optas.templates.Manager Class Reference

Base manager class. More...

Inheritance diagram for optas.templates.Manager:

Collaboration diagram for optas.templates.Manager:

Public Member Functions
def	__init__ (self, Union[None, str] config_filename=None, bool record_solver_perf=False)
	Initializer for the Manger class. More...
None	reset_manager (self)
	Reset basic variables in the manager. More...
float	get_solver_duration (self)
	Returns the duration of the solver. More...
bool	is_first_solve (self)
	True when the solver is being run for the first time. More...
None	setup_solver (self)
	Abstract methods. More...
bool	is_ready (self)
	True when manager is ready to use. More...
None	reset (self)
	Reset the optimization problem. More...
cs.DM	get_target (self)
	Return the target from the solution. More...

Public Attributes
	config_filename
	record_solver_perf
	config
	solver
	solve
	num_solves
	solver_duration
	solution

Private Member Functions
Dict	_load_configuration (self, filename)
	Load the configuration file. More...
Callable	_initialize_solve_method (self)
	Initialize the solve method, i.e. More...
None	_solve (self)
	Solves the optimization problem. More...
None	_solve_and_time (self)
	Solves the optimization problem and times. More...

Detailed Description

Base manager class.

Constructor & Destructor Documentation

__init__()

def optas.templates.Manager.__init__	(		self,
		Union[None, str]	config_filename = None,
		bool	record_solver_perf = False
	)

Initializer for the Manger class.

   @param config_filename Filename for a YAML configuration file. When None is passed, it is assumed there is no configuration.
   @param record_solver_perf When true the solver duration is recorded when there is a call to solve.
   @return An instance of the Manger class.

Member Function Documentation

_initialize_solve_method()

Callable optas.templates.Manager._initialize_solve_method (   self )

private

Initialize the solve method, i.e.

whether to record solver duration or not.

_load_configuration()

Dict optas.templates.Manager._load_configuration (   self,   filename  )

private

Load the configuration file.

   @param filename Filename for the YAML file.
   @return Dictionary of the configuration.

_solve()

None optas.templates.Manager._solve (   self )

private

Solves the optimization problem.

_solve_and_time()

None optas.templates.Manager._solve_and_time (   self )

private

Solves the optimization problem and times.

get_solver_duration()

float optas.templates.Manager.get_solver_duration

(

self

)

Returns the duration of the solver.

   @return Duration in secs.

get_target()

cs.DM optas.templates.Manager.get_target

(

self

)

Return the target from the solution.

For example, the target joint states. This is an abstract method.

   @return The part of the solution that represents the target. E.g. the next step in a motion plan.

is_first_solve()

bool optas.templates.Manager.is_first_solve

(

self

)

True when the solver is being run for the first time.

   @return Boolean indicating if this is the first time the solver is called.

is_ready()

bool optas.templates.Manager.is_ready

(

self

)

True when manager is ready to use.

This is an abstract method.

Reimplemented in optas.templates.ROSManager.

reset()

None optas.templates.Manager.reset

(

self

)

Reset the optimization problem.

This is an abstract method.

reset_manager()

None optas.templates.Manager.reset_manager

(

self

)

Reset basic variables in the manager.

setup_solver()

None optas.templates.Manager.setup_solver

(

self

)

Abstract methods.

Setup the optimization solver. This is an abstract method.

Member Data Documentation

config

optas.templates.Manager.config

config_filename

optas.templates.Manager.config_filename

num_solves

optas.templates.Manager.num_solves

record_solver_perf

optas.templates.Manager.record_solver_perf

solution

optas.templates.Manager.solution

solve

optas.templates.Manager.solve

solver

optas.templates.Manager.solver

solver_duration

optas.templates.Manager.solver_duration

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

• templates.py