Detailed Description

Class representing the hierarchy of the problem.

Definition at line 19 of file configurable_optimization_problem.h.

#include <configurable_optimization_problem.h>

Inheritance diagram for humoto::ConfigurableOptimizationProblem:

Public Member Functions
	ConfigurableOptimizationProblem ()
	Default constructor. More...

void	computeViolations (humoto::Violations &violations, const humoto::Solution &solution) const
	Compute violations based on the solution. More...

void	determineActiveSet (humoto::ActiveSet &active_set, const humoto::Solution &solution) const
	Determine active set based on the solution. This active set may differ from the active set returned by the solver due to tolerances. More...

void	form (humoto::Solution &solution, const humoto::Model &model, const humoto::ControlProblem &control_problem)
	Form hierarchy. More...

void	form (humoto::Solution &solution, humoto::ActiveSet &active_set_guess, const humoto::Model &model, const humoto::ControlProblem &control_problem)
	Form hierarchy. More...

void	form (humoto::Solution &solution, humoto::Solution &solution_guess, humoto::ActiveSet &active_set_guess, const humoto::Model &model, const humoto::ControlProblem &control_problem, const humoto::Solution &old_solution)
	Form hierarchy. More...

void	form (humoto::Solution &solution, humoto::Solution &solution_guess, const humoto::Model &model, const humoto::ControlProblem &control_problem, const humoto::Solution &old_solution)
	Form hierarchy. More...

std::size_t	getNumberOfLevels () const
	Returns number of levels in the hierarchy. More...

template<class t_QPConstraints >
void	getQPProblem (QPProblemBase< t_QPConstraints > &qp_problem, const humoto::SolutionStructure &sol_structure, const bool initialize_upper_triangular_part=true) const
	Form a QP problem. More...

void	initializeActiveSet (humoto::ActiveSet &active_set) const
	Initialize active set of the hierarchy. More...

void	log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="") const
	Log hierarchy as a set of tasks. More...

const humoto::HierarchyLevel &	operator[] (const std::size_t level_index) const
	Access hierarchy level (const) More...

humoto::HierarchyLevel &	operator[] (const std::size_t level_index)
	Access hierarchy level. More...

void	processActiveSet (const humoto::ActiveSet &active_set)
	Process actual active set: extract active sets of individual tasks. More...

void	pushTask (TaskSharedPointer task_pointer, const std::size_t level_index, const std::string &task_class_name)
	Push task to the hierarchy. More...

void	pushTask (TaskSharedPointer task_pointer, const std::size_t level_index)
	Add task to the optimization problem. More...

void	readConfig (t_Reader &reader, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (t_Reader &reader, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (t_Reader &reader, const char *node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readConfig (const std::string &file_name, const char *node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read configuration (assuming the configuration node to be in the root). More...

void	readNestedConfig (t_Reader &reader, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_)
	Read nested configuration node. More...

void	reset (const std::size_t number_of_levels)
	Reset the optimization problem. More...

void	writeConfig (t_Writer &writer) const
	Write configuration. More...

void	writeConfig (t_Writer &writer, const std::string &node_name) const
	Write configuration. More...

void	writeConfig (const std::string &file_name) const
	Write configuration. More...

void	writeConfig (const std::string &file_name, const std::string &node_name) const
	Write configuration. More...

void	writeNestedConfig (t_Writer &writer) const
	Write nested configuration node. More...

void	writeNestedConfig (t_Writer &writer, const std::string &node_name) const
	Write nested configuration node. More...

Protected Member Functions
virtual void	finalize ()
	This function is called automaticaly after reading a configuration file. Does nothing by default. More...

void	formHierarchy (humoto::Solution &solution, const humoto::Model &model, const humoto::ControlProblem &control_problem, const bool is_active_set_guessing_enabled)
	Form hierarchy. More...

virtual const std::string &	getConfigSectionID () const=0
	Return the default name of a configuration node corresponding to this class. More...

virtual humoto::TaskSharedPointer	getTask (const std::string &string_id) const
	Fill map with all pointers to all tasks for given module. More...

void	guessActiveSet (ActiveSet &active_set) const
	Form active set guess. More...

void	setDefaults ()
	Initialize to default values. More...

Protected Attributes
std::vector< humoto::HierarchyLevel >	hierarchy_

std::vector< std::size_t >	number_of_constraints_

std::size_t	number_of_levels_

std::vector< std::vector< std::string > >	task_class_names_

std::vector< std::vector< std::string > >	task_ids_

Static Protected Attributes
static const bool	default_crash_on_missing_entry_

Private Member Functions
std::size_t	getNumberOfEntries () const
	Count entries. More...

template<class t_Reader >
void	readConfigEntriesTemplate (t_Reader &reader, const bool crash_on_missing_entry=true)
	Read config entries. More...

template<class t_Writer >
void	writeConfigEntriesTemplate (t_Writer &writer) const
	Write config entries. More...

Constructor & Destructor Documentation

◆ ConfigurableOptimizationProblem()

humoto::ConfigurableOptimizationProblem::ConfigurableOptimizationProblem ( )

inline

Default constructor.

Definition at line 31 of file configurable_optimization_problem.h.

Member Function Documentation

◆ computeViolations()

void humoto::OptimizationProblem::computeViolations	(	humoto::Violations &	violations,
		const humoto::Solution &	solution
	)		const

inlineinherited

Compute violations based on the solution.

Parameters

[out]	violations	violations
[in]	solution	solution

Definition at line 221 of file hierarchy.h.

◆ determineActiveSet()

void humoto::OptimizationProblem::determineActiveSet	(	humoto::ActiveSet &	active_set,
		const humoto::Solution &	solution
	)		const

inlineinherited

Determine active set based on the solution. This active set may differ from the active set returned by the solver due to tolerances.

Parameters

[out]	active_set	active set
[in]	solution	solution

Definition at line 202 of file hierarchy.h.

◆ finalize()

virtual void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::finalize ( )

inlineprotectedvirtualinherited

This function is called automaticaly after reading a configuration file. Does nothing by default.

Definition at line 102 of file config.h.

◆ form() [1/4]

void humoto::OptimizationProblem::form	(	humoto::Solution &	solution,
		const humoto::Model &	model,
		const humoto::ControlProblem &	control_problem
	)

inlineinherited

Form hierarchy.

Parameters

[out]	solution	initialized solution
[in]	model	model of the system
[in]	control_problem	control problem associated with the model

Definition at line 106 of file hierarchy.h.

◆ form() [2/4]

void humoto::OptimizationProblem::form	(	humoto::Solution &	solution,
		humoto::ActiveSet &	active_set_guess,
		const humoto::Model &	model,
		const humoto::ControlProblem &	control_problem
	)

inlineinherited

Form hierarchy.

Parameters

[out]	solution	initialized solution
[out]	active_set_guess	active set guess
[in]	model	model of the system
[in]	control_problem	control problem associated with the model

Definition at line 122 of file hierarchy.h.

◆ form() [3/4]

void humoto::OptimizationProblem::form	(	humoto::Solution &	solution,
		humoto::Solution &	solution_guess,
		humoto::ActiveSet &	active_set_guess,
		const humoto::Model &	model,
		const humoto::ControlProblem &	control_problem,
		const humoto::Solution &	old_solution
	)

inlineinherited

Form hierarchy.

Parameters

[out]	solution	initialized solution
[out]	solution_guess	guess of the solution
[out]	active_set_guess	active set guess
[in]	model	model of the system
[in]	control_problem	control problem associated with the model
[in]	old_solution	old solution

Definition at line 142 of file hierarchy.h.

◆ form() [4/4]

void humoto::OptimizationProblem::form	(	humoto::Solution &	solution,
		humoto::Solution &	solution_guess,
		const humoto::Model &	model,
		const humoto::ControlProblem &	control_problem,
		const humoto::Solution &	old_solution
	)

inlineinherited

Form hierarchy.

Parameters

[out]	solution	initialized solution
[out]	solution_guess	guess of the solution
[in]	model	model of the system
[in]	control_problem	control problem associated with the model
[in]	old_solution	old solution

Definition at line 164 of file hierarchy.h.

◆ formHierarchy()

void humoto::OptimizationProblem::formHierarchy	(	humoto::Solution &	solution,
		const humoto::Model &	model,
		const humoto::ControlProblem &	control_problem,
		const bool	is_active_set_guessing_enabled
	)

inlineprotectedinherited

Form hierarchy.

Parameters

[out]	solution	initialized solution
[in]	model	model of the system
[in]	control_problem	control problem associated with the model
[in]	is_active_set_guessing_enabled

Definition at line 39 of file hierarchy.h.

◆ getConfigSectionID()

virtual const std::string& humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::getConfigSectionID ( ) const

protectedpure virtualinherited

Return the default name of a configuration node corresponding to this class.

Returns: the name

Attention: Implementation of this method is added automatically upon inclusion of define_accessors.h if HUMOTO_CONFIG_SECTION_ID is defined.

Implemented in humoto::TaskBase.

◆ getNumberOfEntries()

std::size_t humoto::ConfigurableOptimizationProblem::getNumberOfEntries ( ) const

inlineprivatevirtual

Count entries.

Returns: number of entries

Implements humoto::config::CommonConfigurableBase< true >.

Definition at line 206 of file configurable_optimization_problem.h.

◆ getNumberOfLevels()

std::size_t humoto::OptimizationProblem::getNumberOfLevels ( ) const

inlineinherited

Returns number of levels in the hierarchy.

Returns: number of levels in the hierarchy.

Definition at line 280 of file hierarchy.h.

◆ getQPProblem()

template<class t_QPConstraints >

void humoto::OptimizationProblem::getQPProblem	(	QPProblemBase< t_QPConstraints > &	qp_problem,
		const humoto::SolutionStructure &	sol_structure,
		const bool	initialize_upper_triangular_part = `true`
	)		const

inlineinherited

Form a QP problem.

Template Parameters

t_QPConstraints QP constraints type

Parameters

[in]	qp_problem	QP problem
[in]	sol_structure	solution structure
[in]	initialize_upper_triangular_part	of the Hessian

Definition at line 329 of file hierarchy.h.

◆ getTask()

virtual humoto::TaskSharedPointer humoto::ConfigurableOptimizationProblem::getTask ( const std::string & string_id ) const

inlineprotectedvirtual

Fill map with all pointers to all tasks for given module.

Reimplemented in humoto::pepper_ik::ConfigurableOptimizationProblem< t_features >, humoto::wpg04::ConfigurableOptimizationProblem, and humoto::pepper_mpc::ConfigurableOptimizationProblem.

Definition at line 93 of file configurable_optimization_problem.h.

◆ guessActiveSet()

void humoto::OptimizationProblem::guessActiveSet ( ActiveSet & active_set ) const

inlineprotectedinherited

Form active set guess.

Parameters

[out] active_set active set guess

Definition at line 62 of file hierarchy.h.

◆ initializeActiveSet()

void humoto::OptimizationProblem::initializeActiveSet ( humoto::ActiveSet & active_set ) const

inlineinherited

Initialize active set of the hierarchy.

Parameters

[in,out] active_set active set.

Definition at line 312 of file hierarchy.h.

◆ log()

void humoto::OptimizationProblem::log	(	humoto::Logger &	logger,
		const LogEntryName &	parent = `LogEntryName()`,
		const std::string &	name = `""`
	)		const

inlineinherited

Log hierarchy as a set of tasks.

Parameters

[in,out]	logger	logger
[in]	parent	parent
[in]	name	name

Definition at line 293 of file hierarchy.h.

◆ operator[]() [1/2]

const humoto::HierarchyLevel& humoto::OptimizationProblem::operator[] ( const std::size_t level_index ) const

inlineinherited

Access hierarchy level (const)

Parameters

[in] level_index index of the level

Returns: reference to a hierarchy level.

Definition at line 256 of file hierarchy.h.

◆ operator[]() [2/2]

humoto::HierarchyLevel& humoto::OptimizationProblem::operator[] ( const std::size_t level_index )

inlineinherited

Access hierarchy level.

Parameters

[in] level_index index of the level

Returns: reference to a hierarchy level.

Definition at line 269 of file hierarchy.h.

◆ processActiveSet()

void humoto::OptimizationProblem::processActiveSet ( const humoto::ActiveSet & active_set )

inlineinherited

Process actual active set: extract active sets of individual tasks.

Parameters

[in] active_set

Definition at line 181 of file hierarchy.h.

◆ pushTask() [1/2]

void humoto::ConfigurableOptimizationProblem::pushTask	(	TaskSharedPointer	task_pointer,
		const std::size_t	level_index,
		const std::string &	task_class_name
	)

inline

Push task to the hierarchy.

Parameters

[in,out]	task_pointer	task
[in]	level_index	level index
[in]	task_class_name	name of the task class (not necessarily the same as task description!)

Definition at line 44 of file configurable_optimization_problem.h.

◆ pushTask() [2/2]

void humoto::OptimizationProblem::pushTask	(	TaskSharedPointer	task_pointer,
		const std::size_t	level_index
	)

inlineinherited

Add task to the optimization problem.

Parameters

[in,out]	task_pointer	pointer to a task
[in]	level_index	level in the hierarchy

Todo:: It might be a good idea to check for collisions of task ids.

Definition at line 91 of file hierarchy.h.

◆ readConfig() [1/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry

Definition at line 167 of file config.h.

◆ readConfig() [2/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Definition at line 183 of file config.h.

◆ readConfig() [3/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	t_Reader &	reader,
		const char *	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	reader	configuration reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Note: Intercept implicit conversion of a pointer to bool.

Definition at line 202 of file config.h.

◆ readConfig() [4/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	crash_on_missing_entry

Definition at line 218 of file config.h.

◆ readConfig() [5/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	node_name	node name, the default is used if empty
[in]	crash_on_missing_entry

Definition at line 235 of file config.h.

◆ readConfig() [6/6]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readConfig	(	const std::string &	file_name,
		const char *	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read configuration (assuming the configuration node to be in the root).

Parameters

[in]	file_name	file name
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Note: Intercept implicit conversion of a pointer to bool.

Definition at line 255 of file config.h.

◆ readConfigEntriesTemplate()

template<class t_Reader >

void humoto::ConfigurableOptimizationProblem::readConfigEntriesTemplate	(	t_Reader &	reader,
		const bool	crash_on_missing_entry = `true`
	)

inlineprivate

Read config entries.

Parameters

[in]	reader
[in]	crash_on_missing_entry

Definition at line 122 of file configurable_optimization_problem.h.

◆ readNestedConfig()

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::readNestedConfig	(	t_Reader &	reader,
		const std::string &	node_name,
		const bool	crash_on_missing_entry = `default_crash_on_missing_entry_`
	)

inlineinherited

Read nested configuration node.

Parameters

[in]	reader
[in]	crash_on_missing_entry
[in]	node_name	node name, the default is used if empty

Definition at line 132 of file config.h.

◆ reset()

void humoto::ConfigurableOptimizationProblem::reset ( const std::size_t number_of_levels )

inline

Reset the optimization problem.

Parameters

[in] number_of_levels new number of levels

Definition at line 60 of file configurable_optimization_problem.h.

◆ setDefaults()

void humoto::ConfigurableOptimizationProblem::setDefaults ( )

inlineprotectedvirtual

Initialize to default values.

Implements humoto::config::CommonConfigurableBase< true >.

Definition at line 84 of file configurable_optimization_problem.h.

◆ writeConfig() [1/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig ( t_Writer & writer ) const

inlineinherited

Write configuration.

Parameters

[in,out] writer configuration writer

Definition at line 300 of file config.h.

◆ writeConfig() [2/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig	(	t_Writer &	writer,
		const std::string &	node_name
	)		const

inlineinherited

Write configuration.

Parameters

[in,out]	writer	configuration writer
[in]	node_name	node name, the default is used if empty

Definition at line 313 of file config.h.

◆ writeConfig() [3/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig ( const std::string & file_name ) const

inlineinherited

Write configuration.

Parameters

[in] file_name file name

Definition at line 328 of file config.h.

◆ writeConfig() [4/4]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeConfig	(	const std::string &	file_name,
		const std::string &	node_name
	)		const

inlineinherited

Write configuration.

Parameters

[in]	file_name	file name
[in]	node_name	node name, the default is used if empty

Definition at line 342 of file config.h.

◆ writeConfigEntriesTemplate()

template<class t_Writer >

void humoto::ConfigurableOptimizationProblem::writeConfigEntriesTemplate ( t_Writer & writer ) const

inlineprivate

Write config entries.

Parameters

[in] writer

Definition at line 178 of file configurable_optimization_problem.h.

◆ writeNestedConfig() [1/2]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeNestedConfig ( t_Writer & writer ) const

inlineinherited

Write nested configuration node.

Parameters

[in,out] writer configuration writer

Definition at line 272 of file config.h.

◆ writeNestedConfig() [2/2]

void humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::writeNestedConfig	(	t_Writer &	writer,
		const std::string &	node_name
	)		const

inlineinherited

Write nested configuration node.

Parameters

[in,out]	writer	configuration writer
[in]	node_name	node name, the default is used if empty

Definition at line 285 of file config.h.

Member Data Documentation

◆ default_crash_on_missing_entry_

const bool humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::default_crash_on_missing_entry_

staticprotectedinherited

Definition at line 67 of file config.h.

◆ hierarchy_

std::vector< humoto::HierarchyLevel > humoto::OptimizationProblem::hierarchy_

protectedinherited

Definition at line 25 of file hierarchy.h.

◆ number_of_constraints_

std::vector< std::size_t > humoto::OptimizationProblem::number_of_constraints_

protectedinherited

Definition at line 26 of file hierarchy.h.

◆ number_of_levels_

std::size_t humoto::OptimizationProblem::number_of_levels_

protectedinherited

Definition at line 23 of file hierarchy.h.

◆ task_class_names_

std::vector<std::vector<std::string> > humoto::ConfigurableOptimizationProblem::task_class_names_

protected

Definition at line 73 of file configurable_optimization_problem.h.

◆ task_ids_

std::vector<std::vector<std::string> > humoto::ConfigurableOptimizationProblem::task_ids_

protected

Definition at line 74 of file configurable_optimization_problem.h.

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

core/include/humoto/configurable_optimization_problem.h

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Member Functions

Constructor & Destructor Documentation

◆ ConfigurableOptimizationProblem()

Member Function Documentation

◆ computeViolations()

◆ determineActiveSet()

◆ finalize()

◆ form() [1/4]

◆ form() [2/4]

◆ form() [3/4]

◆ form() [4/4]

◆ formHierarchy()

◆ getConfigSectionID()

◆ getNumberOfEntries()

◆ getNumberOfLevels()

◆ getQPProblem()

◆ getTask()

◆ guessActiveSet()

◆ initializeActiveSet()

◆ log()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ processActiveSet()

◆ pushTask() [1/2]

◆ pushTask() [2/2]

◆ readConfig() [1/6]

◆ readConfig() [2/6]

◆ readConfig() [3/6]

◆ readConfig() [4/6]

◆ readConfig() [5/6]

◆ readConfig() [6/6]

◆ readConfigEntriesTemplate()

◆ readNestedConfig()

◆ reset()

◆ setDefaults()

◆ writeConfig() [1/4]

◆ writeConfig() [2/4]

◆ writeConfig() [3/4]

◆ writeConfig() [4/4]

◆ writeConfigEntriesTemplate()

◆ writeNestedConfig() [1/2]

◆ writeNestedConfig() [2/2]

Member Data Documentation

◆ default_crash_on_missing_entry_

◆ hierarchy_

◆ number_of_constraints_

◆ number_of_levels_

◆ task_class_names_

◆ task_ids_