roboptim::capsule::Fitter Class Reference

Capsule fitter class. More...

#include <roboptim/capsule/fitter.hh>

Public Member Functions
	Fitter (const polyhedrons_t &polyhedrons, std::string solver="ipopt") throw ()
	Constructor. More...
	~Fitter () throw ()
const polyhedrons_t	polyhedrons () const throw ()
	Get polyhedron attribute. More...
void	polyhedrons (const polyhedrons_t &polyhedrons) throw ()
	Set polyhedron attribute. More...
value_type	initVolume () const throw ()
	Get capsule volume for initial parameters. More...
value_type	solutionVolume () const throw ()
	Get capsule volume for solution parameters. More...
const argument_t	initParam () const throw ()
	Get initial capsule parameters. More...
const argument_t	solutionParam () const throw ()
	Get solution capsule parameters. More...
void	computeBestFitCapsule (const argument_t &initParam) throw ()
	Compute best fitting capsule over polyhedron. More...
void	computeBestFitCapsule (const polyhedrons_t &polyhedrons, const argument_t &initParam) throw ()
	Compute best fitting capsule over polyhedron vector. More...
const argument_t	computeBestFitCapsuleParam (const argument_t &initParam) throw ()
	Compute best fitting capsule over polyhedron vector. More...
const argument_t	computeBestFitCapsuleParam (const polyhedrons_t &polyhedrons, const argument_t &initParam) throw ()
	Compute best fitting capsule over polyhedron. More...

Protected Member Functions
void	impl_computeBestFitCapsuleParam (const polyhedrons_t &polyhedrons, const argument_t &initParam, argument_t &solutionParam) throw ()
	Implementation of best fitting capsule computation. More...

Detailed Description

Capsule fitter class.

This class computes the best fitting capsule over a polyhedron.

Constructor & Destructor Documentation

roboptim::capsule::Fitter::Fitter	(	const polyhedrons_t &	polyhedrons,
		std::string	solver = "ipopt"
	)
throw	(
	)

Constructor.

roboptim::capsule::Fitter::~Fitter	(		)
throw	(
	)

Member Function Documentation

void roboptim::capsule::Fitter::computeBestFitCapsule	(	const argument_t &	initParam	)
throw	(
	)

Compute best fitting capsule over polyhedron.

Polyhedron vector attribute is used to compute capsule and set capsuleParam attribute.

Parameters

initParam

initial capsule parameters

Referenced by main().

void roboptim::capsule::Fitter::computeBestFitCapsule	(	const polyhedrons_t &	polyhedrons,
		const argument_t &	initParam
	)
throw	(
	)

Compute best fitting capsule over polyhedron vector.

Parameters

polyhedron	Polyhedron over which the capsule is fitted
initParam	initial capsule parameters

const argument_t roboptim::capsule::Fitter::computeBestFitCapsuleParam	(	const argument_t &	initParam	)
throw	(
	)

Compute best fitting capsule over polyhedron vector.

Polyhedron vector attribute is used to compute capsule and set capsuleParam attribute.

Parameters

initParam

initial capsule parameters

Returns

capsule parameters

const argument_t roboptim::capsule::Fitter::computeBestFitCapsuleParam	(	const polyhedrons_t &	polyhedrons,
		const argument_t &	initParam
	)
throw	(
	)

Compute best fitting capsule over polyhedron.

Parameters

polyhedrons	Polyhedron vector over which the capsule is fitted
initParam	initial capsule parameters

Returns

capsule parameters

void roboptim::capsule::Fitter::impl_computeBestFitCapsuleParam ( const polyhedrons_t &  polyhedrons, const argument_t &  initParam, argument_t &  solutionParam  ) throw ( )

protected

Implementation of best fitting capsule computation.

Parameters

polyhedrons	Polyhedron vector over which the capsule is fitted
initParam	initial capsule parameters

Returns

solutionParam solution capsule parameters

const argument_t roboptim::capsule::Fitter::initParam	(		)	const
throw	(
	)

Get initial capsule parameters.

Referenced by main(), and roboptim::capsule::operator<<().

value_type roboptim::capsule::Fitter::initVolume	(		)	const
throw	(
	)

Get capsule volume for initial parameters.

Referenced by roboptim::capsule::operator<<().

const polyhedrons_t roboptim::capsule::Fitter::polyhedrons	(		)	const
throw	(
	)

Get polyhedron attribute.

void roboptim::capsule::Fitter::polyhedrons	(	const polyhedrons_t &	polyhedrons	)
throw	(
	)

Set polyhedron attribute.

const argument_t roboptim::capsule::Fitter::solutionParam	(		)	const
throw	(
	)

Get solution capsule parameters.

Referenced by main(), and roboptim::capsule::operator<<().

value_type roboptim::capsule::Fitter::solutionVolume	(		)	const
throw	(
	)

Get capsule volume for solution parameters.

Referenced by roboptim::capsule::operator<<().