Constraints

Constraints are toggled through the ConstraintSelection member of an Optimization (opt.constraints). Only the enabled constraints are evaluated by the solver.

Optimization opt(robot, task);

opt.constraints.position            = true;
opt.constraints.velocity            = true;
opt.constraints.acceleration        = true;
opt.constraints.torque              = true;
opt.constraints.tool_speed          = true;
opt.constraints.self_collisions     = true;
opt.constraints.external_collisions = true;  // requires opt.world to be set

Constraint	Meaning	Source of limits
position	Joint angles stay within [position_min, position_max]	ManipulatorLimits
velocity	Joint velocities stay within velocity_max	ManipulatorLimits
acceleration	Joint accelerations stay within acceleration_max	ManipulatorLimits
torque	Joint torques stay within torque_max	ManipulatorLimits
tool_speed	The tool absolute speed stays within tool_speed_max	ManipulatorLimits
self_collisions	Robot capsules do not collide with each other	ManipulatorCapsules
external_collisions	Robot capsules do not collide with World obstacles	World

Constraint sampling: OptimizationMethod

How densely constraints are evaluated along the trajectory is controlled by the method passed to optimize:

// Default: one constraint per B-spline segment (fast, good for most problems).
Result r = optimize(&opt, OptimizationMethod::with_segments);

// Point-based with finite-difference gradients (reference baseline).
Result r = optimize(&opt, OptimizationMethod::baseline);

// Point-based with analytical gradients for position/velocity/acceleration.
Result r = optimize(&opt, OptimizationMethod::with_analytical_pva);

// As above, plus analytical torque-dynamics gradients.
Result r = optimize(&opt, OptimizationMethod::with_analytical_dynamics);

success_tolerance sets the relative constraint-violation threshold below which a solution is considered feasible:

opt.success_tolerance = 0.01;  // 1% relative violation
opt.max_eval          = 5000;  // cap on function evaluations

See the API reference for the full ConstraintSelection and OptimizationMethod definitions.