 18.5547 |
+| 2.8 || 86.4583 | 20.5729 || 31.25 | 19.5313 |
+| 2.9 || 89.388 | 22.5749 || 27.3437 | 20.5078 |
+| 3 || 91.9271 | 24.6745 || 23.4375 | 21.4844 |
+| 3.1 || 94.0755 | 26.8717 || 19.5312 | 22.4609 |
+| 3.2 || 95.8333 | 29.1667 || 15.625 | 23.4375 |
+| 3.3 || 97.2087 | 31.5572 || 11.9629 | 24.353 |
+| 3.4 || 98.2422 | 34.0332 || 8.78906 | 25.1465 |
+| 3.5 || 98.9827 | 36.5824 || 6.10352 | 25.8179 |
+| 3.6 || 99.4792 | 39.1927 || 3.90625 | 26.3672 |
+| 3.7 || 99.7803 | 41.8518 || 2.19727 | 26.7944 |
+| 3.8 || 99.9349 | 44.5475 || 0.976562 | 27.0996 |
+| 3.9 || 99.9919 | 47.2677 || 0.244141 | 27.2827 |
+| 4 || N/A | 50 || N/A | 27.3438 |
+| 4.1 || N/A | 52.7323 || N/A | 27.2827 |
+| 4.2 || N/A | 55.4525 || N/A | 27.0996 |
+| 4.3 || N/A | 58.1482 || N/A | 26.7944 |
+| 4.4 || N/A | 60.8073 || N/A | 26.3672 |
+| 4.5 || N/A | 63.4176 || N/A | 25.8179 |
+| 4.6 || N/A | 65.9668 || N/A | 25.1465 |
+| 4.7 || N/A | 68.4428 || N/A | 24.353 |
+| 4.8 || N/A | 70.8333 || N/A | 23.4375 |
+| 4.9 || N/A | 73.1283 || N/A | 22.4609 |
+| 5 || N/A | 75.3255 || N/A | 21.4844 |
+| 5.1 || N/A | 77.4251 || N/A | 20.5078 |
+| 5.2 || N/A | 79.4271 || N/A | 19.5313 |
+| 5.3 || N/A | 81.3314 || N/A | 18.5547 |
+| 5.4 || N/A | 83.138 || N/A | 17.5781 |
+| 5.5 || N/A | 84.847 || N/A | 16.6016 |
+| 5.6 || N/A | 86.4583 || N/A | 15.625 |
+| 5.7 || N/A | 87.972 || N/A | 14.6484 |
+| 5.8 || N/A | 89.388 || N/A | 13.6719 |
+| 5.9 || N/A | 90.7064 || N/A | 12.6953 |
+| 6 || N/A | 91.9271 || N/A | 11.7188 |
+| 6.1 || N/A | 93.0501 || N/A | 10.7422 |
+| 6.2 || N/A | 94.0755 || N/A | 9.76563 |
+| 6.3 || N/A | 95.0033 || N/A | 8.78906 |
+| 6.4 || N/A | 95.8333 || N/A | 7.8125 |
+| 6.5 || N/A | 96.5668 || N/A | 6.86646 |
+| 6.6 || N/A | 97.2087 || N/A | 5.98145 |
+| 6.7 || N/A | 97.7651 || N/A | 5.15747 |
+| 6.8 || N/A | 98.2422 || N/A | 4.39453 |
+| 6.9 || N/A | 98.646 || N/A | 3.69263 |
+| 7 || N/A | 98.9827 || N/A | 3.05176 |
+| 7.1 || N/A | 99.2584 || N/A | 2.47192 |
+| 7.2 || N/A | 99.4792 || N/A | 1.95313 |
+| 7.3 || N/A | 99.6511 || N/A | 1.49536 |
+| 7.4 || N/A | 99.7803 || N/A | 1.09863 |
+| 7.5 || N/A | 99.8728 || N/A | 0.762939 |
+| 7.6 || N/A | 99.9349 || N/A | 0.488281 |
+| 7.7 || N/A | 99.9725 || N/A | 0.274658 |
+| 7.8 || N/A | 99.9919 || N/A | 0.12207 |
+| 7.9 || N/A | 99.999 || N/A | 0.0305176 |
+| 8 || N/A | 100 || N/A | 4.69069e-15 |
+\------------------------------------------------------------------------------/
+
+Gradient check.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+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))
+
+Spline range: [0, 4]
+FTT range: [0, 2]
+/------------------------------------------------------------------------------\
+| T || Value | Value (ftt) || Derivative | Derivative (ftt) |
+--------------------------------------------------------------------------------
+| 0 || 0 | 0 || 0 | 0 |
+| 0.1 || 0.00813802 | 0.0651042 || 0.244141 | 1.95312 |
+| 0.2 || 0.0651042 | 0.520833 || 0.976562 | 7.8125 |
+| 0.3 || 0.219727 | 1.75781 || 2.19727 | 17.5781 |
+| 0.4 || 0.520833 | 4.16667 || 3.90625 | 31.25 |
+| 0.5 || 1.01725 | 8.07292 || 6.10352 | 46.875 |
+| 0.6 || 1.75781 | 13.5417 || 8.78906 | 62.5 |
+| 0.7 || 2.79134 | 20.5729 || 11.9629 | 78.125 |
+| 0.8 || 4.16667 | 29.1667 || 15.625 | 93.75 |
+| 0.9 || 5.92448 | 39.1927 || 19.5312 | 105.469 |
+| 1 || 8.07292 | 50 || 23.4375 | 109.375 |
+| 1.1 || 10.612 | 60.8073 || 27.3437 | 105.469 |
+| 1.2 || 13.5417 | 70.8333 || 31.25 | 93.75 |
+| 1.3 || 16.862 | 79.4271 || 35.1562 | 78.125 |
+| 1.4 || 20.5729 | 86.4583 || 39.0625 | 62.5 |
+| 1.5 || 24.6745 | 91.9271 || 42.9688 | 46.875 |
+| 1.6 || 29.1667 | 95.8333 || 46.875 | 31.25 |
+| 1.7 || 34.0332 | 98.2422 || 50.293 | 17.5781 |
+| 1.8 || 39.1927 | 99.4792 || 52.7344 | 7.8125 |
+| 1.9 || 44.5475 | 99.9349 || 54.1992 | 1.95312 |
+| 2 || 50 | 100 || 54.6875 | -4.16334e-14 |
+\------------------------------------------------------------------------------/
+
+Gradient check.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+Free time trajectory gradient.
+Spline gradient.
+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))
+
diff --git a/tests/spline-time-optimization.stdout b/tests/spline-time-optimization.stdout
index 093069b..1925e7f 100644
--- a/tests/spline-time-optimization.stdout
+++ b/tests/spline-time-optimization.stdout
@@ -6,16 +6,24 @@ Problem:
B = [1](0)
Argument's bounds: (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf)
Argument's scales: 1, 1, 1, 1, 1
- Number of constraints: 2
+ Number of constraints: 14
Constraint 0
Numeric linear function
+ A = [1,5]((1,0,0,0,0))
+ B = [1](0)
+ Bounds: (0, inf)
+ Scales: 1
+ Initial value: [1](1)
+
+ Constraint 1
+ Numeric linear function
A = [1,5]((0,1,0,0,0))
B = [1](-0)
Bounds: (0, 0)
Scales: 1
Initial value: [1](0)
- Constraint 1
+ Constraint 2
Numeric linear function
A = [1,5]((0,0,0,0,1))
B = [1](-100)
@@ -23,11 +31,77 @@ Problem:
Scales: 1
Initial value: [1](0)
+ Constraint 3
+ limit speed (derivable function)
+ Bounds: (0, 100)
+ Scales: 1
+ Initial value: [1](0)
+
+ Constraint 4
+ limit speed (derivable function)
+ Bounds: (0, 100)
+ Scales: 1
+ Initial value: [1](3.90625)
+
+ Constraint 5
+ limit speed (derivable function)
+ Bounds: (0, 100)
+ Scales: 1
+ Initial value: [1](15.625)
+
+ Constraint 6
+ limit speed (derivable function)
+ Bounds: (0, 100)
+ Scales: 1
+ Initial value: [1](31.25)
+
+ Constraint 7
+ limit speed (derivable function)
+ Bounds: (0, 100)
+ Scales: 1
+ Initial value: [1](46.875)
+
+ Constraint 8
+ limit speed (derivable function)
+ Bounds: (0, 100)
+ Scales: 1
+ Initial value: [1](54.6875)
+
+ Constraint 9
+ limit speed (derivable function)
+ Bounds: (0, 100)
+ Scales: 1
+ Initial value: [1](46.875)
+
+ Constraint 10
+ limit speed (derivable function)
+ Bounds: (0, 100)
+ Scales: 1
+ Initial value: [1](31.25)
+
+ Constraint 11
+ limit speed (derivable function)
+ Bounds: (0, 100)
+ Scales: 1
+ Initial value: [1](15.625)
+
+ Constraint 12
+ limit speed (derivable function)
+ Bounds: (0, 100)
+ Scales: 1
+ Initial value: [1](3.90625)
+
+ Constraint 13
+ limit speed (derivable function)
+ Bounds: (0, 100)
+ Scales: 1
+ Initial value: [1](4.82947e-15)
+
Starting point: [5](1,0,25,75,100)
Starting value: [1](1)
Infinity value (for all functions): inf
CFSQP specific variables:
- Nineq: 0
+ Nineq: 23
Nineqn: 0
Neq: 2
Neqn: 2
@@ -38,5 +112,12 @@ CFSQP specific variables:
Eps: 1e-08
Epseqn: 1e-08
Udelta: 1e-08
- CFSQP constraints: (0, 1), (1, 1)
-Parameters (after): [5](-1e+10,-2.95264e-14,25,75,100)
+ 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), (1, 1), (2, 1)
+Result:
+ Size (input, output): 5, 1
+ X: [5](0.524762,-0.0213066,25.0162,74.9838,99.9787)
+ Value: [1](0.524762)
+ Constraints values: [14](0.524762,0.0213066,0.0213066,0,7.45503,29.8201,59.6082,89.3323,104.166,89.2815,59.5321,29.7694,7.44234,5.68434e-14)
+ Lambda: [25](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)
+ Warnings: New iterate equivalent to previous one.
+Parameters (after): [5](0.524762,-0.0213066,25.0162,74.9838,99.9787)
diff --git a/tests/testsuite.at b/tests/testsuite.at
index 6541760..59f145c 100644
--- a/tests/testsuite.at
+++ b/tests/testsuite.at
@@ -32,7 +32,7 @@ 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.], [false], [true])
-CHECK_STDOUT([spline-optimization-time], [Optimize a free time trajectory.], [false], [true])
+CHECK_STDOUT([free-time-trajectory], [Check free time trajectory.])
+CHECK_STDOUT([spline-optimization-time], [Optimize a free time trajectory.])
# End of testsuite.at
commit ad435a753786cc84413be4bdd135e846f190cd09
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 23 21:14:44 2009 +0900
Move time stable point gradient interface into Trajectory class.
* include/Makefile.am: Distribue new header.
* include/roboptim/trajectory/free-time-trajectory.hh:,
* include/roboptim/trajectory/free-time-trajectory.hxx:
Move gradient methods taking a stable time point as input
into trajectory.
* include/roboptim/trajectory/limit-speed.hh,
* include/roboptim/trajectory/limit-speed.hxx: Add trajectory getter..
* include/roboptim/trajectory/stable-time-point.hh: Add missing inline.
* include/roboptim/trajectory/trajectory.hh,
* include/roboptim/trajectory/trajectory.hxx: Add gradient interfaces
taking as input a stable time point..
* include/roboptim/trajectory/visualization/limit-speed.hh: New.
* tests/spline-time-optimization.cc: Display speed limit.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 36613e0..8c85b58 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,22 @@
2009-07-23 Thomas Moulard <tho...@gm...>
+ Move time stable point gradient interface into Trajectory class.
+ * include/Makefile.am: Distribue new header.
+ * include/roboptim/trajectory/free-time-trajectory.hh:,
+ * include/roboptim/trajectory/free-time-trajectory.hxx:
+ Move gradient methods taking a stable time point as input
+ into trajectory.
+ * include/roboptim/trajectory/limit-speed.hh,
+ * include/roboptim/trajectory/limit-speed.hxx: Add trajectory getter..
+ * include/roboptim/trajectory/stable-time-point.hh: Add missing inline.
+ * include/roboptim/trajectory/trajectory.hh,
+ * include/roboptim/trajectory/trajectory.hxx: Add gradient interfaces
+ taking as input a stable time point..
+ * include/roboptim/trajectory/visualization/limit-speed.hh: New.
+ * tests/spline-time-optimization.cc: Display speed limit.
+
+2009-07-23 Thomas Moulard <tho...@gm...>
+
Fix computation error in free time trajectory.
* include/roboptim/trajectory/free-time-trajectory.hxx:
Fix computation error.
diff --git a/include/Makefile.am b/include/Makefile.am
index b8b3019..2ad8c9b 100644
--- a/include/Makefile.am
+++ b/include/Makefile.am
@@ -22,4 +22,5 @@ nobase_include_HEADERS = \
roboptim/trajectory/trajectory.hxx
nobase_include_HEADERS += \
+ roboptim/trajectory/visualization/limit-speed.hh \
roboptim/trajectory/visualization/trajectory.hh
\ No newline at end of file
diff --git a/include/roboptim/trajectory/free-time-trajectory.hh b/include/roboptim/trajectory/free-time-trajectory.hh
index 9d58f4c..d9d1198 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hh
+++ b/include/roboptim/trajectory/free-time-trajectory.hh
@@ -18,7 +18,6 @@
#ifndef ROBOPTIM_TRAJECTORY_FREETIMETRAJECTORY_HH
# define ROBOPTIM_TRAJECTORY_FREETIMETRAJECTORY_HH
# include <roboptim/trajectory/trajectory.hh>
-# include <roboptim/trajectory/stable-time-point.hh>
namespace roboptim
{
@@ -51,9 +50,6 @@ namespace roboptim
/// \brief Import interval type.
typedef typename parent_t::interval_t interval_t;
- using typename parent_t::operator ();
- using typename parent_t::derivative;
-
/// Constructor with fixed definition interval trajectory
///
/// \param traj trajectory defining this one by reparameterization
@@ -76,45 +72,6 @@ namespace roboptim
virtual vector_t derivAfterSingularPoint (size_type rank, size_type order)
const;
- result_t operator () (StableTimePoint argument) const throw ()
- {
- result_t result (this->outputSize ());
- result.clear ();
- (*this) (result, argument);
- return result;
- }
-
- void operator () (result_t& result, StableTimePoint argument) const throw ()
- {
- assert (this->isValidResult (result));
- this->impl_compute (result, argument);
- assert (this->isValidResult (result));
- }
-
- gradient_t derivative (StableTimePoint argument, size_type order = 1) const
- throw ()
- {
- gradient_t derivative (this->derivativeSize ());
- derivative.clear ();
- this->derivative (derivative, argument, order);
- return derivative;
- }
-
- void derivative (gradient_t& derivative,
- StableTimePoint argument,
- size_type order = 1) const
- throw ()
- {
- assert (order <= Trajectory<DerivabilityOrder>::derivabilityOrder
- && this->isValidDerivative (derivative));
- this->impl_derivative (derivative, argument, order);
- assert (this->isValidDerivative (derivative));
- }
-
- virtual jacobian_t variationConfigWrtParam (StableTimePoint tp) const throw ();
- virtual jacobian_t variationDerivWrtParam (StableTimePoint tp, size_type order)
- const throw ();
-
virtual void setParameters (const vector_t&) throw ();
/// \brief Get time scale factor.
@@ -138,9 +95,6 @@ namespace roboptim
void impl_compute (result_t&, double) const throw ();
void impl_derivative (gradient_t& g, double x, size_type order)
const throw ();
- void impl_compute (result_t&, StableTimePoint) const throw ();
- void impl_derivative (gradient_t& g, StableTimePoint, size_type order)
- const throw ();
private:
/// \brief Scale input time argument.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index ca8d308..efb4678 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -68,14 +68,12 @@ namespace roboptim
{
}
-
template <unsigned dorder>
FreeTimeTrajectory<dorder>::~FreeTimeTrajectory () throw ()
{
delete trajectory_;
}
-
template <unsigned dorder>
void
FreeTimeTrajectory<dorder>::impl_compute
@@ -86,14 +84,6 @@ namespace roboptim
template <unsigned dorder>
void
- FreeTimeTrajectory<dorder>::impl_compute
- (typename FreeTimeTrajectory<dorder>::result_t& res , StableTimePoint stp) const throw ()
- {
- (*this) (res, stp.getTime (this->timeRange ()));
- }
-
- template <unsigned dorder>
- void
FreeTimeTrajectory<dorder>::impl_derivative
(typename FreeTimeTrajectory<dorder>::gradient_t& derivative,
double t,
@@ -106,32 +96,12 @@ namespace roboptim
}
template <unsigned dorder>
- void
- FreeTimeTrajectory<dorder>::impl_derivative
- (typename FreeTimeTrajectory<dorder>::gradient_t& derivative,
- StableTimePoint stp,
- typename FreeTimeTrajectory<dorder>::size_type order) const throw ()
- {
- return this->impl_derivative (derivative,
- stp.getTime (this->timeRange ()),
- order);
- }
-
- template <unsigned dorder>
typename FreeTimeTrajectory<dorder>::jacobian_t
FreeTimeTrajectory<dorder>::variationConfigWrtParam (double t) const throw ()
{
return this->variationDerivWrtParam (t, 0.);
}
- template <unsigned dorder>
- typename FreeTimeTrajectory<dorder>::jacobian_t
- FreeTimeTrajectory<dorder>::variationConfigWrtParam (StableTimePoint stp)
- const throw ()
- {
- return this->variationConfigWrtParam (stp.getTime (this->timeRange ()));
- }
-
//FIXME: check that!
template <unsigned dorder>
typename FreeTimeTrajectory<dorder>::jacobian_t
@@ -158,16 +128,6 @@ namespace roboptim
}
template <unsigned dorder>
- typename FreeTimeTrajectory<dorder>::jacobian_t
- FreeTimeTrajectory<dorder>::variationDerivWrtParam (StableTimePoint stp,
- size_type order)
- const throw ()
- {
- return this->variationDerivWrtParam
- (stp.getTime (this->timeRange ()), order);
- }
-
- template <unsigned dorder>
typename FreeTimeTrajectory<dorder>::value_type
FreeTimeTrajectory<dorder>::singularPointAtRank (size_type rank) const
{
diff --git a/include/roboptim/trajectory/limit-speed.hh b/include/roboptim/trajectory/limit-speed.hh
index 17ef6dc..850cad9 100644
--- a/include/roboptim/trajectory/limit-speed.hh
+++ b/include/roboptim/trajectory/limit-speed.hh
@@ -33,6 +33,8 @@ namespace roboptim
LimitSpeed (StableTimePoint timePoint, const T& spline) throw ();
~LimitSpeed () throw ();
+ const T& trajectory () const throw ();
+
template <typename F, typename CLIST>
static void addToProblem (const T&,
Problem<F, CLIST>&,
diff --git a/include/roboptim/trajectory/limit-speed.hxx b/include/roboptim/trajectory/limit-speed.hxx
index a3a644c..e75d8b9 100644
--- a/include/roboptim/trajectory/limit-speed.hxx
+++ b/include/roboptim/trajectory/limit-speed.hxx
@@ -37,7 +37,14 @@ namespace roboptim
template <typename T>
LimitSpeed<T>::~LimitSpeed () throw ()
{}
-
+
+ template <typename T>
+ const T&
+ LimitSpeed<T>::trajectory () const throw ()
+ {
+ return trajectory_;
+ }
+
template <typename T>
void
LimitSpeed<T>::impl_compute (result_t& res, const argument_t& p) const throw ()
diff --git a/include/roboptim/trajectory/stable-time-point.hh b/include/roboptim/trajectory/stable-time-point.hh
index ce9256a..f2ff2e4 100644
--- a/include/roboptim/trajectory/stable-time-point.hh
+++ b/include/roboptim/trajectory/stable-time-point.hh
@@ -22,7 +22,7 @@
namespace roboptim
{
class TMax {};
- TMax tMax;
+ static const TMax tMax = TMax ();
class StableTimePoint
{
@@ -53,12 +53,12 @@ namespace roboptim
value_type alpha_;
};
- StableTimePoint operator* (Function::value_type alpha, TMax)
+ inline StableTimePoint operator* (Function::value_type alpha, TMax)
{
return StableTimePoint (alpha);
}
- StableTimePoint operator* (TMax, Function::value_type alpha)
+ inline StableTimePoint operator* (TMax, Function::value_type alpha)
{
return StableTimePoint (alpha);
}
diff --git a/include/roboptim/trajectory/trajectory.hh b/include/roboptim/trajectory/trajectory.hh
index 5754eb9..1dc0c9b 100644
--- a/include/roboptim/trajectory/trajectory.hh
+++ b/include/roboptim/trajectory/trajectory.hh
@@ -19,8 +19,9 @@
# define ROBOPTIM_TRAJECTORY_TRAJECTORY_HH
# include <utility>
-# include <roboptim/trajectory/fwd.hh>
# include <roboptim/core/n-times-derivable-function.hh>
+# include <roboptim/trajectory/fwd.hh>
+# include <roboptim/trajectory/stable-time-point.hh>
# define ROBOPTIM_IMPLEMENT_CLONE(C) \
virtual C* clone () const throw () \
@@ -73,12 +74,21 @@ namespace roboptim
/// \brief Parent type.
typedef NTimesDerivableFunction<DerivabilityOrder> parent_t;
+ using typename parent_t::operator ();
+ using typename parent_t::derivative;
+ using typename parent_t::impl_compute;
+ using typename parent_t::impl_derivative;
+
/// \brief Import value type.
typedef typename parent_t::value_type value_type;
/// \brief Import size type.
typedef typename parent_t::size_type size_type;
/// \brief Import vector type.
typedef typename parent_t::vector_t vector_t;
+ /// \brief Import result type.
+ typedef typename parent_t::result_t result_t;
+ /// \brief Import gradient type.
+ typedef typename parent_t::gradient_t gradient_t;
/// \brief Import jacobian type.
typedef typename parent_t::jacobian_t jacobian_t;
/// \brief Import interval type.
@@ -179,10 +189,56 @@ namespace roboptim
const = 0;
/// \}
+
+ result_t operator () (StableTimePoint argument) const throw ()
+ {
+ result_t result (this->outputSize ());
+ result.clear ();
+ (*this) (result, argument);
+ return result;
+ }
+
+ void operator () (result_t& result, StableTimePoint argument) const throw ()
+ {
+ assert (this->isValidResult (result));
+ this->impl_compute (result, argument);
+ assert (this->isValidResult (result));
+ }
+
+ gradient_t derivative (StableTimePoint argument, size_type order = 1) const
+ throw ()
+ {
+ gradient_t derivative (this->derivativeSize ());
+ derivative.clear ();
+ this->derivative (derivative, argument, order);
+ return derivative;
+ }
+
+ void derivative (gradient_t& derivative,
+ StableTimePoint argument,
+ size_type order = 1) const
+ throw ()
+ {
+ assert (order <= Trajectory<DerivabilityOrder>::derivabilityOrder
+ && this->isValidDerivative (derivative));
+ this->impl_derivative (derivative, argument, order);
+ assert (this->isValidDerivative (derivative));
+ }
+
+ virtual jacobian_t variationConfigWrtParam (StableTimePoint tp) const throw ();
+ virtual jacobian_t variationDerivWrtParam (StableTimePoint tp, size_type order)
+ const throw ();
+
+
+
virtual Trajectory<DerivabilityOrder>* clone () const throw () = 0;
virtual std::ostream& print (std::ostream&) const throw ();
protected:
+ void impl_compute (result_t&, StableTimePoint) const throw ();
+ void impl_derivative (gradient_t& g, StableTimePoint, size_type order)
+ const throw ();
+
Trajectory (interval_t, size_type, const vector_t&,
std::string name = std::string ()) throw ();
diff --git a/include/roboptim/trajectory/trajectory.hxx b/include/roboptim/trajectory/trajectory.hxx
index a8a657b..3cc76f3 100644
--- a/include/roboptim/trajectory/trajectory.hxx
+++ b/include/roboptim/trajectory/trajectory.hxx
@@ -117,6 +117,46 @@ namespace roboptim
return singularPoints_;
}
+
+ template <unsigned dorder>
+ void
+ Trajectory<dorder>::impl_compute
+ (typename Trajectory<dorder>::result_t& res , StableTimePoint stp) const throw ()
+ {
+ (*this) (res, stp.getTime (this->timeRange ()));
+ }
+
+ template <unsigned dorder>
+ void
+ Trajectory<dorder>::impl_derivative
+ (typename Trajectory<dorder>::gradient_t& derivative,
+ StableTimePoint stp,
+ typename Trajectory<dorder>::size_type order) const throw ()
+ {
+ return this->impl_derivative (derivative,
+ stp.getTime (this->timeRange ()),
+ order);
+ }
+
+ template <unsigned dorder>
+ typename Trajectory<dorder>::jacobian_t
+ Trajectory<dorder>::variationConfigWrtParam (StableTimePoint stp)
+ const throw ()
+ {
+ return this->variationConfigWrtParam (stp.getTime (this->timeRange ()));
+ }
+
+
+ template <unsigned dorder>
+ typename Trajectory<dorder>::jacobian_t
+ Trajectory<dorder>::variationDerivWrtParam (StableTimePoint stp,
+ size_type order)
+ const throw ()
+ {
+ return this->variationDerivWrtParam
+ (stp.getTime (this->timeRange ()), order);
+ }
+
template <unsigned dorder>
std::ostream&
Trajectory<dorder>::print (std::ostream& o) const throw ()
diff --git a/include/roboptim/trajectory/visualization/limit-speed.hh b/include/roboptim/trajectory/visualization/limit-speed.hh
new file mode 100644
index 0000000..4c3c0ab
--- /dev/null
+++ b/include/roboptim/trajectory/visualization/limit-speed.hh
@@ -0,0 +1,91 @@
+// 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_TRAJECTORY_HH
+# define ROBOPTIM_TRAJECTORY_VISUALIZATION_TRAJECTORY_HH
+# include <boost/format.hpp>
+
+# include <roboptim/core/visualization/gnuplot-commands.hh>
+# include <roboptim/trajectory/limit-speed.hh>
+
+namespace roboptim
+{
+ namespace visualization
+ {
+ namespace gnuplot
+ {
+ /// \brief Plot a speed limit constraint.
+ ///
+ /// \return Gnuplot command
+ template <unsigned dorder>
+ Command plot_limitSpeed
+ (const Trajectory<dorder>& trajectory,
+ typename Trajectory<dorder>::value_type step = .01);
+
+ namespace detail
+ {
+ template <typename T>
+ struct PlotLimitSpeed
+ {
+ PlotLimitSpeed (const T& trajectory, std::string& str)
+ : trajectory_ (trajectory),
+ str_ (str)
+ {}
+
+ void operator () (const Function::value_type& t)
+ {
+ using namespace boost::numeric::ublas;
+ using boost::format;
+
+ double tmax = Function::getUpperBound (trajectory_.timeRange ());
+
+ LimitSpeed<T> speedLimit (t / tmax * tMax, trajectory_);
+ Function::vector_t res = speedLimit (trajectory_.parameters ());
+ str_ += (format ("%1% %2%\n") % t % res[0]).str ();
+ }
+
+ private:
+ const T& trajectory_;
+ std::string& str_;
+ };
+ } // end of namespace detail.
+
+ template <unsigned dorder>
+ Command plot_limitSpeed (const Trajectory<dorder>& trajectory,
+ typename Trajectory<dorder>::value_type step)
+ {
+ using namespace detail;
+ Function::value_type min =
+ Function::getLowerBound (trajectory.timeRange ());
+ Function::value_type max =
+ Function::getUpperBound (trajectory.timeRange ());
+ Function::discreteInterval_t interval (min, max, step);
+
+ std::string str = (boost::format ("plot '-' title '%1%' with line\n")
+ % trajectory.getName ()).str ();
+
+ trajectory.foreach
+ (interval,
+ PlotLimitSpeed<Trajectory<dorder> > (trajectory, str));
+ str += "e\n";
+ return Command (str);
+ }
+ } // end of namespace gnuplot.
+ } // end of namespace visualization.
+} // end of namespace roboptim.
+
+#endif //! ROBOPTIM_TRAJECTORY_VISUALIZATION_TRAJECTORY_HH
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index d5eb57a..0eff8cc 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.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 <fstream>
+
#include <boost/assign/list_of.hpp>
#include <boost/mpl/vector.hpp>
#include <boost/numeric/ublas/io.hpp>
@@ -22,6 +24,10 @@
#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/core/visualization/gnuplot-function.hh>
+
#include <roboptim/trajectory/free-time-trajectory.hh>
#include <roboptim/trajectory/freeze.hh>
#include <roboptim/trajectory/fwd.hh>
@@ -30,9 +36,14 @@
#include <roboptim/trajectory/spline.hh>
#include <roboptim/trajectory/trajectory-cost.hh>
+#include <roboptim/trajectory/visualization/limit-speed.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;
@@ -117,6 +128,10 @@ int run_test ()
optimizedTrajectory.setParameters (result.x);
std::cout << "Parameters (after): " << optimizedTrajectory.parameters ()
<< std::endl;
+ std::ofstream limitSpeedStream ("limit-speed.gp");
+ limitSpeedStream
+ << (Gnuplot::make_interactive_gnuplot ()
+ << plot_limitSpeed (optimizedTrajectory));
break;
}
@@ -134,6 +149,10 @@ int run_test ()
std::cout << result << std::endl;
std::cout << "Parameters (after): " << optimizedTrajectory.parameters ()
<< std::endl;
+ std::ofstream limitSpeedStream ("limit-speed.gp");
+ limitSpeedStream
+ << (Gnuplot::make_interactive_gnuplot ()
+ << plot_limitSpeed (optimizedTrajectory));
break;
}
@@ -144,6 +163,7 @@ int run_test ()
return 1;
}
}
+
return 0;
}
commit 5d903cc95a204dee7e86454f921c76fdb533a1a3
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 23 18:11:31 2009 +0900
Fix computation error in free time trajectory.
* include/roboptim/trajectory/free-time-trajectory.hxx:
Fix computation error.
* tests/spline-time-optimization.cc: Restyle.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b...
[truncated message content] |
|
From: Thomas M. <tho...@us...> - 2009-07-23 08:03:08
|
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 e68e36456ec09d884ee2dbad50eb067724d5a723 (commit)
via d54d72128bb2da227d970fa804bb6dc3f34e3b52 (commit)
via ca95fba1be9390c7fbd2021eba8722615bf8138c (commit)
via 757e9e9de4b63f7269ac059951a6559b039ee531 (commit)
from 3f7373f2c344ea0b64890e57c82cff5d59786e74 (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 e68e36456ec09d884ee2dbad50eb067724d5a723
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 23 17:02:37 2009 +0900
Debug free time trajectory.
* include/roboptim/trajectory/free-time-trajectory.hxx:
Debug and clean code.
* include/roboptim/trajectory/trajectory.hh: Add fixTime
free function.
* src/spline.cc: Remove fixTime free function.
* tests/free-time-trajectory.cc: Add more tests.
* tests/spline-optimization.cc: Use a bigger threshold
for gradient checking.
* tests/testsuite.at: Tag free-time-trajectory test as XFAIL
for now.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 211c5b5..58000ab 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -2,6 +2,20 @@
Debug free time trajectory.
* include/roboptim/trajectory/free-time-trajectory.hxx:
+ Debug and clean code.
+ * include/roboptim/trajectory/trajectory.hh: Add fixTime
+ free function.
+ * src/spline.cc: Remove fixTime free function.
+ * tests/free-time-trajectory.cc: Add more tests.
+ * tests/spline-optimization.cc: Use a bigger threshold
+ for gradient checking.
+ * tests/testsuite.at: Tag free-time-trajectory test as XFAIL
+ for now.
+
+2009-07-23 Thomas Moulard <tho...@gm...>
+
+ Debug free time trajectory.
+ * include/roboptim/trajectory/free-time-trajectory.hxx:
Rewrite variationConfigWrtParam.
* tests/free-time-trajectory.cc: Display derivatives.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index fd820c0..a83e5ee 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -89,7 +89,7 @@ namespace roboptim
FreeTimeTrajectory<dorder>::impl_compute
(typename FreeTimeTrajectory<dorder>::result_t& res , StableTimePoint stp) const throw ()
{
- (*trajectory_) (res, stp.getTime (trajectory_->timeRange ()));
+ (*this) (res, stp.getTime (this->timeRange ()));
}
template <unsigned dorder>
@@ -112,29 +112,16 @@ namespace roboptim
StableTimePoint stp,
typename FreeTimeTrajectory<dorder>::size_type order) const throw ()
{
- assert (order >= 0);
- double scaled = stp.getTime (trajectory_->timeRange ());
- trajectory_->derivative (derivative, scaled, order);
- derivative *= std::pow (this->timeScale (), 0. + order);
+ return this->impl_derivative (derivative,
+ stp.getTime (this->timeRange ()),
+ order);
}
template <unsigned dorder>
typename FreeTimeTrajectory<dorder>::jacobian_t
FreeTimeTrajectory<dorder>::variationConfigWrtParam (double t) const throw ()
{
- double t_min = this->getLowerBound (this->timeRange ());
- double scaled = this->scaleTime (t);
- jacobian_t jac = trajectory_->variationConfigWrtParam (scaled);
-
- // Last column corresponds to derivative wrt lambda_{p+1}
- vector_t dGamma0_dt = trajectory_->derivative (scaled, 1);
- dGamma0_dt *= (t - t_min);
-
- // Fill last column of Jacobian with dGamma0_dt
- size_type timeScalingIndex = getTimeScalingIndex ();
- for (size_type i = 0; i < jac.size1(); ++i)
- jac (i, timeScalingIndex) = dGamma0_dt (i);
- return jac;
+ return this->variationDerivWrtParam (t, 0.);
}
template <unsigned dorder>
@@ -142,19 +129,16 @@ namespace roboptim
FreeTimeTrajectory<dorder>::variationConfigWrtParam (StableTimePoint stp)
const throw ()
{
- return this->variationConfigWrtParam (stp.getTime (trajectory_->timeRange ()));
+ return this->variationConfigWrtParam (stp.getTime (this->timeRange ()));
}
+ //FIXME: check that!
template <unsigned dorder>
typename FreeTimeTrajectory<dorder>::jacobian_t
FreeTimeTrajectory<dorder>::variationDerivWrtParam (double t, size_type order)
const throw ()
{
using namespace boost::numeric::ublas;
-
- if (!order)
- return variationConfigWrtParam (t);
-
value_type scaled = this->scaleTime (t);
double tMin = this->getLowerBound (this->timeRange ());
@@ -180,15 +164,15 @@ namespace roboptim
const throw ()
{
return this->variationDerivWrtParam
- (stp.getTime (trajectory_->timeRange ()), order);
+ (stp.getTime (this->timeRange ()), order);
}
template <unsigned dorder>
typename FreeTimeTrajectory<dorder>::value_type
FreeTimeTrajectory<dorder>::singularPointAtRank (size_type rank) const
{
- double t_min = this->getLowerBound (this->timeRange ());
- return t_min + (trajectory_->singularPointAtRank (rank) - t_min)
+ double tMin = this->getLowerBound (this->timeRange ());
+ return tMin + (trajectory_->singularPointAtRank (rank) - tMin)
/ this->timeScale ();
}
@@ -216,8 +200,7 @@ namespace roboptim
assert (p[0] > 0.);
this->parameters_ = p;
- this->timeRange_ = makeInterval(getLowerBound (trajectory_->timeRange ()),
- p[0] * getUpperBound (trajectory_->timeRange ()));
+ this->timeRange_ = detail::scaleInterval (*trajectory_, this->timeScale ());
this->trajectory_->setParameters (removeScaleFromParameters (p));
}
@@ -237,6 +220,7 @@ namespace roboptim
value_type tmin = getLowerBound (this->trajectory_->timeRange ());
value_type tmax = getUpperBound (this->trajectory_->timeRange ());
+ unscaled = detail::fixTime (unscaled, *this);
assert (tMin <= unscaled && unscaled <= tMax);
value_type res = tmin + (unscaled - tMin) / timeScale ();
@@ -257,6 +241,7 @@ namespace roboptim
value_type tmin = getLowerBound (this->trajectory_->timeRange ());
value_type tmax = getUpperBound (this->trajectory_->timeRange ());
+ scaled = detail::fixTime (scaled, *this);
assert (tmin <= scaled && scaled <= tmax);
value_type res = tMin + (scaled - tmin) * timeScale ();
diff --git a/include/roboptim/trajectory/trajectory.hh b/include/roboptim/trajectory/trajectory.hh
index c720caa..5754eb9 100644
--- a/include/roboptim/trajectory/trajectory.hh
+++ b/include/roboptim/trajectory/trajectory.hh
@@ -30,6 +30,25 @@
namespace roboptim
{
+ namespace detail
+ {
+ template <typename T>
+ double fixTime (double t, const T& trajectory);
+
+ template <typename T>
+ double fixTime (double t, const T& trajectory)
+ {
+ static const double epsilon = 1e-5;
+ const double tmin = Function::getLowerBound (trajectory.timeRange ());
+ const double tmax = Function::getUpperBound (trajectory.timeRange ());
+ if (t < tmin && (t + epsilon) >= tmin)
+ return tmin;
+ if (t > tmax && (t - epsilon) <= tmax)
+ return tmax;
+ return t;
+ }
+ } // end of namespace detail.
+
/// \addtogroup roboptim_meta_function
/// @{
diff --git a/src/spline.cc b/src/spline.cc
index c605009..9d3de11 100644
--- a/src/spline.cc
+++ b/src/spline.cc
@@ -23,21 +23,6 @@
namespace roboptim
{
- namespace detail
- {
- // Allow small underflow and overflow of t.
- double fixTime (double t, const Spline& spline)
- {
- static const double epsilon = 1e-5;
- const double tmin = Function::getLowerBound (spline.timeRange ());
- const double tmax = Function::getUpperBound (spline.timeRange ());
- if (t < tmin && (t + epsilon) >= tmin)
- return tmin;
- if (t > tmax && (t - epsilon) <= tmax)
- return tmax;
- return t;
- }
- } // end of namespace detail.
//FIXME: defined_lc_in has to be true (false untested).
Spline::Spline (interval_t tr, size_type outputSize, const vector_t& p,
diff --git a/tests/free-time-trajectory.cc b/tests/free-time-trajectory.cc
index aac541b..478015f 100644
--- a/tests/free-time-trajectory.cc
+++ b/tests/free-time-trajectory.cc
@@ -76,13 +76,37 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
fmter % "N/A";
fmter % freeTimeTraj.derivative (t, 1)[0];
-
std:: cout << fmter << std::endl;
}
std::cout << "\\---------------------------------------"
<< "---------------------------------------/"
<< std::endl << std::endl;
+ std::cout << "Gradient check." << std::endl;
+
+ for (double t = fttTmin; t <= fttTmax + 1e-3; t += .1)
+ {
+ if (t > fttTmax)
+ t = fttTmax;
+
+ Spline::vector_t x (1);
+ x[0] = t;
+
+ try
+ {
+ std::cout << "Spline gradient." << std::endl;
+ if (tmin <= t && t <= tmax)
+ checkGradientAndThrow (spline, 0, x);
+ std::cout << "Free time trajectory gradient." << std::endl;
+ checkGradientAndThrow (freeTimeTraj, 0, x);
+ }
+ catch (BadGradient& bg)
+ {
+ std::cout << bg << std::endl;
+ }
+ }
+ std::cout << std::endl;
+
std::cout << "Variation of the derivative w.r.t to parameters:" << std::endl;
format fmterDeriv ("%1% %|50t|%2%");
diff --git a/tests/spline-optimization.cc b/tests/spline-optimization.cc
index 0fd3f42..b55a229 100644
--- a/tests/spline-optimization.cc
+++ b/tests/spline-optimization.cc
@@ -93,36 +93,20 @@ int run_test ()
SplineLength cost (spline, costInterval);
// Check cost gradient.
+ try
{
Function::vector_t x (params.size ());
x.clear ();
- if (! checkGradient (cost, 0, x))
- {
- FiniteDifferenceGradient fdfunction (cost);
- DerivableFunction::gradient_t grad = cost.gradient (x, 0);
- DerivableFunction::gradient_t fdgrad = fdfunction.gradient (x, 0);
-
- std::cerr << "Cost: " << cost (x) << std::endl
- << "Grad: " << grad << std::endl
- << "FD Grad: " << fdgrad << std::endl
- << "Difference: " << grad - fdgrad << std::endl;
- assert (0 && "Bad gradient");
- }
+ checkGradientAndThrow (cost, 0, x, 2e-3);
x = params;
- if (! checkGradient (cost, 0, x))
- {
- FiniteDifferenceGradient fdfunction (cost);
- DerivableFunction::gradient_t grad = cost.gradient (x, 0);
- DerivableFunction::gradient_t fdgrad = fdfunction.gradient (x, 0);
-
- std::cerr << "Cost: " << cost (x) << std::endl
- << "Grad: " << grad << std::endl
- << "FD Grad: " << fdgrad << std::endl
- << "Difference: " << grad - fdgrad << std::endl;
- assert (0 && "Bad gradient");
- }
+ checkGradientAndThrow (cost, 0, x, 2e-3);
}
+ catch (BadGradient& bg)
+ {
+ std::cout << bg << std::endl;
+ return 1;
+ }
solver_t::problem_t problem (cost);
problem.startingPoint () = params;
@@ -183,21 +167,15 @@ int run_test ()
std::cerr << "Parameters (after): " << params << std::endl;
// Check cost gradient (final).
- {
- if (! checkGradient (cost, 0, params))
- {
- FiniteDifferenceGradient fdfunction (cost);
- DerivableFunction::gradient_t grad = cost.gradient (params, 0);
- DerivableFunction::gradient_t fdgrad = fdfunction.gradient (params, 0);
-
- std::cerr << "Cost: " << cost (params) << std::endl
- << "Grad: " << grad << std::endl
- << "FD Grad: " << fdgrad << std::endl
- << "Difference: " << grad - fdgrad << std::endl;
- assert (0 && "Bad gradient");
- }
- }
-
+ try
+ {
+ checkGradientAndThrow (cost, 0, params, 2e-3);
+ }
+ catch (BadGradient& bg)
+ {
+ std::cout << bg << std::endl;
+ return 1;
+ }
std::cout << (gnuplot << unset ("multiplot"));
return 0;
diff --git a/tests/testsuite.at b/tests/testsuite.at
index 523aecd..6541760 100644
--- a/tests/testsuite.at
+++ b/tests/testsuite.at
@@ -32,7 +32,7 @@ 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.])
+CHECK_STDOUT([free-time-trajectory], [Check free time trajectory.], [false], [true])
CHECK_STDOUT([spline-optimization-time], [Optimize a free time trajectory.], [false], [true])
# End of testsuite.at
commit d54d72128bb2da227d970fa804bb6dc3f34e3b52
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 23 14:26:41 2009 +0900
Debug free time trajectory.
* include/roboptim/trajectory/free-time-trajectory.hxx:
Rewrite variationConfigWrtParam.
* tests/free-time-trajectory.cc: Display derivatives.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 34f4a2d..211c5b5 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,12 @@
2009-07-23 Thomas Moulard <tho...@gm...>
+ Debug free time trajectory.
+ * include/roboptim/trajectory/free-time-trajectory.hxx:
+ Rewrite variationConfigWrtParam.
+ * tests/free-time-trajectory.cc: Display derivatives.
+
+2009-07-23 Thomas Moulard <tho...@gm...>
+
Debug free time trajectory and add stable time point.
* 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 1f5ce6f..fd820c0 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -19,6 +19,9 @@
# define ROBOPTIM_TRAJECTORY_FREETIMETRAJECTORY_HXX
# include <cmath>
+# include <boost/numeric/ublas/matrix.hpp>
+# include <boost/numeric/ublas/matrix_proxy.hpp>
+
namespace roboptim
{
namespace detail
@@ -110,7 +113,7 @@ namespace roboptim
typename FreeTimeTrajectory<dorder>::size_type order) const throw ()
{
assert (order >= 0);
- double scaled = stp.getTime (this->timeRange ());
+ double scaled = stp.getTime (trajectory_->timeRange ());
trajectory_->derivative (derivative, scaled, order);
derivative *= std::pow (this->timeScale (), 0. + order);
}
@@ -139,7 +142,7 @@ namespace roboptim
FreeTimeTrajectory<dorder>::variationConfigWrtParam (StableTimePoint stp)
const throw ()
{
- return this->variationConfigWrtParam (stp.getTime (this->timeRange ()));
+ return this->variationConfigWrtParam (stp.getTime (trajectory_->timeRange ()));
}
template <unsigned dorder>
@@ -147,35 +150,27 @@ namespace roboptim
FreeTimeTrajectory<dorder>::variationDerivWrtParam (double t, size_type order)
const throw ()
{
+ using namespace boost::numeric::ublas;
+
if (!order)
return variationConfigWrtParam (t);
- double t_min = this->getLowerBound (this->timeRange ());
-
- double scaled = this->scaleTime (t);
- jacobian_t jac =
- trajectory_->variationDerivWrtParam (scaled, order);
+ value_type scaled = this->scaleTime (t);
- double lambda_p_plus_1_pow_n_minus_1 = 1.;
- for (size_type i = 0; i< order - 1; ++i)
- lambda_p_plus_1_pow_n_minus_1 *= this->timeScale ();
+ double tMin = this->getLowerBound (this->timeRange ());
- jac *= lambda_p_plus_1_pow_n_minus_1 * this->timeScale ();
+ jacobian_t result (this->outputSize (),
+ this->parameters ().size ());
+ result.clear ();
- // Fill last column of Jacobian
- vector_t lastColumn1 = trajectory_->derivative (scaled, order);
- lastColumn1 *= order;
+ // Compute variation w.r.t time scale (p_0)
+ column (result, 0) = (t - tMin) * trajectory_->derivative (scaled);
- vector_t lastColumn2 = trajectory_->derivative (scaled, order);
- lastColumn2 *= this->timeScale () * (t-t_min);
+ // Fill 1..(n-1) lines with original jacobian.
+ project (result, range (0, result.size1 ()), range (1, result.size2 ()))
+ = trajectory_->variationDerivWrtParam (scaled, order);
- vector_t lastColumn =
- (lastColumn1 + lastColumn2) * lambda_p_plus_1_pow_n_minus_1;
-
- size_type timeScalingIndex = getTimeScalingIndex ();
- for (size_type i = 0; i < jac.size1(); ++i)
- jac (i, timeScalingIndex) = lastColumn (i);
- return jac;
+ return result;
}
template <unsigned dorder>
@@ -185,7 +180,7 @@ namespace roboptim
const throw ()
{
return this->variationDerivWrtParam
- (stp.getTime (this->timeRange ()), order);
+ (stp.getTime (trajectory_->timeRange ()), order);
}
template <unsigned dorder>
diff --git a/tests/free-time-trajectory.cc b/tests/free-time-trajectory.cc
index fb30599..aac541b 100644
--- a/tests/free-time-trajectory.cc
+++ b/tests/free-time-trajectory.cc
@@ -16,6 +16,7 @@
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#include <boost/format.hpp>
+#include <boost/numeric/ublas/io.hpp>
#include <roboptim/core/finite-difference-gradient.hh>
@@ -76,12 +77,37 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
fmter % freeTimeTraj.derivative (t, 1)[0];
- std:: cout << fmter << std::endl;
+ std:: cout << fmter << 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%");
+ for (double t = fttTmin; t <= fttTmax + 1e-3; t += .1)
+ {
+ if (t > fttTmax)
+ t = fttTmax;
+
+ if (tmin <= t && t <= tmax)
+ {
+ Spline::jacobian_t splineVarDeriv =
+ spline.variationDerivWrtParam (t, 1);
+ fmterDeriv % splineVarDeriv;
+ }
+ else
+ fmterDeriv % "N/A";
+
+ freeTime_t::jacobian_t fttVarDeriv =
+ freeTimeTraj.variationDerivWrtParam (t, 1);
+ fmterDeriv % fttVarDeriv;
+
+ std::cout << fmterDeriv << std::endl;
+ }
+
+ std::cout << std::endl;
}
int run_test ()
@@ -110,9 +136,9 @@ int run_test ()
freeTimeTraj.setParameters (params);
printTable (spline, freeTimeTraj);
-// params[0] = .5;
-// freeTimeTraj.setParameters (params);
-// printTable (spline, freeTimeTraj);
+ params[0] = .5;
+ freeTimeTraj.setParameters (params);
+ printTable (spline, freeTimeTraj);
return 0;
}
commit ca95fba1be9390c7fbd2021eba8722615bf8138c
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 23 13:09:04 2009 +0900
Debug free time trajectory and add stable time point.
* include/roboptim/trajectory/free-time-trajectory.hh,
* include/roboptim/trajectory/free-time-trajectory.hxx:
Add stable time point interface and debug.
* tests/free-time-trajectory.cc: Add tests.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 8085809..34f4a2d 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,11 @@
+2009-07-23 Thomas Moulard <tho...@gm...>
+
+ Debug free time trajectory and add stable time point.
+ * include/roboptim/trajectory/free-time-trajectory.hh,
+ * include/roboptim/trajectory/free-time-trajectory.hxx:
+ Add stable time point interface and debug.
+ * tests/free-time-trajectory.cc: Add tests.
+
2009-07-22 Thomas Moulard <tho...@gm...>
Add TimeStablePoint interface into FreeTimeTrajectory.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hh b/include/roboptim/trajectory/free-time-trajectory.hh
index 3caab1c..9d58f4c 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hh
+++ b/include/roboptim/trajectory/free-time-trajectory.hh
@@ -51,11 +51,15 @@ namespace roboptim
/// \brief Import interval type.
typedef typename parent_t::interval_t interval_t;
+ using typename parent_t::operator ();
+ using typename parent_t::derivative;
+
/// Constructor with fixed definition interval trajectory
///
/// \param traj trajectory defining this one by reparameterization
/// \param s time scale
- FreeTimeTrajectory (const Trajectory<DerivabilityOrder>& traj, double s) throw ();
+ FreeTimeTrajectory (const Trajectory<DerivabilityOrder>& traj, value_type s)
+ throw ();
FreeTimeTrajectory (const FreeTimeTrajectory<DerivabilityOrder>& traj) throw ();
@@ -72,7 +76,6 @@ namespace roboptim
virtual vector_t derivAfterSingularPoint (size_type rank, size_type order)
const;
-
result_t operator () (StableTimePoint argument) const throw ()
{
result_t result (this->outputSize ());
@@ -83,9 +86,9 @@ namespace roboptim
void operator () (result_t& result, StableTimePoint argument) const throw ()
{
- assert (isValidResult (result));
+ assert (this->isValidResult (result));
this->impl_compute (result, argument);
- assert (isValidResult (result));
+ assert (this->isValidResult (result));
}
gradient_t derivative (StableTimePoint argument, size_type order = 1) const
@@ -116,7 +119,7 @@ namespace roboptim
/// \brief Get time scale factor.
/// \return time scale factor.
- double timeScale () const throw ();
+ value_type timeScale () const throw ();
size_type getTimeScalingIndex () const throw ()
{
@@ -151,6 +154,7 @@ namespace roboptim
/// \param t input time
/// \return new scaled time
double scaleTime (double t) const throw ();
+ double unscaleTime (double t) const throw ();
/// \brief Input fixed time trajectory.
Trajectory<DerivabilityOrder>* trajectory_;
@@ -158,6 +162,32 @@ namespace roboptim
/// @}
+ Function::vector_t
+ addScaleToParameters (const Function::vector_t& p,
+ Function::value_type t = 1.);
+ Function::vector_t
+ removeScaleFromParameters (const Function::vector_t& v);
+
+ Function::vector_t
+ addScaleToParameters (const Function::vector_t& p,
+ Function::value_type t)
+ {
+ Function::vector_t res (p.size () + 1);
+ res[0] = t;
+ for (unsigned i = 0; i < p.size (); ++i)
+ res[i + 1] = p[i];
+ return res;
+ }
+
+ Function::vector_t
+ removeScaleFromParameters (const Function::vector_t& p)
+ {
+ Function::vector_t res (p.size () - 1);
+ for (unsigned i = 1; i < p.size (); ++i)
+ res[i - 1] = p[i];
+ return res;
+ }
+
} // end of namespace roboptim.
# 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 1635da2..1f5ce6f 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -23,40 +23,12 @@ namespace roboptim
{
namespace detail
{
- Function::vector_t
- addScaleToParams (const Function::vector_t& p,
- Function::value_type t = 1.);
-
- Function::vector_t
- removeScaleFromParams (const Function::vector_t& v);
-
-
- Function::vector_t
- addScaleToParams (const Function::vector_t& p,
- Function::value_type t)
- {
- Function::vector_t res (p.size () + 1);
- res[0] = t;
- for (unsigned i = 0; i < p.size (); ++i)
- res[i + 1] = p[i];
- return res;
- }
-
- Function::vector_t
- removeScaleFromParams (const Function::vector_t& p)
- {
- Function::vector_t res (p.size () - 1);
- for (unsigned i = 1; i < p.size (); ++i)
- res[i - 1] = p[i];
- return res;
- }
-
Function::value_type
scaleTime (Function::value_type unscaled,
Function::value_type min,
Function::value_type scale)
{
- return min + scale * (unscaled - min);
+ return min + (unscaled - min) * scale;
}
template <unsigned dorder>
@@ -75,10 +47,9 @@ namespace roboptim
template <unsigned dorder>
FreeTimeTrajectory<dorder>::FreeTimeTrajectory
- (const Trajectory<dorder>& traj, double s)
- throw ()
+ (const Trajectory<dorder>& traj, value_type s) throw ()
: Trajectory<dorder> (detail::scaleInterval (traj, s), traj.outputSize (),
- detail::addScaleToParams (traj.parameters (), s)),
+ addScaleToParameters (traj.parameters (), s)),
trajectory_ (traj.clone ())
{
assert (s != 0. && !std::isinf (s) && !std::isnan (s));
@@ -107,7 +78,7 @@ namespace roboptim
FreeTimeTrajectory<dorder>::impl_compute
(typename FreeTimeTrajectory<dorder>::result_t& res , double t) const throw ()
{
- (*trajectory_) (t);
+ (*trajectory_) (res, this->scaleTime (t));
}
template <unsigned dorder>
@@ -115,7 +86,7 @@ namespace roboptim
FreeTimeTrajectory<dorder>::impl_compute
(typename FreeTimeTrajectory<dorder>::result_t& res , StableTimePoint stp) const throw ()
{
- this->impl_compute (stp.getTime (this->timeRange ()));
+ (*trajectory_) (res, stp.getTime (trajectory_->timeRange ()));
}
template <unsigned dorder>
@@ -125,13 +96,10 @@ namespace roboptim
double t,
typename FreeTimeTrajectory<dorder>::size_type order) const throw ()
{
- double scaled = scaleTime (t);
+ assert (order >= 0);
+ double scaled = this->scaleTime (t);
trajectory_->derivative (derivative, scaled, order);
-
- double coef = 1.;
- for (size_t i = 0; i < order; ++i)
- coef *= this->timeScale (); //FIXME: timeScale?
- derivative *= coef;
+ derivative *= std::pow (this->timeScale (), 0. + order);
}
template <unsigned dorder>
@@ -141,7 +109,10 @@ namespace roboptim
StableTimePoint stp,
typename FreeTimeTrajectory<dorder>::size_type order) const throw ()
{
- this->impl_derivative (derivative, stp.getTime (this->timeRange ()), order);
+ assert (order >= 0);
+ double scaled = stp.getTime (this->timeRange ());
+ trajectory_->derivative (derivative, scaled, order);
+ derivative *= std::pow (this->timeScale (), 0. + order);
}
template <unsigned dorder>
@@ -149,7 +120,7 @@ namespace roboptim
FreeTimeTrajectory<dorder>::variationConfigWrtParam (double t) const throw ()
{
double t_min = this->getLowerBound (this->timeRange ());
- double scaled = scaleTime (t);
+ double scaled = this->scaleTime (t);
jacobian_t jac = trajectory_->variationConfigWrtParam (scaled);
// Last column corresponds to derivative wrt lambda_{p+1}
@@ -181,7 +152,7 @@ namespace roboptim
double t_min = this->getLowerBound (this->timeRange ());
- double scaled = scaleTime (t);
+ double scaled = this->scaleTime (t);
jacobian_t jac =
trajectory_->variationDerivWrtParam (scaled, order);
@@ -247,16 +218,16 @@ namespace roboptim
void
FreeTimeTrajectory<dorder>::setParameters (const vector_t& p) throw ()
{
- assert (p[0] >= 0.);
+ assert (p[0] > 0.);
this->parameters_ = p;
this->timeRange_ = makeInterval(getLowerBound (trajectory_->timeRange ()),
p[0] * getUpperBound (trajectory_->timeRange ()));
- this->trajectory_->setParameters (detail::removeScaleFromParams (p));
+ this->trajectory_->setParameters (removeScaleFromParameters (p));
}
template <unsigned dorder>
- double
+ typename FreeTimeTrajectory<dorder>::value_type
FreeTimeTrajectory<dorder>::timeScale () const throw ()
{
return this->parameters_[0];
@@ -266,14 +237,34 @@ namespace roboptim
double
FreeTimeTrajectory<dorder>::scaleTime (double unscaled) const throw ()
{
- value_type tmin = getLowerBound (this->timeRange ());
- value_type tmax = getUpperBound (this->timeRange ());
- value_type tMin = getLowerBound (this->trajectory_->timeRange ());
- value_type tMax = getUpperBound (this->trajectory_->timeRange ());
+ value_type tMin = getLowerBound (this->timeRange ());
+ value_type tMax = getUpperBound (this->timeRange ());
+ value_type tmin = getLowerBound (this->trajectory_->timeRange ());
+ value_type tmax = getUpperBound (this->trajectory_->timeRange ());
+
+ assert (tMin <= unscaled && unscaled <= tMax);
+
+ value_type res = tmin + (unscaled - tMin) / timeScale ();
+
+ if (res > tmax)
+ res = tmax;
+ else if (res < tmin)
+ res = tmin;
+ return res;
+ }
+
+ template <unsigned dorder>
+ double
+ FreeTimeTrajectory<dorder>::unscaleTime (double scaled) const throw ()
+ {
+ value_type tMin = getLowerBound (this->timeRange ());
+ value_type tMax = getUpperBound (this->timeRange ());
+ value_type tmin = getLowerBound (this->trajectory_->timeRange ());
+ value_type tmax = getUpperBound (this->trajectory_->timeRange ());
- assert (tmin <= unscaled && unscaled <= tmax);
+ assert (tmin <= scaled && scaled <= tmax);
- value_type res = tMin + (unscaled - 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 8ccdf25..fb30599 100644
--- a/tests/free-time-trajectory.cc
+++ b/tests/free-time-trajectory.cc
@@ -15,10 +15,105 @@
// 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 <boost/format.hpp>
+
+#include <roboptim/core/finite-difference-gradient.hh>
+
+#include <roboptim/trajectory/free-time-trajectory.hh>
+#include <roboptim/trajectory/fwd.hh>
+#include <roboptim/trajectory/spline.hh>
+#include <roboptim/trajectory/trajectory-cost.hh>
+
#include "common.hh"
+using boost::format;
+using boost::io::group;
+
+using namespace roboptim;
+
+
+typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
+
+
+void printTable (const Spline& spline, const freeTime_t& freeTimeTraj);
+
+void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
+{
+ double tmin = Function::getLowerBound (spline.timeRange ());
+ double tmax = Function::getUpperBound (spline.timeRange ());
+ double fttTmin = Function::getLowerBound (freeTimeTraj.timeRange ());
+ double fttTmax = Function::getUpperBound (freeTimeTraj.timeRange ());
+
+ std::cout << format ("Spline range: [%1%, %2%]") % tmin % tmax << std::endl
+ << format ("FTT range: [%1%, %2%]") % fttTmin % fttTmax << std::endl;
+
+ format fmter ("| %1% %|6t||| %2% %|20t|| %3% %|35t||| %4% %|55t|| %5% %|79t||");
+ std::cout << "/---------------------------------------"
+ << "---------------------------------------\\" << std::endl
+ << fmter
+ % "T" % "Value" % "Value (ftt)"
+ % "Derivative" % "Derivative (ftt)"
+ << std::endl
+ << "----------------------------------------"
+ << "----------------------------------------"
+ << std::endl;
+
+ for (double t = fttTmin; t <= fttTmax + 1e-3; t += .1)
+ {
+ if (t > fttTmax)
+ t = fttTmax;
+
+ fmter % t;
+ if (tmin <= t && t <= tmax)
+ fmter % spline (t)[0];
+ else
+ fmter % "N/A";
+ fmter % freeTimeTraj (t)[0];
+ if (tmin <= t && t <= tmax)
+ fmter % spline.derivative (t, 1)[0];
+ else
+ fmter % "N/A";
+ fmter % freeTimeTraj.derivative (t, 1)[0];
+
+
+ std:: cout << fmter << std::endl;
+ }
+ std::cout << "\\---------------------------------------"
+ << "---------------------------------------/"
+ << std::endl << std::endl;
+
+}
+
int run_test ()
{
+ Spline::vector_t params (5);
+
+ // Scale.
+ params[0] = 1.;
+ // Initial position.
+ params[1] = 0.;
+ // Control point 1.
+ params[2] = 25.;
+ // Control point 2.
+ params[3] = 75.;
+ // Final position.
+ params[4] = 100.;
+
+ // Make trajectories.
+ Spline::interval_t timeRange = Spline::makeInterval (0., 4.);
+ Spline spline (timeRange, 1, removeScaleFromParameters (params), "before");
+ FreeTimeTrajectory<Spline::derivabilityOrder> freeTimeTraj (spline, 1.);
+
+ printTable (spline, freeTimeTraj);
+
+ params[0] = 2.;
+ freeTimeTraj.setParameters (params);
+ printTable (spline, freeTimeTraj);
+
+// params[0] = .5;
+// freeTimeTraj.setParameters (params);
+// printTable (spline, freeTimeTraj);
+
return 0;
}
commit 757e9e9de4b63f7269ac059951a6559b039ee531
Author: Thomas Moulard <tho...@gm...>
Date: Wed Jul 22 15:10:52 2009 +0900
Add TimeStablePoint interface into FreeTimeTrajectory.
* include/roboptim/trajectory/free-time-trajectory.hh,
* include/roboptim/trajectory/free-time-trajectory.hxx:
Add TimeStablePoint interface.
* include/roboptim/trajectory/limit-speed.hxx: Use new interface.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 89faae2..8085809 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,11 @@
+2009-07-22 Thomas Moulard <tho...@gm...>
+
+ Add TimeStablePoint interface into FreeTimeTrajectory.
+ * include/roboptim/trajectory/free-time-trajectory.hh,
+ * include/roboptim/trajectory/free-time-trajectory.hxx:
+ Add TimeStablePoint interface.
+ * include/roboptim/trajectory/limit-speed.hxx: Use new interface.
+
2009-07-17 Thomas Moulard <tho...@gm...>
Add missing include.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hh b/include/roboptim/trajectory/free-time-trajectory.hh
index 80c5719..3caab1c 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hh
+++ b/include/roboptim/trajectory/free-time-trajectory.hh
@@ -65,13 +65,52 @@ namespace roboptim
virtual jacobian_t variationConfigWrtParam (double t) const throw ();
virtual jacobian_t variationDerivWrtParam (double t, size_type order)
const throw ();
+
virtual value_type singularPointAtRank (size_type rank) const;
virtual vector_t derivBeforeSingularPoint (size_type rank, size_type order)
const;
virtual vector_t derivAfterSingularPoint (size_type rank, size_type order)
const;
- //FIXME: add stable time point gradient computation.
+
+ result_t operator () (StableTimePoint argument) const throw ()
+ {
+ result_t result (this->outputSize ());
+ result.clear ();
+ (*this) (result, argument);
+ return result;
+ }
+
+ void operator () (result_t& result, StableTimePoint argument) const throw ()
+ {
+ assert (isValidResult (result));
+ this->impl_compute (result, argument);
+ assert (isValidResult (result));
+ }
+
+ gradient_t derivative (StableTimePoint argument, size_type order = 1) const
+ throw ()
+ {
+ gradient_t derivative (this->derivativeSize ());
+ derivative.clear ();
+ this->derivative (derivative, argument, order);
+ return derivative;
+ }
+
+ void derivative (gradient_t& derivative,
+ StableTimePoint argument,
+ size_type order = 1) const
+ throw ()
+ {
+ assert (order <= Trajectory<DerivabilityOrder>::derivabilityOrder
+ && this->isValidDerivative (derivative));
+ this->impl_derivative (derivative, argument, order);
+ assert (this->isValidDerivative (derivative));
+ }
+
+ virtual jacobian_t variationConfigWrtParam (StableTimePoint tp) const throw ();
+ virtual jacobian_t variationDerivWrtParam (StableTimePoint tp, size_type order)
+ const throw ();
virtual void setParameters (const vector_t&) throw ();
@@ -84,7 +123,7 @@ namespace roboptim
return 0;
}
- ROBOPTIM_IMPLEMENT_CLONE(FreeTimeTrajectory<DerivabilityOrder>)
+ ROBOPTIM_IMPLEMENT_CLONE (FreeTimeTrajectory<DerivabilityOrder>)
/// \brief Display the function on the specified output stream.
///
@@ -96,6 +135,9 @@ namespace roboptim
void impl_compute (result_t&, double) const throw ();
void impl_derivative (gradient_t& g, double x, size_type order)
const throw ();
+ void impl_compute (result_t&, StableTimePoint) const throw ();
+ void impl_derivative (gradient_t& g, StableTimePoint, size_type order)
+ const throw ();
private:
/// \brief Scale input time argument.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index 017c50d..1635da2 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -107,7 +107,15 @@ namespace roboptim
FreeTimeTrajectory<dorder>::impl_compute
(typename FreeTimeTrajectory<dorder>::result_t& res , double t) const throw ()
{
- (*trajectory_) (scaleTime (t));
+ (*trajectory_) (t);
+ }
+
+ template <unsigned dorder>
+ void
+ FreeTimeTrajectory<dorder>::impl_compute
+ (typename FreeTimeTrajectory<dorder>::result_t& res , StableTimePoint stp) const throw ()
+ {
+ this->impl_compute (stp.getTime (this->timeRange ()));
}
template <unsigned dorder>
@@ -127,6 +135,16 @@ namespace roboptim
}
template <unsigned dorder>
+ void
+ FreeTimeTrajectory<dorder>::impl_derivative
+ (typename FreeTimeTrajectory<dorder>::gradient_t& derivative,
+ StableTimePoint stp,
+ typename FreeTimeTrajectory<dorder>::size_type order) const throw ()
+ {
+ this->impl_derivative (derivative, stp.getTime (this->timeRange ()), order);
+ }
+
+ template <unsigned dorder>
typename FreeTimeTrajectory<dorder>::jacobian_t
FreeTimeTrajectory<dorder>::variationConfigWrtParam (double t) const throw ()
{
@@ -147,6 +165,14 @@ namespace roboptim
template <unsigned dorder>
typename FreeTimeTrajectory<dorder>::jacobian_t
+ FreeTimeTrajectory<dorder>::variationConfigWrtParam (StableTimePoint stp)
+ const throw ()
+ {
+ return this->variationConfigWrtParam (stp.getTime (this->timeRange ()));
+ }
+
+ template <unsigned dorder>
+ typename FreeTimeTrajectory<dorder>::jacobian_t
FreeTimeTrajectory<dorder>::variationDerivWrtParam (double t, size_type order)
const throw ()
{
@@ -182,6 +208,16 @@ namespace roboptim
}
template <unsigned dorder>
+ typename FreeTimeTrajectory<dorder>::jacobian_t
+ FreeTimeTrajectory<dorder>::variationDerivWrtParam (StableTimePoint stp,
+ size_type order)
+ const throw ()
+ {
+ return this->variationDerivWrtParam
+ (stp.getTime (this->timeRange ()), order);
+ }
+
+ template <unsigned dorder>
typename FreeTimeTrajectory<dorder>::value_type
FreeTimeTrajectory<dorder>::singularPointAtRank (size_type rank) const
{
diff --git a/include/roboptim/trajectory/limit-speed.hxx b/include/roboptim/trajectory/limit-speed.hxx
index f803d68..a3a644c 100644
--- a/include/roboptim/trajectory/limit-speed.hxx
+++ b/include/roboptim/trajectory/limit-speed.hxx
@@ -47,11 +47,7 @@ namespace roboptim
boost::scoped_ptr<T> updatedTrajectory (trajectory_.clone ());
updatedTrajectory->setParameters (p);
-
- //FIXME: should be done in updatedTrajectory!
- value_type t =
- timePoint_.getTime (updatedTrajectory->timeRange ());
- res[0] = norm_2 (updatedTrajectory->derivative (t));
+ res[0] = norm_2 (updatedTrajectory->derivative (timePoint_));
}
template <typename T>
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 37 ++++
.../roboptim/trajectory/free-time-trajectory.hh | 80 ++++++++-
.../roboptim/trajectory/free-time-trajectory.hxx | 181 ++++++++++----------
include/roboptim/trajectory/limit-speed.hxx | 6 +-
include/roboptim/trajectory/trajectory.hh | 19 ++
src/spline.cc | 15 --
tests/free-time-trajectory.cc | 145 ++++++++++++++++
tests/spline-optimization.cc | 56 ++-----
tests/testsuite.at | 2 +-
9 files changed, 390 insertions(+), 151 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-23 07:57:42
|
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 3f3c267127fb151702e2d6e955f4d8da03af721e (commit)
from 418a767ab2f1fd2e490077fc8e1fedaf3502b13b (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 3f3c267127fb151702e2d6e955f4d8da03af721e
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 23 16:57:16 2009 +0900
Clean finite difference gradient code.
* src/finite-difference-gradient.cc: Fix typo and use
norm_inf from uBlas instead of computing it manually.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 2f29542..26acf40 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,11 @@
2009-07-23 Thomas Moulard <tho...@gm...>
+ Clean finite difference gradient code.
+ * src/finite-difference-gradient.cc: Fix typo and use
+ norm_inf from uBlas instead of computing it manually.
+
+2009-07-23 Thomas Moulard <tho...@gm...>
+
Enhance finite difference computation.
* include/roboptim/core/finite-difference-gradient.hh:
Add BadGradient exception class and add checkGradientAndThrow
diff --git a/src/finite-difference-gradient.cc b/src/finite-difference-gradient.cc
index f8cd62e..f15f779 100644
--- a/src/finite-difference-gradient.cc
+++ b/src/finite-difference-gradient.cc
@@ -33,13 +33,8 @@ namespace roboptim
maxDelta_ (),
threshold_ (threshold)
{
- gradient_t delta = analyticalGradient - finiteDifferenceGradient;
- for (unsigned i = 0; i < delta.size (); ++i)
- {
- delta[i] = fabs (delta[i]);
- if (maxDelta_ < delta[i])
- maxDelta_ = delta[i];
- }
+ using boost::numeric::ublas::norm_inf;
+ maxDelta_ = norm_inf (analyticalGradient - finiteDifferenceGradient);
}
BadGradient::~BadGradient () throw ()
@@ -54,7 +49,7 @@ namespace roboptim
<< "Finite difference gradient: " << finiteDifferenceGradient_
<< iendl
<< "Max. delta: " << maxDelta_ << iendl
- << "Max. allowed delta): " << threshold_ << decindent;
+ << "Max. allowed delta: " << threshold_ << decindent;
return o;
}
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 6 ++++++
src/finite-difference-gradient.cc | 11 +++--------
2 files changed, 9 insertions(+), 8 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-23 07:00:58
|
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 418a767ab2f1fd2e490077fc8e1fedaf3502b13b (commit)
from 3e805364b175388f3cc1c0c5cd9bd3e38cad9e41 (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 418a767ab2f1fd2e490077fc8e1fedaf3502b13b
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 23 16:00:37 2009 +0900
Enhance finite difference computation.
* include/roboptim/core/finite-difference-gradient.hh:
Add BadGradient exception class and add checkGradientAndThrow
free function.
* src/finite-difference-gradient.cc: Implement new class and free
function.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 0def12e..2f29542 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,14 @@
2009-07-23 Thomas Moulard <tho...@gm...>
+ Enhance finite difference computation.
+ * include/roboptim/core/finite-difference-gradient.hh:
+ Add BadGradient exception class and add checkGradientAndThrow
+ free function.
+ * src/finite-difference-gradient.cc: Implement new class and free
+ function.
+
+2009-07-23 Thomas Moulard <tho...@gm...>
+
Enhance finite difference gradient computaton.
* include/roboptim/core/finite-difference-gradient.hh:
Add missing const in checkGradient signature, fix default
diff --git a/include/roboptim/core/finite-difference-gradient.hh b/include/roboptim/core/finite-difference-gradient.hh
index 14371e6..599e57b 100644
--- a/include/roboptim/core/finite-difference-gradient.hh
+++ b/include/roboptim/core/finite-difference-gradient.hh
@@ -17,12 +17,68 @@
#ifndef ROBOPTIM_CORE_FINITE_DIFFERENCE_GRADIENT_HH
# define ROBOPTIM_CORE_FINITE_DIFFERENCE_GRADIENT_HH
+# include <stdexcept>
# include <roboptim/core/fwd.hh>
# include <roboptim/core/derivable-function.hh>
namespace roboptim
{
+ /// \brief Default threshold for checkGradient.
+ static const double finiteDifferenceThreshold = 1e-4;
+ /// \brief Default epsilon for finite difference class.
+ static const double finiteDifferenceEpsilon = 1e-8;
+
+ /// \brief Exception thrown when a gradient check fail.
+ class BadGradient : public std::runtime_error
+ {
+ public:
+ /// \brief Import vector.
+ typedef DerivableFunction::vector_t vector_t;
+ /// \brief Import gradient.
+ typedef DerivableFunction::gradient_t gradient_t;
+ /// \brief Import value_type.
+ typedef DerivableFunction::value_type value_type;
+
+ /// \brief Default constructor.
+ BadGradient (const vector_t& x,
+ const gradient_t& analyticalGradient,
+ const gradient_t& finiteDifferenceGradient,
+ const value_type& threshold);
+
+ virtual ~BadGradient () throw ();
+
+ /// \brief Display the exception on the specified output stream.
+ ///
+ /// \param o output stream used for display
+ /// \return output stream
+ virtual std::ostream& print (std::ostream& o) const throw ();
+
+
+ /// \brief Gradient has been computed for this point.
+ vector_t x_;
+
+ /// \brief Analytical gradient.
+ gradient_t analyticalGradient_;
+
+ /// \brief Gradient computed through finite differences.
+ gradient_t finiteDifferenceGradient_;
+
+ /// \brief Maximum error.
+ value_type maxDelta_;
+
+ /// \brief Allowed threshold.
+ value_type threshold_;
+ };
+
+ /// \brief Override operator<< to handle exception display.
+ ///
+ /// \param o output stream used for display
+ /// \param f function to be displayed
+ /// \return output stream
+ std::ostream& operator<< (std::ostream& o, const BadGradient& f);
+
+
/// \addtogroup roboptim_function
/// @{
@@ -49,7 +105,9 @@ namespace roboptim
/// using finite differences.
/// \param f function that will e wrapped
/// \param e epsilon used in finite difference computation
- FiniteDifferenceGradient (const Function& f, value_type e = 1e-8) throw ();
+ FiniteDifferenceGradient (const Function& f,
+ value_type e = finiteDifferenceEpsilon)
+ throw ();
~FiniteDifferenceGradient () throw ();
protected:
@@ -73,11 +131,19 @@ namespace roboptim
/// \param x point where the gradient will be evaluated
/// \param threshold maximum tolerated error
/// \return true if valid, false if not
- bool checkGradient (const DerivableFunction& function,
- int functionId,
- const Function::vector_t& x,
- Function::value_type threshold = 1e-4) throw ();
+ bool checkGradient
+ (const DerivableFunction& function,
+ int functionId,
+ const Function::vector_t& x,
+ Function::value_type threshold = finiteDifferenceThreshold)
+ throw ();
+ void checkGradientAndThrow
+ (const DerivableFunction& function,
+ int functionId,
+ const Function::vector_t& x,
+ Function::value_type threshold = finiteDifferenceThreshold)
+ throw (BadGradient);
/// Example shows finite differences gradient use.
/// \example finite-difference-gradient.cc
diff --git a/src/finite-difference-gradient.cc b/src/finite-difference-gradient.cc
index 224244a..f8cd62e 100644
--- a/src/finite-difference-gradient.cc
+++ b/src/finite-difference-gradient.cc
@@ -15,10 +15,57 @@
// 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 <boost/numeric/ublas/io.hpp>
+
+#include <roboptim/core/indent.hh>
#include <roboptim/core/finite-difference-gradient.hh>
namespace roboptim
{
+ BadGradient::BadGradient (const vector_t& x,
+ const gradient_t& analyticalGradient,
+ const gradient_t& finiteDifferenceGradient,
+ const value_type& threshold)
+ : std::runtime_error ("bad gradient"),
+ x_ (x),
+ analyticalGradient_ (analyticalGradient),
+ finiteDifferenceGradient_ (finiteDifferenceGradient),
+ maxDelta_ (),
+ threshold_ (threshold)
+ {
+ gradient_t delta = analyticalGradient - finiteDifferenceGradient;
+ for (unsigned i = 0; i < delta.size (); ++i)
+ {
+ delta[i] = fabs (delta[i]);
+ if (maxDelta_ < delta[i])
+ maxDelta_ = delta[i];
+ }
+ }
+
+ BadGradient::~BadGradient () throw ()
+ {}
+
+ std::ostream&
+ BadGradient::print (std::ostream& o) const throw ()
+ {
+ o << this->what () << incindent << iendl
+ << "X: " << x_ << iendl
+ << "Analytical gradient: " << analyticalGradient_ << iendl
+ << "Finite difference gradient: " << finiteDifferenceGradient_
+ << iendl
+ << "Max. delta: " << maxDelta_ << iendl
+ << "Max. allowed delta): " << threshold_ << decindent;
+ return o;
+ }
+
+ std::ostream&
+ operator<< (std::ostream& o, const BadGradient& bg)
+ {
+ return bg.print (o);
+ }
+
+
+
FiniteDifferenceGradient::FiniteDifferenceGradient (const Function& adaptee,
value_type epsilon)
throw ()
@@ -62,10 +109,11 @@ namespace roboptim
}
- bool checkGradient (const DerivableFunction& function,
- int i,
- const Function::vector_t& x,
- Function::value_type threshold) throw ()
+ bool
+ checkGradient (const DerivableFunction& function,
+ int i,
+ const Function::vector_t& x,
+ Function::value_type threshold) throw ()
{
FiniteDifferenceGradient fdfunction (function);
DerivableFunction::gradient_t grad = function.gradient (x, i);
@@ -77,4 +125,19 @@ namespace roboptim
return true;
}
+ void
+ checkGradientAndThrow (const DerivableFunction& function,
+ int i,
+ const Function::vector_t& x,
+ Function::value_type threshold)
+ throw (BadGradient)
+ {
+ FiniteDifferenceGradient fdfunction (function);
+ DerivableFunction::gradient_t grad = function.gradient (x, i);
+ DerivableFunction::gradient_t fdgrad = fdfunction.gradient (x, i);
+
+ if (!checkGradient (function, i, x, threshold))
+ throw BadGradient (x, grad, fdgrad, threshold);
+ }
+
} // end of namespace roboptim
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 9 +++
.../roboptim/core/finite-difference-gradient.hh | 76 ++++++++++++++++++--
src/finite-difference-gradient.cc | 71 +++++++++++++++++-
3 files changed, 147 insertions(+), 9 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-23 06:05:39
|
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 3e805364b175388f3cc1c0c5cd9bd3e38cad9e41 (commit)
from 6c7ea9d13dd20234aebd4ca93b3ab1f44d0cb4bb (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 3e805364b175388f3cc1c0c5cd9bd3e38cad9e41
Author: Thomas Moulard <tho...@gm...>
Date: Thu Jul 23 15:05:06 2009 +0900
Enhance finite difference gradient computaton.
* include/roboptim/core/finite-difference-gradient.hh:
Add missing const in checkGradient signature, fix default
epsilon and threshold.
* src/finite-difference-gradient.cc: Remove useless
test in finite difference gradient computation, be
more strict about allowed epsilon values.
* tests/finite-difference-gradient.stdout: Regenerate.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 77eb97f..0def12e 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,14 @@
+2009-07-23 Thomas Moulard <tho...@gm...>
+
+ Enhance finite difference gradient computaton.
+ * include/roboptim/core/finite-difference-gradient.hh:
+ Add missing const in checkGradient signature, fix default
+ epsilon and threshold.
+ * src/finite-difference-gradient.cc: Remove useless
+ test in finite difference gradient computation, be
+ more strict about allowed epsilon values.
+ * tests/finite-difference-gradient.stdout: Regenerate.
+
2009-07-15 Thomas Moulard <tho...@gm...>
Display function's names in Gnuplot.
diff --git a/include/roboptim/core/finite-difference-gradient.hh b/include/roboptim/core/finite-difference-gradient.hh
index 74121ea..14371e6 100644
--- a/include/roboptim/core/finite-difference-gradient.hh
+++ b/include/roboptim/core/finite-difference-gradient.hh
@@ -49,7 +49,7 @@ namespace roboptim
/// using finite differences.
/// \param f function that will e wrapped
/// \param e epsilon used in finite difference computation
- FiniteDifferenceGradient (const Function& f, value_type e = 1e-4) throw ();
+ FiniteDifferenceGradient (const Function& f, value_type e = 1e-8) throw ();
~FiniteDifferenceGradient () throw ();
protected:
@@ -73,10 +73,10 @@ namespace roboptim
/// \param x point where the gradient will be evaluated
/// \param threshold maximum tolerated error
/// \return true if valid, false if not
- bool checkGradient (DerivableFunction& function,
+ bool checkGradient (const DerivableFunction& function,
int functionId,
const Function::vector_t& x,
- Function::value_type threshold = .001) throw ();
+ Function::value_type threshold = 1e-4) throw ();
/// Example shows finite differences gradient use.
diff --git a/src/finite-difference-gradient.cc b/src/finite-difference-gradient.cc
index e53b545..224244a 100644
--- a/src/finite-difference-gradient.cc
+++ b/src/finite-difference-gradient.cc
@@ -26,7 +26,8 @@ namespace roboptim
adaptee_ (adaptee),
epsilon_ (epsilon)
{
- assert (epsilon != 0.);
+ // Avoid meaningless values for epsilon such as 0 or NaN.
+ assert (epsilon != 0. && epsilon == epsilon);
}
FiniteDifferenceGradient::~FiniteDifferenceGradient () throw ()
@@ -57,15 +58,11 @@ namespace roboptim
result_t resEps = adaptee_ (xEps);
gradient (j) = (resEps[idFunction] - res[idFunction]) / epsilon_;
-
- // Avoid returning NaN if gradient is almost null.
- if (gradient (j) != gradient (j))
- gradient (j) = 0.;
}
}
- bool checkGradient (DerivableFunction& function,
+ bool checkGradient (const DerivableFunction& function,
int i,
const Function::vector_t& x,
Function::value_type threshold) throw ()
diff --git a/tests/finite-difference-gradient.stdout b/tests/finite-difference-gradient.stdout
index 5e101c8..dc7e8dc 100644
--- a/tests/finite-difference-gradient.stdout
+++ b/tests/finite-difference-gradient.stdout
@@ -1,243 +1,243 @@
#Check gradient at x = -10
# Good
#[1](-20)
-#[1](-19.9999)
+#[1](-20)
# Bad
#[1](-8)
-#[1](-19.9999)
+#[1](-20)
# Circle
#[1](-0.839072)
-#[1](-0.839099)
+#[1](-0.839072)
+#[1](-0.544021)
#[1](-0.544021)
-#[1](-0.543979)
#Check gradient at x = -9
# Good
#[1](-18)
-#[1](-17.9999)
+#[1](-18)
# Bad
#[1](-3)
-#[1](-17.9999)
+#[1](-18)
# Circle
#[1](-0.91113)
-#[1](-0.91111)
+#[1](-0.91113)
#[1](0.412118)
-#[1](0.412164)
+#[1](0.412119)
#Check gradient at x = -8
# Good
#[1](-16)
-#[1](-15.9999)
+#[1](-16)
# Bad
#[1](2)
-#[1](-15.9999)
+#[1](-16)
# Circle
#[1](-0.1455)
-#[1](-0.145451)
+#[1](-0.1455)
+#[1](0.989358)
#[1](0.989358)
-#[1](0.989366)
#Check gradient at x = -7
# Good
#[1](-14)
-#[1](-13.9999)
+#[1](-14)
# Bad
#[1](7)
-#[1](-13.9999)
+#[1](-14)
# Circle
#[1](0.753902)
-#[1](0.753935)
+#[1](0.753902)
+#[1](0.656987)
#[1](0.656987)
-#[1](0.656949)
#Check gradient at x = -6
# Good
#[1](-12)
-#[1](-11.9999)
+#[1](-12)
# Bad
#[1](12)
-#[1](-11.9999)
+#[1](-12)
# Circle
#[1](0.96017)
-#[1](0.960156)
+#[1](0.96017)
+#[1](-0.279415)
#[1](-0.279415)
-#[1](-0.279464)
#Check gradient at x = -5
# Good
#[1](-10)
-#[1](-9.9999)
+#[1](-10)
# Bad
#[1](17)
-#[1](-9.9999)
+#[1](-10)
# Circle
#[1](0.283662)
-#[1](0.283614)
+#[1](0.283662)
+#[1](-0.958924)
#[1](-0.958924)
-#[1](-0.958938)
#Check gradient at x = -4
# Good
#[1](-8)
-#[1](-7.9999)
+#[1](-8)
# Bad
#[1](22)
-#[1](-7.9999)
+#[1](-8)
# Circle
#[1](-0.653644)
-#[1](-0.653681)
+#[1](-0.653644)
+#[1](-0.756802)
#[1](-0.756802)
-#[1](-0.75677)
#Check gradient at x = -3
# Good
#[1](-6)
-#[1](-5.9999)
+#[1](-6)
# Bad
#[1](27)
-#[1](-5.9999)
+#[1](-6)
# Circle
#[1](-0.989992)
-#[1](-0.989985)
+#[1](-0.989992)
+#[1](0.14112)
#[1](0.14112)
-#[1](0.14117)
#Check gradient at x = -2
# Good
#[1](-4)
-#[1](-3.9999)
+#[1](-4)
# Bad
#[1](32)
-#[1](-3.9999)
+#[1](-4)
# Circle
#[1](-0.416147)
-#[1](-0.416101)
+#[1](-0.416147)
+#[1](0.909297)
#[1](0.909297)
-#[1](0.909318)
#Check gradient at x = -1
# Good
#[1](-2)
-#[1](-1.9999)
+#[1](-2)
# Bad
#[1](37)
-#[1](-1.9999)
+#[1](-2)
# Circle
#[1](0.540302)
-#[1](0.540344)
+#[1](0.540302)
+#[1](0.841471)
#[1](0.841471)
-#[1](0.841444)
#Check gradient at x = 0
# Good
#[1](0)
-#[1](0.0001)
+#[1](1e-08)
# Bad
#[1](42)
-#[1](0.0001)
+#[1](1e-08)
# Circle
#[1](1)
#[1](1)
#[1](-0)
-#[1](-5e-05)
+#[1](0)
#Check gradient at x = 1
# Good
#[1](2)
-#[1](2.0001)
+#[1](2)
# Bad
#[1](47)
-#[1](2.0001)
+#[1](2)
# Circle
#[1](0.540302)
-#[1](0.54026)
+#[1](0.540302)
+#[1](-0.841471)
#[1](-0.841471)
-#[1](-0.841498)
#Check gradient at x = 2
# Good
#[1](4)
-#[1](4.0001)
+#[1](4)
# Bad
#[1](52)
-#[1](4.0001)
+#[1](4)
# Circle
#[1](-0.416147)
-#[1](-0.416192)
+#[1](-0.416147)
+#[1](-0.909297)
#[1](-0.909297)
-#[1](-0.909277)
#Check gradient at x = 3
# Good
#[1](6)
-#[1](6.0001)
+#[1](6)
# Bad
#[1](57)
-#[1](6.0001)
+#[1](6)
# Circle
#[1](-0.989992)
-#[1](-0.99)
+#[1](-0.989992)
+#[1](-0.14112)
#[1](-0.14112)
-#[1](-0.141071)
#Check gradient at x = 4
# Good
#[1](8)
-#[1](8.0001)
+#[1](8)
# Bad
#[1](62)
-#[1](8.0001)
+#[1](8)
# Circle
#[1](-0.653644)
-#[1](-0.653606)
+#[1](-0.653644)
+#[1](0.756802)
#[1](0.756802)
-#[1](0.756835)
#Check gradient at x = 5
# Good
#[1](10)
-#[1](10.0001)
+#[1](10)
# Bad
#[1](67)
-#[1](10.0001)
+#[1](10)
# Circle
#[1](0.283662)
-#[1](0.28371)
+#[1](0.283662)
+#[1](0.958924)
#[1](0.958924)
-#[1](0.95891)
#Check gradient at x = 6
# Good
#[1](12)
-#[1](12.0001)
+#[1](12)
# Bad
#[1](72)
-#[1](12.0001)
+#[1](12)
# Circle
#[1](0.96017)
-#[1](0.960184)
+#[1](0.96017)
#[1](0.279415)
-#[1](0.279367)
+#[1](0.279416)
#Check gradient at x = 7
# Good
#[1](14)
-#[1](14.0001)
+#[1](14)
# Bad
#[1](77)
-#[1](14.0001)
+#[1](14)
# Circle
#[1](0.753902)
-#[1](0.753869)
+#[1](0.753902)
+#[1](-0.656987)
#[1](-0.656987)
-#[1](-0.657024)
#Check gradient at x = 8
# Good
#[1](16)
-#[1](16.0001)
+#[1](16)
# Bad
#[1](82)
-#[1](16.0001)
+#[1](16)
# Circle
#[1](-0.1455)
-#[1](-0.14555)
+#[1](-0.1455)
+#[1](-0.989358)
#[1](-0.989358)
-#[1](-0.989351)
#Check gradient at x = 9
# Good
#[1](18)
-#[1](18.0001)
+#[1](18)
# Bad
#[1](87)
-#[1](18.0001)
+#[1](18)
# Circle
#[1](-0.91113)
-#[1](-0.911151)
+#[1](-0.91113)
#[1](-0.412118)
-#[1](-0.412073)
+#[1](-0.412119)
# Times at x = [2](-10,-10)
#[2](-10,-10)
#[2](-10,-10)
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 11 ++
.../roboptim/core/finite-difference-gradient.hh | 6 +-
src/finite-difference-gradient.cc | 9 +-
tests/finite-difference-gradient.stdout | 158 ++++++++++----------
4 files changed, 96 insertions(+), 88 deletions(-)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-17 05:05:41
|
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 3f7373f2c344ea0b64890e57c82cff5d59786e74 (commit)
via cfe9e62ea7875b941dcfdd3f4acf9cb210373487 (commit)
from 1b2a4e6e267b977063316a041715c92b2f5c805b (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 3f7373f2c344ea0b64890e57c82cff5d59786e74
Author: Thomas Moulard <tho...@gm...>
Date: Fri Jul 17 14:05:06 2009 +0900
Add missing include.
* include/Makefile.am: Distribute missing include.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 07aba6c..89faae2 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,10 @@
2009-07-17 Thomas Moulard <tho...@gm...>
+ Add missing include.
+ * include/Makefile.am: Distribute missing include.
+
+2009-07-17 Thomas Moulard <tho...@gm...>
+
Debug time optimization.
* include/Makefile.am: Distribute new header.
* include/roboptim/trajectory/free-time-trajectory.hxx: Debug.
diff --git a/include/Makefile.am b/include/Makefile.am
index 29cc3ee..b8b3019 100644
--- a/include/Makefile.am
+++ b/include/Makefile.am
@@ -11,6 +11,7 @@ nobase_include_HEADERS = \
roboptim/trajectory/limit-speed.hxx \
roboptim/trajectory/spline.hh \
roboptim/trajectory/spline-length.hh \
+ roboptim/trajectory/stable-time-point.hh \
roboptim/trajectory/state-cost.hh \
roboptim/trajectory/state-cost.hxx \
roboptim/trajectory/trajectory-cost.hh \
commit cfe9e62ea7875b941dcfdd3f4acf9cb210373487
Author: Thomas Moulard <tho...@gm...>
Date: Fri Jul 17 14:03:26 2009 +0900
Debug time optimization.
* include/Makefile.am: Distribute new header.
* include/roboptim/trajectory/free-time-trajectory.hxx: Debug.
* include/roboptim/trajectory/fwd.hh: Remove GenericTrajectory.
* include/roboptim/trajectory/limit-speed.hh: Template the constraint
by the trajectory type.
* include/roboptim/trajectory/limit-speed.hxx: New.
* include/roboptim/trajectory/stable-time-point.hh: Check that alpha is
between 0 and 1.
* src/Makefile.am: Remove limit-speed.cc from sources.
* src/limit-speed.cc: Remove.
* tests/spline-time-optimization.cc: Debug.
* tests/testsuite.at: Tag spline-time-optimization as XFAIL for now.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 908fd4f..07aba6c 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,21 @@
2009-07-17 Thomas Moulard <tho...@gm...>
+ Debug time optimization.
+ * include/Makefile.am: Distribute new header.
+ * include/roboptim/trajectory/free-time-trajectory.hxx: Debug.
+ * include/roboptim/trajectory/fwd.hh: Remove GenericTrajectory.
+ * include/roboptim/trajectory/limit-speed.hh: Template the constraint
+ by the trajectory type.
+ * include/roboptim/trajectory/limit-speed.hxx: New.
+ * include/roboptim/trajectory/stable-time-point.hh: Check that alpha is
+ between 0 and 1.
+ * src/Makefile.am: Remove limit-speed.cc from sources.
+ * src/limit-speed.cc: Remove.
+ * tests/spline-time-optimization.cc: Debug.
+ * tests/testsuite.at: Tag spline-time-optimization as XFAIL for now.
+
+2009-07-17 Thomas Moulard <tho...@gm...>
+
Add stable time point class.
* include/roboptim/trajectory/free-time-trajectory.hh:
Placeholder for stable time point gradient evaluation.
diff --git a/include/Makefile.am b/include/Makefile.am
index da18d02..29cc3ee 100644
--- a/include/Makefile.am
+++ b/include/Makefile.am
@@ -8,6 +8,7 @@ nobase_include_HEADERS = \
roboptim/trajectory/freeze.hxx \
roboptim/trajectory/fwd.hh \
roboptim/trajectory/limit-speed.hh \
+ roboptim/trajectory/limit-speed.hxx \
roboptim/trajectory/spline.hh \
roboptim/trajectory/spline-length.hh \
roboptim/trajectory/state-cost.hh \
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index 0db7e01..017c50d 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -211,7 +211,11 @@ namespace roboptim
void
FreeTimeTrajectory<dorder>::setParameters (const vector_t& p) throw ()
{
+ assert (p[0] >= 0.);
+
this->parameters_ = p;
+ this->timeRange_ = makeInterval(getLowerBound (trajectory_->timeRange ()),
+ p[0] * getUpperBound (trajectory_->timeRange ()));
this->trajectory_->setParameters (detail::removeScaleFromParams (p));
}
@@ -226,9 +230,20 @@ namespace roboptim
double
FreeTimeTrajectory<dorder>::scaleTime (double unscaled) const throw ()
{
- return detail::scaleTime (unscaled,
- getLowerBound (this->timeRange ()),
- this->timeScale ());
+ value_type tmin = getLowerBound (this->timeRange ());
+ value_type tmax = getUpperBound (this->timeRange ());
+ value_type tMin = getLowerBound (this->trajectory_->timeRange ());
+ value_type tMax = getUpperBound (this->trajectory_->timeRange ());
+
+ assert (tmin <= unscaled && unscaled <= tmax);
+
+ value_type res = tMin + (unscaled - tmin) / timeScale ();
+
+ if (res > tMax)
+ res = tMax;
+ else if (res < tMin)
+ res = tMin;
+ return res;
}
template <unsigned dorder>
diff --git a/include/roboptim/trajectory/fwd.hh b/include/roboptim/trajectory/fwd.hh
index 8cf1c25..584fb66 100644
--- a/include/roboptim/trajectory/fwd.hh
+++ b/include/roboptim/trajectory/fwd.hh
@@ -23,8 +23,6 @@ namespace roboptim
template <unsigned dorder>
class Trajectory;
- typedef Trajectory<2> GenericTrajectory;
-
template <typename T>
class StateCost;
diff --git a/include/roboptim/trajectory/limit-speed.hh b/include/roboptim/trajectory/limit-speed.hh
index 2c6a989..17ef6dc 100644
--- a/include/roboptim/trajectory/limit-speed.hh
+++ b/include/roboptim/trajectory/limit-speed.hh
@@ -25,15 +25,19 @@
namespace roboptim
{
- struct LimitSpeed : public DerivableFunction
+ template <typename T>
+ class LimitSpeed : public DerivableFunction
{
- LimitSpeed (StableTimePoint timePoint, const GenericTrajectory& spline) throw ();
+ public:
+
+ LimitSpeed (StableTimePoint timePoint, const T& spline) throw ();
~LimitSpeed () throw ();
template <typename F, typename CLIST>
- static void addToProblem (const GenericTrajectory&,
+ static void addToProblem (const T&,
Problem<F, CLIST>&,
- typename Function::interval_t);
+ typename Function::interval_t,
+ unsigned);
protected:
void impl_compute (result_t& res, const argument_t& p) const throw ();
@@ -41,24 +45,9 @@ namespace roboptim
const throw ();
private:
StableTimePoint timePoint_;
- const GenericTrajectory& trajectory_;
+ const T& trajectory_;
};
-
- template <typename F, typename CLIST>
- void
- LimitSpeed::addToProblem (const GenericTrajectory& trajectory,
- Problem<F, CLIST>& problem,
- typename Function::interval_t vRange)
- {
- using namespace boost;
- for (double i = 0; i < 1.; i += 0.1)
- {
- shared_ptr<LimitSpeed> speed (new LimitSpeed (i * tMax, trajectory));
- problem.addConstraint
- (static_pointer_cast<DerivableFunction> (speed),
- vRange);
- }
- }
} // end of namespace roboptim.
+# include <roboptim/trajectory/limit-speed.hxx>
#endif //! ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HH
diff --git a/include/roboptim/trajectory/limit-speed.hxx b/include/roboptim/trajectory/limit-speed.hxx
new file mode 100644
index 0000000..f803d68
--- /dev/null
+++ b/include/roboptim/trajectory/limit-speed.hxx
@@ -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/>.
+
+#ifndef ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HXX
+# define ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HXX
+# 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
+{
+ template <typename T>
+ LimitSpeed<T>::LimitSpeed (StableTimePoint timePoint,
+ const T& trajectory) throw ()
+ : DerivableFunction (trajectory.parameters ().size (), 1, "limit speed"),
+ timePoint_ (timePoint),
+ trajectory_ (trajectory)
+ {}
+
+ template <typename T>
+ LimitSpeed<T>::~LimitSpeed () throw ()
+ {}
+
+ template <typename T>
+ void
+ LimitSpeed<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);
+
+ //FIXME: should be done in updatedTrajectory!
+ value_type t =
+ timePoint_.getTime (updatedTrajectory->timeRange ());
+ res[0] = norm_2 (updatedTrajectory->derivative (t));
+ }
+
+ template <typename T>
+ void
+ LimitSpeed<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
+ LimitSpeed<T>::addToProblem (const T& trajectory,
+ Problem<F, CLIST>& problem,
+ typename Function::interval_t vRange,
+ unsigned nConstraints)
+ {
+ using namespace boost;
+ if (nConstraints == 0)
+ return;
+ for (double i = 0; i < 1.; i += 1. / nConstraints)
+ {
+ shared_ptr<LimitSpeed> speed (new LimitSpeed (i * tMax, trajectory));
+ problem.addConstraint
+ (static_pointer_cast<DerivableFunction> (speed),
+ vRange);
+ }
+ }
+} // end of namespace roboptim.
+
+
+#endif //! ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HXX
diff --git a/include/roboptim/trajectory/stable-time-point.hh b/include/roboptim/trajectory/stable-time-point.hh
index 8ac86ac..ce9256a 100644
--- a/include/roboptim/trajectory/stable-time-point.hh
+++ b/include/roboptim/trajectory/stable-time-point.hh
@@ -31,16 +31,23 @@ namespace roboptim
explicit StableTimePoint (value_type alpha)
: alpha_ (alpha)
- {}
+ {
+ assert (alpha_ >= 0. && alpha <= 1.);
+ }
const value_type& getAlpha () const
{
return alpha_;
}
- value_type getTime (value_type tmax) const
+ value_type getTime (Function::interval_t timeRange) const
{
- return alpha_ * tmax;
+ value_type tmin = Function::getLowerBound (timeRange);
+ value_type tmax = Function::getUpperBound (timeRange);
+
+ value_type res = tmin + alpha_ * (tmax - tmin);
+ res = (res > tmax) ? tmax : ((res < tmin) ? tmin : res);
+ return res;
}
private:
value_type alpha_;
diff --git a/src/Makefile.am b/src/Makefile.am
index e29e350..a4ea844 100644
--- a/src/Makefile.am
+++ b/src/Makefile.am
@@ -10,7 +10,6 @@ lib_LTLIBRARIES = libroboptim-trajectory.la
libroboptim_trajectory_la_SOURCES = \
doc.hh \
- limit-speed.cc \
spline.cc \
spline-length.cc
diff --git a/src/limit-speed.cc b/src/limit-speed.cc
deleted file mode 100644
index 3b71ec6..0000000
--- a/src/limit-speed.cc
+++ /dev/null
@@ -1,65 +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 <boost/numeric/ublas/vector.hpp>
-#include <boost/scoped_ptr.hpp>
-
-#include <roboptim/core/finite-difference-gradient.hh>
-
-#include <roboptim/trajectory/trajectory.hh>
-
-#include "roboptim/trajectory/limit-speed.hh"
-
-namespace roboptim
-{
- LimitSpeed::LimitSpeed (StableTimePoint timePoint,
- const GenericTrajectory& spline) throw ()
- : DerivableFunction (1 + spline.parameters ().size (), 1, "limit speed"),
- timePoint_ (timePoint),
- trajectory_ (spline)
- {}
-
- LimitSpeed::~LimitSpeed () throw ()
- {}
-
- void
- LimitSpeed::impl_compute (result_t& res, const argument_t& p) const throw ()
- {
- using namespace boost::numeric::ublas;
- res.clear ();
-
- boost::scoped_ptr<GenericTrajectory> updatedSpline (trajectory_.clone ());
- updatedSpline->setParameters (p);
-
- //FIXME: should be done in updatedSpline!
- value_type t =
- timePoint_.getTime (getUpperBound (updatedSpline->timeRange ()));
- res[0] = norm_2 (updatedSpline->derivative (t));
- }
-
- void
- LimitSpeed::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);
- }
-} // end of namespace roboptim.
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index 298c02d..76df7e9 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -39,6 +39,7 @@ typedef Solver<DerivableFunction, constraint_t> solver_t;
int run_test ()
{
+ using namespace boost;
using namespace boost::assign;
Spline::vector_t params (4);
@@ -68,6 +69,20 @@ 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<DerivableFunction> (speedPositivity),
+ Function::makeLowerInterval (0.));
+ }
+
+
typedef Freeze<DerivableFunction, constraint_t, LinearFunction> freeze_t;
freeze_t freeze (problem,
list_of <freeze_t::frozenArgument_t>
@@ -75,6 +90,10 @@ int run_test ()
(params.size (), params[params.size () - 1]));
freeze ();
+
+ Function::interval_t vRange (0., 100.);
+ LimitSpeed<FreeTimeTrajectory<Spline::derivabilityOrder> >::addToProblem (freeTimeTraj, problem, vRange, 10);
+
SolverFactory<solver_t> factory ("cfsqp", problem);
solver_t& solver = factory ();
@@ -84,10 +103,10 @@ int run_test ()
<< "Parameters (before): " << freeTimeTraj.parameters ()
<< std::endl;
- solver_t::result_t res = solver.minimum ();
-
std::cout << solver << std::endl;
+ solver_t::result_t res = solver.minimum ();
+
switch (res.which ())
{
case GenericSolver::SOLVER_VALUE:
diff --git a/tests/testsuite.at b/tests/testsuite.at
index 59f145c..523aecd 100644
--- a/tests/testsuite.at
+++ b/tests/testsuite.at
@@ -33,6 +33,6 @@ 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-optimization-time], [Optimize a free time trajectory.])
+CHECK_STDOUT([spline-optimization-time], [Optimize a free time trajectory.], [false], [true])
# End of testsuite.at
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 21 +++++
include/Makefile.am | 2 +
.../roboptim/trajectory/free-time-trajectory.hxx | 21 ++++-
include/roboptim/trajectory/fwd.hh | 2 -
include/roboptim/trajectory/limit-speed.hh | 31 ++-----
include/roboptim/trajectory/limit-speed.hxx | 92 ++++++++++++++++++++
include/roboptim/trajectory/stable-time-point.hh | 13 ++-
src/Makefile.am | 1 -
src/limit-speed.cc | 65 --------------
tests/spline-time-optimization.cc | 23 +++++-
tests/testsuite.at | 2 +-
11 files changed, 175 insertions(+), 98 deletions(-)
create mode 100644 include/roboptim/trajectory/limit-speed.hxx
delete mode 100644 src/limit-speed.cc
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-17 02:13:30
|
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 1b2a4e6e267b977063316a041715c92b2f5c805b (commit)
from 2a4f88859fdda871811385c69c1278256ec77d4a (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 1b2a4e6e267b977063316a041715c92b2f5c805b
Author: Thomas Moulard <tho...@gm...>
Date: Fri Jul 17 11:12:56 2009 +0900
Add stable time point class.
* include/roboptim/trajectory/free-time-trajectory.hh:
Placeholder for stable time point gradient evaluation.
* include/roboptim/trajectory/freeze.hh: Fix typo
* include/roboptim/trajectory/limit-speed.hh:
Use stable time points to handle constraint on free time trajectories.
* include/roboptim/trajectory/stable-time-point.hh:
Implement stable time points.
* src/limit-speed.cc: Modify implementation to use stable time
points.
* tests/spline-time-optimization.cc: Include LimitSpeed class.
* tests/free-time-optimization.stdout: New.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index c795b68..908fd4f 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,18 @@
+2009-07-17 Thomas Moulard <tho...@gm...>
+
+ Add stable time point class.
+ * include/roboptim/trajectory/free-time-trajectory.hh:
+ Placeholder for stable time point gradient evaluation.
+ * include/roboptim/trajectory/freeze.hh: Fix typo
+ * include/roboptim/trajectory/limit-speed.hh:
+ Use stable time points to handle constraint on free time trajectories.
+ * include/roboptim/trajectory/stable-time-point.hh:
+ Implement stable time points.
+ * src/limit-speed.cc: Modify implementation to use stable time
+ points.
+ * tests/spline-time-optimization.cc: Include LimitSpeed class.
+ * tests/free-time-optimization.stdout: New.
+
2009-07-15 Thomas Moulard <tho...@gm...>
Debug free-time-trajectory.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hh b/include/roboptim/trajectory/free-time-trajectory.hh
index 30a6ee1..80c5719 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hh
+++ b/include/roboptim/trajectory/free-time-trajectory.hh
@@ -18,6 +18,7 @@
#ifndef ROBOPTIM_TRAJECTORY_FREETIMETRAJECTORY_HH
# define ROBOPTIM_TRAJECTORY_FREETIMETRAJECTORY_HH
# include <roboptim/trajectory/trajectory.hh>
+# include <roboptim/trajectory/stable-time-point.hh>
namespace roboptim
{
@@ -70,6 +71,8 @@ namespace roboptim
virtual vector_t derivAfterSingularPoint (size_type rank, size_type order)
const;
+ //FIXME: add stable time point gradient computation.
+
virtual void setParameters (const vector_t&) throw ();
/// \brief Get time scale factor.
diff --git a/include/roboptim/trajectory/freeze.hh b/include/roboptim/trajectory/freeze.hh
index 59495c7..4d13fa7 100644
--- a/include/roboptim/trajectory/freeze.hh
+++ b/include/roboptim/trajectory/freeze.hh
@@ -25,7 +25,7 @@
namespace roboptim
{
- /// \brief Add constraints that freezes parmeters.
+ /// \brief Add constraints that freeze parameters.
///
/// This constraint expects a vector of pairs (argument id, value) to
/// build a function that will freeze the given arguments to their
diff --git a/include/roboptim/trajectory/limit-speed.hh b/include/roboptim/trajectory/limit-speed.hh
index ca663c3..2c6a989 100644
--- a/include/roboptim/trajectory/limit-speed.hh
+++ b/include/roboptim/trajectory/limit-speed.hh
@@ -17,23 +17,48 @@
#ifndef ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HH
# define ROBOPTIM_TRAJECTORY_LIMIT_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
{
struct LimitSpeed : public DerivableFunction
{
- LimitSpeed (double t, const GenericTrajectory& spline) throw ();
+ LimitSpeed (StableTimePoint timePoint, const GenericTrajectory& spline) throw ();
~LimitSpeed () throw ();
+
+ template <typename F, typename CLIST>
+ static void addToProblem (const GenericTrajectory&,
+ Problem<F, CLIST>&,
+ typename Function::interval_t);
+
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:
- double t_;
- const GenericTrajectory& spline_;
+ StableTimePoint timePoint_;
+ const GenericTrajectory& trajectory_;
};
+
+ template <typename F, typename CLIST>
+ void
+ LimitSpeed::addToProblem (const GenericTrajectory& trajectory,
+ Problem<F, CLIST>& problem,
+ typename Function::interval_t vRange)
+ {
+ using namespace boost;
+ for (double i = 0; i < 1.; i += 0.1)
+ {
+ shared_ptr<LimitSpeed> speed (new LimitSpeed (i * tMax, trajectory));
+ problem.addConstraint
+ (static_pointer_cast<DerivableFunction> (speed),
+ vRange);
+ }
+ }
} // end of namespace roboptim.
#endif //! ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HH
diff --git a/include/roboptim/trajectory/limit-speed.hh b/include/roboptim/trajectory/stable-time-point.hh
similarity index 51%
copy from include/roboptim/trajectory/limit-speed.hh
copy to include/roboptim/trajectory/stable-time-point.hh
index ca663c3..8ac86ac 100644
--- a/include/roboptim/trajectory/limit-speed.hh
+++ b/include/roboptim/trajectory/stable-time-point.hh
@@ -15,25 +15,47 @@
// 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_LIMIT_SPEED_HH
-# define ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HH
-# include <roboptim/core/derivable-function.hh>
-# include <roboptim/trajectory/fwd.hh>
+#ifndef ROBOPTIM_TRAJECTORY_STABLE_TIME_POINT_HH
+# define ROBOPTIM_TRAJECTORY_STABLE_TIME_POINT_HH
+# include <roboptim/core/function.hh>
namespace roboptim
{
- struct LimitSpeed : public DerivableFunction
+ class TMax {};
+ TMax tMax;
+
+ class StableTimePoint
{
- LimitSpeed (double t, const GenericTrajectory& spline) throw ();
- ~LimitSpeed () throw ();
- 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 ();
+ public:
+ typedef Function::value_type value_type;
+
+ explicit StableTimePoint (value_type alpha)
+ : alpha_ (alpha)
+ {}
+
+ const value_type& getAlpha () const
+ {
+ return alpha_;
+ }
+
+ value_type getTime (value_type tmax) const
+ {
+ return alpha_ * tmax;
+ }
private:
- double t_;
- const GenericTrajectory& spline_;
+ value_type alpha_;
};
+
+ StableTimePoint operator* (Function::value_type alpha, TMax)
+ {
+ return StableTimePoint (alpha);
+ }
+
+ StableTimePoint operator* (TMax, Function::value_type alpha)
+ {
+ return StableTimePoint (alpha);
+ }
+
} // end of namespace roboptim.
-#endif //! ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HH
+#endif //! ROBOPTIM_TRAJECTORY_STABLE_TIME_POINT_HH
diff --git a/src/limit-speed.cc b/src/limit-speed.cc
index 2267904..3b71ec6 100644
--- a/src/limit-speed.cc
+++ b/src/limit-speed.cc
@@ -26,10 +26,11 @@
namespace roboptim
{
- LimitSpeed::LimitSpeed (double t, const GenericTrajectory& spline) throw ()
+ LimitSpeed::LimitSpeed (StableTimePoint timePoint,
+ const GenericTrajectory& spline) throw ()
: DerivableFunction (1 + spline.parameters ().size (), 1, "limit speed"),
- t_ (t),
- spline_ (spline)
+ timePoint_ (timePoint),
+ trajectory_ (spline)
{}
LimitSpeed::~LimitSpeed () throw ()
@@ -41,10 +42,13 @@ namespace roboptim
using namespace boost::numeric::ublas;
res.clear ();
- boost::scoped_ptr<GenericTrajectory> updatedSpline (spline_.clone ());
+ boost::scoped_ptr<GenericTrajectory> updatedSpline (trajectory_.clone ());
updatedSpline->setParameters (p);
- res[0] = norm_2 (updatedSpline->derivative (t_));
+ //FIXME: should be done in updatedSpline!
+ value_type t =
+ timePoint_.getTime (getUpperBound (updatedSpline->timeRange ()));
+ res[0] = norm_2 (updatedSpline->derivative (t));
}
void
diff --git a/tests/spline-optimization-time.stdout b/tests/spline-optimization-time.stdout
new file mode 100644
index 0000000..e69de29
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
index 20f3107..298c02d 100644
--- a/tests/spline-time-optimization.cc
+++ b/tests/spline-time-optimization.cc
@@ -25,6 +25,7 @@
#include <roboptim/trajectory/free-time-trajectory.hh>
#include <roboptim/trajectory/freeze.hh>
#include <roboptim/trajectory/fwd.hh>
+#include <roboptim/trajectory/limit-speed.hh>
#include <roboptim/trajectory/spline-length.hh>
#include <roboptim/trajectory/spline.hh>
#include <roboptim/trajectory/trajectory-cost.hh>
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 15 ++++++
.../roboptim/trajectory/free-time-trajectory.hh | 3 +
include/roboptim/trajectory/freeze.hh | 2 +-
include/roboptim/trajectory/limit-speed.hh | 31 +++++++++++-
.../{limit-speed.hh => stable-time-point.hh} | 50 ++++++++++++++------
src/limit-speed.cc | 14 ++++--
...tory.stdout => spline-optimization-time.stdout} | 0
tests/spline-time-optimization.cc | 1 +
8 files changed, 93 insertions(+), 23 deletions(-)
copy include/roboptim/trajectory/{limit-speed.hh => stable-time-point.hh} (51%)
copy tests/{free-time-trajectory.stdout => spline-optimization-time.stdout} (100%)
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-15 10:46:41
|
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 2a4f88859fdda871811385c69c1278256ec77d4a (commit)
from 811331a1ad777e218a0f587e8029c7f3ded3b756 (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 2a4f88859fdda871811385c69c1278256ec77d4a
Author: Thomas Moulard <tho...@gm...>
Date: Wed Jul 15 19:46:06 2009 +0900
Debug free-time-trajectory.
* include/Makefile.am: Distribute new header.
* include/roboptim/trajectory/free-time-trajectory.hh,
* include/roboptim/trajectory/free-time-trajectory.hxx:
Fix implementation.
* include/roboptim/trajectory/fwd.hh: Add generic trajectory
type.
* include/roboptim/trajectory/limit-speed.hh:
Copy from include/roboptim/trajectory/fwd.hh.
* include/roboptim/trajectory/spline.hh,
* include/roboptim/trajectory/trajectory.hh: Add clone.
* src/Makefile.am: Compile limit-speed.cc.
* src/limit-speed.cc: New.
* tests/Makefile.am: Compile new tests.
* tests/free-time-trajectory.cc:
Copy from include/roboptim/trajectory/fwd.hh.
* tests/free-time-trajectory.stdout: New.
* tests/spline-optimization.stdout: Regenerate.
* tests/spline-time-optimization.cc: New.
* tests/spline-time-optimization.stdout: New.
* tests/spline.stdout: Regenerate.
* tests/testsuite.at: Run new tests.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index c9fc98c..c795b68 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,30 @@
2009-07-15 Thomas Moulard <tho...@gm...>
+ Debug free-time-trajectory.
+ * include/Makefile.am: Distribute new header.
+ * include/roboptim/trajectory/free-time-trajectory.hh,
+ * include/roboptim/trajectory/free-time-trajectory.hxx:
+ Fix implementation.
+ * include/roboptim/trajectory/fwd.hh: Add generic trajectory
+ type.
+ * include/roboptim/trajectory/limit-speed.hh:
+ Copy from include/roboptim/trajectory/fwd.hh.
+ * include/roboptim/trajectory/spline.hh,
+ * include/roboptim/trajectory/trajectory.hh: Add clone.
+ * src/Makefile.am: Compile limit-speed.cc.
+ * src/limit-speed.cc: New.
+ * tests/Makefile.am: Compile new tests.
+ * tests/free-time-trajectory.cc:
+ Copy from include/roboptim/trajectory/fwd.hh.
+ * tests/free-time-trajectory.stdout: New.
+ * tests/spline-optimization.stdout: Regenerate.
+ * tests/spline-time-optimization.cc: New.
+ * tests/spline-time-optimization.stdout: New.
+ * tests/spline.stdout: Regenerate.
+ * tests/testsuite.at: Run new tests.
+
+2009-07-15 Thomas Moulard <tho...@gm...>
+
Make use of function's names in trajectory classes.
* include/roboptim/trajectory/spline.hh,
* include/roboptim/trajectory/trajectory.hh,
diff --git a/include/Makefile.am b/include/Makefile.am
index ed29b20..da18d02 100644
--- a/include/Makefile.am
+++ b/include/Makefile.am
@@ -7,6 +7,7 @@ nobase_include_HEADERS = \
roboptim/trajectory/freeze.hh \
roboptim/trajectory/freeze.hxx \
roboptim/trajectory/fwd.hh \
+ roboptim/trajectory/limit-speed.hh \
roboptim/trajectory/spline.hh \
roboptim/trajectory/spline-length.hh \
roboptim/trajectory/state-cost.hh \
diff --git a/include/roboptim/trajectory/free-time-trajectory.hh b/include/roboptim/trajectory/free-time-trajectory.hh
index 05e4e46..30a6ee1 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hh
+++ b/include/roboptim/trajectory/free-time-trajectory.hh
@@ -32,23 +32,34 @@ namespace roboptim
class FreeTimeTrajectory : public Trajectory<DerivabilityOrder>
{
public:
+ /// \brief Parent type.
+ typedef Trajectory<DerivabilityOrder> parent_t;
+
+ /// \brief Import value type.
+ typedef typename parent_t::value_type value_type;
+ /// \brief Import size type.
+ typedef typename parent_t::size_type size_type;
+ /// \brief Import result type.
+ typedef typename parent_t::result_t result_t;
+ /// \brief Import gradient type.
+ typedef typename parent_t::gradient_t gradient_t;
+ /// \brief Import vector type.
+ typedef typename parent_t::vector_t vector_t;
+ /// \brief Import jacobian type.
+ typedef typename parent_t::jacobian_t jacobian_t;
+ /// \brief Import interval type.
+ typedef typename parent_t::interval_t interval_t;
+
/// Constructor with fixed definition interval trajectory
///
/// \param traj trajectory defining this one by reparameterization
/// \param s time scale
FreeTimeTrajectory (const Trajectory<DerivabilityOrder>& traj, double s) throw ();
- virtual ~FreeTimeTrajectory () throw ();
+ FreeTimeTrajectory (const FreeTimeTrajectory<DerivabilityOrder>& traj) throw ();
- virtual vector_t operator () (double) const throw ();
+ virtual ~FreeTimeTrajectory () throw ();
- /// \brief Compute the derivative of the function.
- ///
- /// Derivative is computed for a certain order, at a given point.
- /// \param x point at which the derivative will be computed
- /// \param order derivative order (if 0 then function is evaluated)
- /// \return derivative vector
- virtual vector_t derivative (double x, size_type order) const throw ();
virtual jacobian_t variationConfigWrtParam (double t) const throw ();
virtual jacobian_t variationDerivWrtParam (double t, size_type order)
@@ -59,15 +70,30 @@ namespace roboptim
virtual vector_t derivAfterSingularPoint (size_type rank, size_type order)
const;
+ virtual void setParameters (const vector_t&) throw ();
+
/// \brief Get time scale factor.
/// \return time scale factor.
double timeScale () const throw ();
+ size_type getTimeScalingIndex () const throw ()
+ {
+ return 0;
+ }
+
+ ROBOPTIM_IMPLEMENT_CLONE(FreeTimeTrajectory<DerivabilityOrder>)
+
/// \brief Display the function on the specified output stream.
///
/// \param o output stream used for display
/// \return output stream
virtual std::ostream& print (std::ostream& o) const throw ();
+
+ protected:
+ void impl_compute (result_t&, double) const throw ();
+ void impl_derivative (gradient_t& g, double x, size_type order)
+ const throw ();
+
private:
/// \brief Scale input time argument.
///
@@ -82,9 +108,7 @@ namespace roboptim
double scaleTime (double t) const throw ();
/// \brief Input fixed time trajectory.
- const Trajectory<DerivabilityOrder>& trajectory_;
- /// \brief Store time scaling parameter \f$\textbf{p}_{m+1}\f$.
- double timeScale_;
+ Trajectory<DerivabilityOrder>* trajectory_;
};
/// @}
diff --git a/include/roboptim/trajectory/free-time-trajectory.hxx b/include/roboptim/trajectory/free-time-trajectory.hxx
index 89e00de..0db7e01 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hxx
+++ b/include/roboptim/trajectory/free-time-trajectory.hxx
@@ -21,65 +21,128 @@
namespace roboptim
{
+ namespace detail
+ {
+ Function::vector_t
+ addScaleToParams (const Function::vector_t& p,
+ Function::value_type t = 1.);
+
+ Function::vector_t
+ removeScaleFromParams (const Function::vector_t& v);
+
+
+ Function::vector_t
+ addScaleToParams (const Function::vector_t& p,
+ Function::value_type t)
+ {
+ Function::vector_t res (p.size () + 1);
+ res[0] = t;
+ for (unsigned i = 0; i < p.size (); ++i)
+ res[i + 1] = p[i];
+ return res;
+ }
+
+ Function::vector_t
+ removeScaleFromParams (const Function::vector_t& p)
+ {
+ Function::vector_t res (p.size () - 1);
+ for (unsigned i = 1; i < p.size (); ++i)
+ res[i - 1] = p[i];
+ return res;
+ }
+
+ Function::value_type
+ scaleTime (Function::value_type unscaled,
+ Function::value_type min,
+ Function::value_type scale)
+ {
+ return min + scale * (unscaled - min);
+ }
+
+ template <unsigned dorder>
+ Function::interval_t
+ scaleInterval (const Trajectory<dorder>& traj,
+ typename Function::value_type scale)
+ {
+ Function::value_type min =
+ Function::getLowerBound (traj.timeRange ());
+ Function::value_type max =
+ scaleTime (Function::getUpperBound (traj.timeRange ()), min, scale);
+ return Function::makeInterval (min, max);
+ }
+
+ } // end of namespace detail
+
template <unsigned dorder>
FreeTimeTrajectory<dorder>::FreeTimeTrajectory
(const Trajectory<dorder>& traj, double s)
throw ()
- : Trajectory<dorder>
- (std::make_pair (traj.timeRange ().first,
- scaleTime (traj.timeRange ().second)),
- traj.m, traj.parameters ()),
- trajectory_ (traj),
- timeScale_ (s)
+ : Trajectory<dorder> (detail::scaleInterval (traj, s), traj.outputSize (),
+ detail::addScaleToParams (traj.parameters (), s)),
+ trajectory_ (traj.clone ())
+ {
+ assert (s != 0. && !std::isinf (s) && !std::isnan (s));
+ }
+
+ template <unsigned dorder>
+ FreeTimeTrajectory<dorder>::FreeTimeTrajectory
+ (const FreeTimeTrajectory<dorder>& traj)
+ throw ()
+ : Trajectory<dorder> (traj.timeRange (), traj.outputSize (),
+ traj.parameters ()),
+ trajectory_ (traj.trajectory_->clone ())
{
- assert (timeScale_ != 0.
- && std::isinf (timeScale_)
- && std::isnan (timeScale_));
}
template <unsigned dorder>
FreeTimeTrajectory<dorder>::~FreeTimeTrajectory () throw ()
{
+ delete trajectory_;
}
template <unsigned dorder>
- typename FreeTimeTrajectory<dorder>::vector_t
- FreeTimeTrajectory<dorder>::operator () (double t) const throw ()
+ void
+ FreeTimeTrajectory<dorder>::impl_compute
+ (typename FreeTimeTrajectory<dorder>::result_t& res , double t) const throw ()
{
- return trajectory_ (scaleTime (t));
+ (*trajectory_) (scaleTime (t));
}
template <unsigned dorder>
- typename FreeTimeTrajectory<dorder>::vector_t
- FreeTimeTrajectory<dorder>::derivative (double t, size_type order) const throw ()
+ void
+ FreeTimeTrajectory<dorder>::impl_derivative
+ (typename FreeTimeTrajectory<dorder>::gradient_t& derivative,
+ double t,
+ typename FreeTimeTrajectory<dorder>::size_type order) const throw ()
{
double scaled = scaleTime (t);
- vector_t d = trajectory_.deriv (scaled, order);
+ trajectory_->derivative (derivative, scaled, order);
double coef = 1.;
for (size_t i = 0; i < order; ++i)
- coef *= ;
- outDerivative *= coef;
+ coef *= this->timeScale (); //FIXME: timeScale?
+ derivative *= coef;
}
template <unsigned dorder>
typename FreeTimeTrajectory<dorder>::jacobian_t
FreeTimeTrajectory<dorder>::variationConfigWrtParam (double t) const throw ()
{
- double t_min = timeRange ().first;
+ double t_min = this->getLowerBound (this->timeRange ());
double scaled = scaleTime (t);
- jacobian_t jac = trajectory_.variationConfigWrtParam (scale);
+ jacobian_t jac = trajectory_->variationConfigWrtParam (scaled);
// Last column corresponds to derivative wrt lambda_{p+1}
- vector_t dGamma0_dt = trajectory_.derivative (scaled, 1);
+ vector_t dGamma0_dt = trajectory_->derivative (scaled, 1);
dGamma0_dt *= (t - t_min);
// Fill last column of Jacobian with dGamma0_dt
size_type timeScalingIndex = getTimeScalingIndex ();
for (size_type i = 0; i < jac.size1(); ++i)
jac (i, timeScalingIndex) = dGamma0_dt (i);
+ return jac;
}
template <unsigned dorder>
@@ -90,41 +153,41 @@ namespace roboptim
if (!order)
return variationConfigWrtParam (t);
- double t_min = timeRange ().first;
+ double t_min = this->getLowerBound (this->timeRange ());
double scaled = scaleTime (t);
jacobian_t jac =
- trajectory_.variationDerivWrtParam (scaled, order);
+ trajectory_->variationDerivWrtParam (scaled, order);
double lambda_p_plus_1_pow_n_minus_1 = 1.;
for (size_type i = 0; i< order - 1; ++i)
- lambda_p_plus_1_pow_n_minus_1 *= timeScale_;
- }
- outJacobian *= lambda_p_plus_1_pow_n_minus_1 * timeScale_;
+ lambda_p_plus_1_pow_n_minus_1 *= this->timeScale ();
+
+ jac *= lambda_p_plus_1_pow_n_minus_1 * this->timeScale ();
- // Fill last column of Jacobian
- vector_t lastColumn1 = trajectory_.derivative (scaled, order, lastColumn1);
- lastColumn1 *= order;
+ // Fill last column of Jacobian
+ vector_t lastColumn1 = trajectory_->derivative (scaled, order);
+ lastColumn1 *= order;
- vector_t lastColumn2 = trajectory_.derivative (scaled, order, lastColumn2);
- lastColumn2 *= timeScale_ * (t-t_min);
+ vector_t lastColumn2 = trajectory_->derivative (scaled, order);
+ lastColumn2 *= this->timeScale () * (t-t_min);
- vector_t lastColumn =
- (lastColumn1 + lastColumn2) * lambda_p_plus_1_pow_n_minus_1;
+ vector_t lastColumn =
+ (lastColumn1 + lastColumn2) * lambda_p_plus_1_pow_n_minus_1;
- size_type timeScalingIndex = getTimeScalingIndex ();
- for (size_type i = 0; i < jac.size1(); ++i)
- jac (i, timeScalingIndex) = lastColumn (i);
- return jac;
-}
+ size_type timeScalingIndex = getTimeScalingIndex ();
+ for (size_type i = 0; i < jac.size1(); ++i)
+ jac (i, timeScalingIndex) = lastColumn (i);
+ return jac;
+ }
template <unsigned dorder>
typename FreeTimeTrajectory<dorder>::value_type
FreeTimeTrajectory<dorder>::singularPointAtRank (size_type rank) const
{
- double t_min = timeRange ().first;
- return t_min + (trajectory_.singularPointAtRank (rank) - t_min)
- / timeScale_;
+ double t_min = this->getLowerBound (this->timeRange ());
+ return t_min + (trajectory_->singularPointAtRank (rank) - t_min)
+ / this->timeScale ();
}
template <unsigned dorder>
@@ -133,7 +196,7 @@ namespace roboptim
size_type order)
const
{
- return trajectory_.derivBeforeSingularPoint (rank, order);
+ return trajectory_->derivBeforeSingularPoint (rank, order);
}
template <unsigned dorder>
@@ -141,23 +204,31 @@ namespace roboptim
FreeTimeTrajectory<dorder>::derivAfterSingularPoint (size_type rank, size_type order)
const
{
- return trajectory_.derivAfterSingularPoint (rank, order);
+ return trajectory_->derivAfterSingularPoint (rank, order);
+ }
+
+ template <unsigned dorder>
+ void
+ FreeTimeTrajectory<dorder>::setParameters (const vector_t& p) throw ()
+ {
+ this->parameters_ = p;
+ this->trajectory_->setParameters (detail::removeScaleFromParams (p));
}
template <unsigned dorder>
- typename FreeTimeTrajectory<dorder>::double
+ double
FreeTimeTrajectory<dorder>::timeScale () const throw ()
{
- return timeScale_;
+ return this->parameters_[0];
}
template <unsigned dorder>
- typename FreeTimeTrajectory<dorder>::double
+ double
FreeTimeTrajectory<dorder>::scaleTime (double unscaled) const throw ()
{
- double min = timeRange ().first;
- double scaled = min + timeScale_ * (unscaled - min);
- return scaled;
+ return detail::scaleTime (unscaled,
+ getLowerBound (this->timeRange ()),
+ this->timeScale ());
}
template <unsigned dorder>
diff --git a/include/roboptim/trajectory/fwd.hh b/include/roboptim/trajectory/fwd.hh
index 584fb66..8cf1c25 100644
--- a/include/roboptim/trajectory/fwd.hh
+++ b/include/roboptim/trajectory/fwd.hh
@@ -23,6 +23,8 @@ namespace roboptim
template <unsigned dorder>
class Trajectory;
+ typedef Trajectory<2> GenericTrajectory;
+
template <typename T>
class StateCost;
diff --git a/include/roboptim/trajectory/fwd.hh b/include/roboptim/trajectory/limit-speed.hh
similarity index 56%
copy from include/roboptim/trajectory/fwd.hh
copy to include/roboptim/trajectory/limit-speed.hh
index 584fb66..ca663c3 100644
--- a/include/roboptim/trajectory/fwd.hh
+++ b/include/roboptim/trajectory/limit-speed.hh
@@ -15,25 +15,25 @@
// 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_FWD_HH
-# define ROBOPTIM_TRAJECTORY_FWD_HH
+#ifndef ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HH
+# define ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HH
+# include <roboptim/core/derivable-function.hh>
+# include <roboptim/trajectory/fwd.hh>
namespace roboptim
{
- template <unsigned dorder>
- class Trajectory;
-
- template <typename T>
- class StateCost;
-
- template <typename T>
- class SumCost;
-
- template <typename T>
- class TrajectoryCost;
-
- class Spline;
- class SplineLength;
+ struct LimitSpeed : public DerivableFunction
+ {
+ LimitSpeed (double t, const GenericTrajectory& spline) throw ();
+ ~LimitSpeed () throw ();
+ 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:
+ double t_;
+ const GenericTrajectory& spline_;
+ };
} // end of namespace roboptim.
-#endif //! ROBOPTIM_TRAJECTORY_FWD_HH
+#endif //! ROBOPTIM_TRAJECTORY_LIMIT_SPEED_HH
diff --git a/include/roboptim/trajectory/spline.hh b/include/roboptim/trajectory/spline.hh
index 6211c4b..82cc16b 100644
--- a/include/roboptim/trajectory/spline.hh
+++ b/include/roboptim/trajectory/spline.hh
@@ -73,6 +73,8 @@ namespace roboptim
virtual vector_t derivAfterSingularPoint (size_type rank, size_type order)
const;
+ ROBOPTIM_IMPLEMENT_CLONE(Spline)
+
/// \brief Display the function on the specified output stream.
///
/// \param o output stream used for display
diff --git a/include/roboptim/trajectory/trajectory.hh b/include/roboptim/trajectory/trajectory.hh
index e6548d1..c720caa 100644
--- a/include/roboptim/trajectory/trajectory.hh
+++ b/include/roboptim/trajectory/trajectory.hh
@@ -22,6 +22,12 @@
# include <roboptim/trajectory/fwd.hh>
# include <roboptim/core/n-times-derivable-function.hh>
+# define ROBOPTIM_IMPLEMENT_CLONE(C) \
+ virtual C* clone () const throw () \
+ { \
+ return new C (*this); \
+ }
+
namespace roboptim
{
/// \addtogroup roboptim_meta_function
@@ -154,8 +160,9 @@ namespace roboptim
const = 0;
/// \}
- virtual std::ostream& print (std::ostream&) const throw ();
+ virtual Trajectory<DerivabilityOrder>* clone () const throw () = 0;
+ virtual std::ostream& print (std::ostream&) const throw ();
protected:
Trajectory (interval_t, size_type, const vector_t&,
std::string name = std::string ()) throw ();
diff --git a/src/Makefile.am b/src/Makefile.am
index a4ea844..e29e350 100644
--- a/src/Makefile.am
+++ b/src/Makefile.am
@@ -10,6 +10,7 @@ lib_LTLIBRARIES = libroboptim-trajectory.la
libroboptim_trajectory_la_SOURCES = \
doc.hh \
+ limit-speed.cc \
spline.cc \
spline-length.cc
diff --git a/src/limit-speed.cc b/src/limit-speed.cc
new file mode 100644
index 0000000..2267904
--- /dev/null
+++ b/src/limit-speed.cc
@@ -0,0 +1,61 @@
+// 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 <boost/numeric/ublas/vector.hpp>
+#include <boost/scoped_ptr.hpp>
+
+#include <roboptim/core/finite-difference-gradient.hh>
+
+#include <roboptim/trajectory/trajectory.hh>
+
+#include "roboptim/trajectory/limit-speed.hh"
+
+namespace roboptim
+{
+ LimitSpeed::LimitSpeed (double t, const GenericTrajectory& spline) throw ()
+ : DerivableFunction (1 + spline.parameters ().size (), 1, "limit speed"),
+ t_ (t),
+ spline_ (spline)
+ {}
+
+ LimitSpeed::~LimitSpeed () throw ()
+ {}
+
+ void
+ LimitSpeed::impl_compute (result_t& res, const argument_t& p) const throw ()
+ {
+ using namespace boost::numeric::ublas;
+ res.clear ();
+
+ boost::scoped_ptr<GenericTrajectory> updatedSpline (spline_.clone ());
+ updatedSpline->setParameters (p);
+
+ res[0] = norm_2 (updatedSpline->derivative (t_));
+ }
+
+ void
+ LimitSpeed::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);
+ }
+} // end of namespace roboptim.
diff --git a/tests/Makefile.am b/tests/Makefile.am
index 33dee61..5a3a950 100644
--- a/tests/Makefile.am
+++ b/tests/Makefile.am
@@ -36,6 +36,16 @@ check_PROGRAMS += spline-optimization
spline_optimization_SOURCES = spline-optimization.cc $(COMMON_SOURCES)
spline_optimization_LDADD = $(top_builddir)/src/libroboptim-trajectory.la
+# free-time-trajectory
+check_PROGRAMS += free-time-trajectory
+free_time_trajectory_SOURCES = free-time-trajectory.cc $(COMMON_SOURCES)
+free_time_trajectory_LDADD = $(top_builddir)/src/libroboptim-trajectory.la
+
+# spline-time-optimization
+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
+
.PHONY: generate-reference
@@ -59,7 +69,9 @@ generate-reference:
# Distribute reference files.
EXTRA_DIST += \
+ free-time-trajectory.stdout \
simple.stdout \
spline-gradient.stdout \
spline-optimization.stdout \
+ spline-optimization-time.stdout \
spline.stdout
diff --git a/include/roboptim/trajectory/fwd.hh b/tests/free-time-trajectory.cc
similarity index 66%
copy from include/roboptim/trajectory/fwd.hh
copy to tests/free-time-trajectory.cc
index 584fb66..8ccdf25 100644
--- a/include/roboptim/trajectory/fwd.hh
+++ b/tests/free-time-trajectory.cc
@@ -15,25 +15,11 @@
// 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_FWD_HH
-# define ROBOPTIM_TRAJECTORY_FWD_HH
+#include "common.hh"
-namespace roboptim
+int run_test ()
{
- template <unsigned dorder>
- class Trajectory;
+ return 0;
+}
- template <typename T>
- class StateCost;
-
- template <typename T>
- class SumCost;
-
- template <typename T>
- class TrajectoryCost;
-
- class Spline;
- class SplineLength;
-} // end of namespace roboptim.
-
-#endif //! ROBOPTIM_TRAJECTORY_FWD_HH
+GENERATE_TEST ()
diff --git a/tests/free-time-trajectory.stdout b/tests/free-time-trajectory.stdout
new file mode 100644
index 0000000..e69de29
diff --git a/tests/spline-optimization.stdout b/tests/spline-optimization.stdout
index ea8c069..4e6ef69 100644
--- a/tests/spline-optimization.stdout
+++ b/tests/spline-optimization.stdout
@@ -19,7 +19,7 @@
set terminal wxt persist
set multiplot layout 1,2
set grid
-plot '-' with line
+plot '-' title 'before' with line
0.000000 0.000000
0.000008 0.000033
0.000065 0.000260
@@ -423,7 +423,7 @@ plot '-' with line
100.000000 100.000000
e
-plot '-' with line
+plot '-' title 'after' with line
-0.000000 -0.000000
0.000011 0.000011
0.000086 0.000086
diff --git a/tests/spline-time-optimization.cc b/tests/spline-time-optimization.cc
new file mode 100644
index 0000000..20f3107
--- /dev/null
+++ b/tests/spline-time-optimization.cc
@@ -0,0 +1,130 @@
+// 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 <boost/assign/list_of.hpp>
+#include <boost/mpl/vector.hpp>
+#include <boost/numeric/ublas/io.hpp>
+
+#include <roboptim/core/finite-difference-gradient.hh>
+#include <roboptim/core/solver-factory.hh>
+
+#include <roboptim/trajectory/free-time-trajectory.hh>
+#include <roboptim/trajectory/freeze.hh>
+#include <roboptim/trajectory/fwd.hh>
+#include <roboptim/trajectory/spline-length.hh>
+#include <roboptim/trajectory/spline.hh>
+#include <roboptim/trajectory/trajectory-cost.hh>
+
+#include "common.hh"
+
+using namespace roboptim;
+
+typedef boost::mpl::vector<DerivableFunction, LinearFunction> constraint_t;
+typedef Solver<DerivableFunction, constraint_t> solver_t;
+
+int run_test ()
+{
+ using namespace boost::assign;
+ Spline::vector_t params (4);
+
+ // Initial position.
+ params[0] = 0.;
+ // Control point 1.
+ params[1] = 25.;
+ // Control point 2.
+ params[2] = 75.;
+ // Final position.
+ params[3] = 100.;
+
+ // Make trajectories.
+ Spline::interval_t timeRange = Spline::makeInterval (0., 4.);
+ Spline spline (timeRange, 1, params, "before");
+ FreeTimeTrajectory<Spline::derivabilityOrder> freeTimeTraj (spline, 1.);
+
+ // Define cost.
+ Function::matrix_t a (1, freeTimeTraj.parameters ().size ());
+ a.clear ();
+ a (0, 0) = 1.;
+ Function::vector_t b (1);
+ b.clear ();
+ roboptim::NumericLinearFunction cost (a, b);
+
+ // Create problem.
+ solver_t::problem_t problem (cost);
+ problem.startingPoint () = freeTimeTraj.parameters ();
+
+ typedef Freeze<DerivableFunction, constraint_t, LinearFunction> freeze_t;
+ freeze_t freeze (problem,
+ list_of <freeze_t::frozenArgument_t>
+ (1, params[0])
+ (params.size (), params[params.size () - 1]));
+ freeze ();
+
+ SolverFactory<solver_t> factory ("cfsqp", problem);
+ solver_t& solver = factory ();
+
+
+ std::cout << "Cost function (before): " << cost (freeTimeTraj.parameters ())
+ << std::endl
+ << "Parameters (before): " << freeTimeTraj.parameters ()
+ << std::endl;
+
+ solver_t::result_t res = solver.minimum ();
+
+ std::cout << solver << std::endl;
+
+ switch (res.which ())
+ {
+ case GenericSolver::SOLVER_VALUE:
+ {
+ Result& result = boost::get<Result> (res);
+ FreeTimeTrajectory<Spline::derivabilityOrder> optimizedTrajectory =
+ freeTimeTraj;
+ optimizedTrajectory.setParameters (result.x);
+ std::cout << "Parameters (after): " << optimizedTrajectory.parameters ()
+ << std::endl;
+ 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;
+ optimizedTrajectory.setParameters (result.x);
+ std::cout << result << std::endl;
+ std::cout << "Parameters (after): " << optimizedTrajectory.parameters ()
+ << std::endl;
+ break;
+ }
+
+ case GenericSolver::SOLVER_ERROR:
+ {
+ SolverError& result = boost::get<SolverError> (res);
+ std::cout << result << std::endl;
+ return 1;
+ }
+ }
+ return 0;
+}
+
+GENERATE_TEST ()
diff --git a/tests/spline-time-optimization.stdout b/tests/spline-time-optimization.stdout
new file mode 100644
index 0000000..093069b
--- /dev/null
+++ b/tests/spline-time-optimization.stdout
@@ -0,0 +1,42 @@
+Cost function (before): [1](1)
+Parameters (before): [5](1,0,25,75,100)
+Problem:
+ Numeric linear function
+ A = [1,5]((1,0,0,0,0))
+ B = [1](0)
+ Argument's bounds: (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf), (-inf, inf)
+ Argument's scales: 1, 1, 1, 1, 1
+ Number of constraints: 2
+ Constraint 0
+ Numeric linear function
+ A = [1,5]((0,1,0,0,0))
+ B = [1](-0)
+ Bounds: (0, 0)
+ Scales: 1
+ Initial value: [1](0)
+
+ Constraint 1
+ Numeric linear function
+ A = [1,5]((0,0,0,0,1))
+ B = [1](-100)
+ Bounds: (0, 0)
+ Scales: 1
+ Initial value: [1](0)
+
+ Starting point: [5](1,0,25,75,100)
+ Starting value: [1](1)
+ Infinity value (for all functions): inf
+CFSQP specific variables:
+ Nineq: 0
+ Nineqn: 0
+ Neq: 2
+ Neqn: 2
+ Mode: 100
+ Iprint: 0
+ Miter: 500
+ Bigbnd: 1e+10
+ Eps: 1e-08
+ Epseqn: 1e-08
+ Udelta: 1e-08
+ CFSQP constraints: (0, 1), (1, 1)
+Parameters (after): [5](-1e+10,-2.95264e-14,25,75,100)
diff --git a/tests/spline.stdout b/tests/spline.stdout
index fbe686b..9c12328 100644
--- a/tests/spline.stdout
+++ b/tests/spline.stdout
@@ -13,7 +13,7 @@
#!/usr/bin/gnuplot
# Generated by RobOptim core library 0.2
set terminal wxt persist
-plot '-' with line
+plot '-' title 'spline' with line
0.000000 0.000000
0.000004 0.000008
0.000033 0.000067
diff --git a/tests/testsuite.at b/tests/testsuite.at
index 1a1b998..59f145c 100644
--- a/tests/testsuite.at
+++ b/tests/testsuite.at
@@ -32,5 +32,7 @@ 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.])
+CHECK_STDOUT([spline-optimization-time], [Optimize a free time trajectory.])
# End of testsuite.at
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 25 +++
include/Makefile.am | 1 +
.../roboptim/trajectory/free-time-trajectory.hh | 48 +++++--
.../roboptim/trajectory/free-time-trajectory.hxx | 167 ++++++++++++++------
include/roboptim/trajectory/fwd.hh | 2 +
.../roboptim/trajectory/{fwd.hh => limit-speed.hh} | 34 ++--
include/roboptim/trajectory/spline.hh | 2 +
include/roboptim/trajectory/trajectory.hh | 9 +-
src/Makefile.am | 1 +
src/limit-speed.cc | 61 +++++++
tests/Makefile.am | 12 ++
tests/{simple.cc => free-time-trajectory.cc} | 4 -
.../{simple.stdout => free-time-trajectory.stdout} | 0
tests/spline-optimization.stdout | 4 +-
tests/spline-time-optimization.cc | 130 +++++++++++++++
tests/spline-time-optimization.stdout | 42 +++++
tests/spline.stdout | 2 +-
tests/testsuite.at | 2 +
18 files changed, 461 insertions(+), 85 deletions(-)
copy include/roboptim/trajectory/{fwd.hh => limit-speed.hh} (56%)
create mode 100644 src/limit-speed.cc
copy tests/{simple.cc => free-time-trajectory.cc} (92%)
copy tests/{simple.stdout => free-time-trajectory.stdout} (100%)
create mode 100644 tests/spline-time-optimization.cc
create mode 100644 tests/spline-time-optimization.stdout
hooks/post-receive
--
roboptim
|
|
From: Thomas M. <tho...@us...> - 2009-07-15 05:48:44
|
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 811331a1ad777e218a0f587e8029c7f3ded3b756 (commit)
from 1627fe75da1fd9eb74269a45a77daa151265cfae (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 811331a1ad777e218a0f587e8029c7f3ded3b756
Author: Thomas Moulard <tho...@gm...>
Date: Wed Jul 15 14:48:05 2009 +0900
Make use of function's names in trajectory classes.
* include/roboptim/trajectory/spline.hh,
* include/roboptim/trajectory/trajectory.hh,
* include/roboptim/trajectory/trajectory.hxx:
Add function name to constructor with default value.
* include/roboptim/trajectory/visualization/trajectory.hh:
Display function name.
* src/spline.cc: Pass function name to parent class.
* tests/spline-optimization.cc: Set function's names.
Signed-off-by: Thomas Moulard <tho...@gm...>
diff --git a/ChangeLog b/ChangeLog
index 51b29f3..c9fc98c 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,5 +1,17 @@
2009-07-15 Thomas Moulard <tho...@gm...>
+ Make use of function's names in trajectory classes.
+ * include/roboptim/trajectory/spline.hh,
+ * include/roboptim/trajectory/trajectory.hh,
+ * include/roboptim/trajectory/trajectory.hxx:
+ Add function name to constructor with default value.
+ * include/roboptim/trajectory/visualization/trajectory.hh:
+ Display function name.
+ * src/spline.cc: Pass function name to parent class.
+ * tests/spline-optimization.cc: Set function's names.
+
+2009-07-15 Thomas Moulard <tho...@gm...>
+
Use fixed-point display in Gnuplot.
* include/roboptim/trajectory/visualization/trajectory.hh,
* tests/spline-gradient.cc:
diff --git a/include/roboptim/trajectory/spline.hh b/include/roboptim/trajectory/spline.hh
index 8db372c..6211c4b 100644
--- a/include/roboptim/trajectory/spline.hh
+++ b/include/roboptim/trajectory/spline.hh
@@ -53,7 +53,7 @@ namespace roboptim
/// \param dimension spline dimension
/// \param parameters vector of parameters defining control points
Spline (interval_t timeRange, size_type dimension,
- const vector_t& parameters) throw ();
+ const vector_t& parameters, std::string name = "spline") throw ();
/// \brief Copy constructor.
/// \param spline spline that will be copied
diff --git a/include/roboptim/trajectory/trajectory.hh b/include/roboptim/trajectory/trajectory.hh
index a3d93f8..e6548d1 100644
--- a/include/roboptim/trajectory/trajectory.hh
+++ b/include/roboptim/trajectory/trajectory.hh
@@ -59,8 +59,6 @@ namespace roboptim
/// \brief Import interval type.
typedef typename parent_t::interval_t interval_t;
-
- Trajectory (interval_t, size_type, const vector_t&) throw ();
virtual ~Trajectory () throw ();
/// \name Accessing parameters, and state.
@@ -157,7 +155,11 @@ namespace roboptim
/// \}
virtual std::ostream& print (std::ostream&) const throw ();
+
protected:
+ Trajectory (interval_t, size_type, const vector_t&,
+ std::string name = std::string ()) throw ();
+
interval_t timeRange_;
vector_t parameters_;
size_type singularPoints_;
diff --git a/include/roboptim/trajectory/trajectory.hxx b/include/roboptim/trajectory/trajectory.hxx
index 86a4aa6..a8a657b 100644
--- a/include/roboptim/trajectory/trajectory.hxx
+++ b/include/roboptim/trajectory/trajectory.hxx
@@ -23,9 +23,10 @@ namespace roboptim
template <unsigned dorder>
Trajectory<dorder>::Trajectory (interval_t tr,
size_type outputSize,
- const vector_t& p)
+ const vector_t& p,
+ std::string name)
throw ()
- : parent_t (outputSize),
+ : parent_t (outputSize, name),
timeRange_ (tr),
parameters_ (p),
singularPoints_ ()
diff --git a/include/roboptim/trajectory/visualization/trajectory.hh b/include/roboptim/trajectory/visualization/trajectory.hh
index 468444e..428056a 100644
--- a/include/roboptim/trajectory/visualization/trajectory.hh
+++ b/include/roboptim/trajectory/visualization/trajectory.hh
@@ -71,7 +71,9 @@ namespace roboptim
Function::value_type max = Function::getUpperBound (traj.timeRange ());
Function::discreteInterval_t interval (min, max, step);
- std::string str = "plot '-' with line\n";
+ std::string str = (boost::format ("plot '-' title '%1%' with line\n")
+ % traj.getName ()).str ();
+
traj.foreach (interval, PlotTrajectory<Trajectory<N> > (traj, str));
str += "e\n";
return Command (str);
diff --git a/src/spline.cc b/src/spline.cc
index 1f68975..c605009 100644
--- a/src/spline.cc
+++ b/src/spline.cc
@@ -40,9 +40,10 @@ namespace roboptim
} // end of namespace detail.
//FIXME: defined_lc_in has to be true (false untested).
- Spline::Spline (interval_t tr, size_type outputSize, const vector_t& p)
+ Spline::Spline (interval_t tr, size_type outputSize, const vector_t& p,
+ std::string name)
throw ()
- : Trajectory<4> (tr, outputSize, p),
+ : Trajectory<4> (tr, outputSize, p, name),
spline_ (),
nbp_ (p.size () / outputSize)
{
diff --git a/tests/spline-optimization.cc b/tests/spline-optimization.cc
index 351c72d..0fd3f42 100644
--- a/tests/spline-optimization.cc
+++ b/tests/spline-optimization.cc
@@ -56,7 +56,9 @@ int run_test ()
// Final position.
params[6] = 100., params[7] = 100.;
- Spline spline (std::make_pair (0., 4.), 2, params);
+ Spline::interval_t timeRange = Spline::makeInterval (0., 4.);
+
+ Spline spline (timeRange, 2, params, "before");
discreteInterval_t interval (0., 4., 0.01);
std::cout
@@ -149,9 +151,9 @@ int run_test ()
case GenericSolver::SOLVER_VALUE:
{
Result& result = boost::get<Result> (res);
- spline.setParameters (result.x);
+ Spline optimizedSpline (timeRange, 2, result.x, "after");
params = result.x;
- gnuplot << plot_xy (spline);
+ gnuplot << plot_xy (optimizedSpline);
break;
}
@@ -163,10 +165,10 @@ int run_test ()
case GenericSolver::SOLVER_VALUE_WARNINGS:
{
ResultWithWarnings& result = boost::get<ResultWithWarnings> (res);
- spline.setParameters (result.x);
+ Spline optimizedSpline (timeRange, 2, result.x, "after");
params = result.x;
std::cerr << result << std::endl;
- gnuplot << plot_xy (spline);
+ gnuplot << plot_xy (optimizedSpline);
break;
}
-----------------------------------------------------------------------
Summary of changes:
ChangeLog | 12 ++++++++++++
include/roboptim/trajectory/spline.hh | 2 +-
include/roboptim/trajectory/trajectory.hh | 6 ++++--
include/roboptim/trajectory/trajectory.hxx | 5 +++--
.../trajectory/visualization/trajectory.hh | 4 +++-
src/spline.cc | 5 +++--
tests/spline-optimization.cc | 12 +++++++-----
7 files changed, 33 insertions(+), 13 deletions(-)
hooks/post-receive
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roboptim
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