Detailed Description

This class represents one level of a hierarchy.

Definition at line 18 of file hierarchy_level.h.

#include <hierarchy_level.h>

Classes
class	TaskInfo
	Information about a task in a hierarchy. More...

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

void	getAllConstraints (constraints::ContainerALU &constraints, const humoto::SolutionStructure &sol_structure) const
	Generates objective containing all constraints on this level. More...

void	getEqualityConstraints (constraints::ContainerAB &eq_constraints, const humoto::SolutionStructure &sol_structure) const
	Generates (general) objective containing all equality constraints on this level. More...

void	getGeneralConstraints (constraints::ContainerALU &constraints, const humoto::SolutionStructure &sol_structure) const
	Generates objective containing all general constraints on this level. More...

void	getInequalityConstraints (constraints::ContainerAL &ineq_constraints, const humoto::SolutionStructure &sol_structure) const
	Generates (general) objective containing all equality constraints on this level. More...

std::size_t	getNumberOfConstraints () const
	Get total number of constraints. More...

std::size_t	getNumberOfEqualityConstraints () const
	Get number of inequality constraints. More...

std::size_t	getNumberOfGeneralConstraints () const
	Get number of general constraints. More...

std::size_t	getNumberOfInequalityConstraints () const
	Get number of inequality constraints. More...

std::size_t	getNumberOfInequalityConstraintsOneSided () const
	Get number of inequality constraints, two-sided constraints counted twice. More...

std::size_t	getNumberOfSimpleConstraints () const
	Get number of simple constraints. More...

void	getObjective (Eigen::MatrixXd &H, Eigen::VectorXd &g) const
	Form objective of a QP. More...

void	getSimpleConstraints (constraints::ContainerILU &constraints, const humoto::SolutionStructure &sol_structure) const
	Generates objective containing all simple constraints on this level. More...

bool	isEquality () const
	True if all constraints on this level are equalitites. More...

bool	isSimple () const
	True if all constraints on this level are simple. More...

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

Public Attributes
std::list< TaskInfo >	tasks_
	General constraints are added in the beginning, simple – in the end. It is easier to process tasks this way and formulation of the Hessian can be slightly faster, if objective includes general and simple tasks. More...

Protected Member Functions
void	computeViolations (ViolationsConstraints &violations, const Solution &solution) const
	Compute violations based on the solution. More...

void	determineActiveSet (ActiveSetConstraints &active_set, const Solution &solution) const
	Determine active set based on the solution. More...

void	form (const humoto::SolutionStructure &sol_structure, const humoto::Model &model, const humoto::ControlProblem &control_problem, const bool is_active_set_guessing_enabled)
	Form hierarchy. More...

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

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

void	pushTask (TaskSharedPointer task_pointer)
	Add task to the optimization problem. More...

Private Member Functions
void	reset ()
	Reset variables. More...

Private Attributes
std::size_t	number_of_equality_constraints_

std::size_t	number_of_general_constraints_

std::size_t	number_of_simple_constraints_

std::size_t	number_of_twosided_constraints_

Friends
class	OptimizationProblem

Constructor & Destructor Documentation

◆ HierarchyLevel()

humoto::HierarchyLevel::HierarchyLevel ( )

inline

Default constructor.

Definition at line 243 of file hierarchy_level.h.

Member Function Documentation

◆ computeViolations()

void humoto::HierarchyLevel::computeViolations	(	ViolationsConstraints &	violations,
		const Solution &	solution
	)		const

inlineprotected

Compute violations based on the solution.

Parameters

[out]	violations	violations
[in]	solution	solution

Definition at line 167 of file hierarchy_level.h.

◆ determineActiveSet()

void humoto::HierarchyLevel::determineActiveSet	(	ActiveSetConstraints &	active_set,
		const Solution &	solution
	)		const

inlineprotected

Determine active set based on the solution.

Parameters

[out]	active_set	active set
[in]	solution	solution

Definition at line 148 of file hierarchy_level.h.

◆ form()

void humoto::HierarchyLevel::form	(	const humoto::SolutionStructure &	sol_structure,
		const humoto::Model &	model,
		const humoto::ControlProblem &	control_problem,
		const bool	is_active_set_guessing_enabled
	)

inlineprotected

Form hierarchy.

Parameters

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

Definition at line 54 of file hierarchy_level.h.

◆ getAllConstraints()

void humoto::HierarchyLevel::getAllConstraints	(	constraints::ContainerALU &	constraints,
		const humoto::SolutionStructure &	sol_structure
	)		const

inline

Generates objective containing all constraints on this level.

Parameters

[in]	sol_structure	structure of the solution
[out]	constraints	constraints

Definition at line 398 of file hierarchy_level.h.

◆ getEqualityConstraints()

void humoto::HierarchyLevel::getEqualityConstraints	(	constraints::ContainerAB &	eq_constraints,
		const humoto::SolutionStructure &	sol_structure
	)		const

inline

Generates (general) objective containing all equality constraints on this level.

Parameters

[out]	eq_constraints	equality constraints
[in]	sol_structure	structure of the solution

Definition at line 346 of file hierarchy_level.h.

◆ getGeneralConstraints()

void humoto::HierarchyLevel::getGeneralConstraints	(	constraints::ContainerALU &	constraints,
		const humoto::SolutionStructure &	sol_structure
	)		const

inline

Generates objective containing all general constraints on this level.

Parameters

[in]	sol_structure	structure of the solution
[out]	constraints	constraints

Definition at line 423 of file hierarchy_level.h.

◆ getInequalityConstraints()

void humoto::HierarchyLevel::getInequalityConstraints	(	constraints::ContainerAL &	ineq_constraints,
		const humoto::SolutionStructure &	sol_structure
	)		const

inline

Generates (general) objective containing all equality constraints on this level.

Parameters

[out]	ineq_constraints	equality constraints
[in]	sol_structure	structure of the solution

Definition at line 372 of file hierarchy_level.h.

◆ getNumberOfConstraints()

std::size_t humoto::HierarchyLevel::getNumberOfConstraints ( ) const

inline

Get total number of constraints.

Returns: total number of constraints

Definition at line 255 of file hierarchy_level.h.

◆ getNumberOfEqualityConstraints()

std::size_t humoto::HierarchyLevel::getNumberOfEqualityConstraints ( ) const

inline

Get number of inequality constraints.

Returns: number of inequality constraints

Definition at line 290 of file hierarchy_level.h.

◆ getNumberOfGeneralConstraints()

std::size_t humoto::HierarchyLevel::getNumberOfGeneralConstraints ( ) const

inline

Get number of general constraints.

Returns: number of general constraints

Definition at line 279 of file hierarchy_level.h.

◆ getNumberOfInequalityConstraints()

std::size_t humoto::HierarchyLevel::getNumberOfInequalityConstraints ( ) const

inline

Get number of inequality constraints.

Returns: number of inequality constraints

Definition at line 301 of file hierarchy_level.h.

◆ getNumberOfInequalityConstraintsOneSided()

std::size_t humoto::HierarchyLevel::getNumberOfInequalityConstraintsOneSided ( ) const

inline

Get number of inequality constraints, two-sided constraints counted twice.

Returns: number of inequality constraints

Definition at line 312 of file hierarchy_level.h.

◆ getNumberOfSimpleConstraints()

std::size_t humoto::HierarchyLevel::getNumberOfSimpleConstraints ( ) const

inline

Get number of simple constraints.

Returns: number of simple constraints

Definition at line 268 of file hierarchy_level.h.

◆ getObjective()

void humoto::HierarchyLevel::getObjective	(	Eigen::MatrixXd &	H,
		Eigen::VectorXd &	g
	)		const

inline

Form objective of a QP.

Parameters

[out]	H	hessian
[out]	g	gradient

Definition at line 479 of file hierarchy_level.h.

◆ getSimpleConstraints()

void humoto::HierarchyLevel::getSimpleConstraints	(	constraints::ContainerILU &	constraints,
		const humoto::SolutionStructure &	sol_structure
	)		const

inline

Generates objective containing all simple constraints on this level.

Parameters

[in]	sol_structure	structure of the solution
[out]	constraints	constraints

Definition at line 450 of file hierarchy_level.h.

◆ guessActiveSet()

void humoto::HierarchyLevel::guessActiveSet ( ActiveSetConstraints & active_set ) const

inlineprotected

Form active set guess.

Parameters

[out] active_set active set guess

Definition at line 113 of file hierarchy_level.h.

◆ isEquality()

bool humoto::HierarchyLevel::isEquality ( ) const

inline

True if all constraints on this level are equalitites.

Returns: true/false

Definition at line 334 of file hierarchy_level.h.

◆ isSimple()

bool humoto::HierarchyLevel::isSimple ( ) const

inline

True if all constraints on this level are simple.

Returns: true/false

Definition at line 323 of file hierarchy_level.h.

◆ log()

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

inline

Log hierarchy as a set of tasks.

Parameters

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

Definition at line 505 of file hierarchy_level.h.

◆ processActiveSet()

void humoto::HierarchyLevel::processActiveSet ( const humoto::ActiveSetConstraints & active_set )

inlineprotected

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

Parameters

[in] active_set

Definition at line 130 of file hierarchy_level.h.

◆ pushTask()

void humoto::HierarchyLevel::pushTask ( TaskSharedPointer task_pointer )

inlineprotected

Add task to the optimization problem.

Parameters

[in,out] task_pointer pointer to a task

Definition at line 184 of file hierarchy_level.h.

◆ reset()

void humoto::HierarchyLevel::reset ( )

inlineprivate

Reset variables.

Definition at line 35 of file hierarchy_level.h.

Friends And Related Function Documentation

◆ OptimizationProblem

friend class OptimizationProblem

friend

Definition at line 21 of file hierarchy_level.h.

Member Data Documentation

◆ number_of_equality_constraints_

std::size_t humoto::HierarchyLevel::number_of_equality_constraints_

private

Definition at line 27 of file hierarchy_level.h.

◆ number_of_general_constraints_

std::size_t humoto::HierarchyLevel::number_of_general_constraints_

private

Definition at line 24 of file hierarchy_level.h.

◆ number_of_simple_constraints_

std::size_t humoto::HierarchyLevel::number_of_simple_constraints_

private

Definition at line 25 of file hierarchy_level.h.

◆ number_of_twosided_constraints_

std::size_t humoto::HierarchyLevel::number_of_twosided_constraints_

private

Definition at line 28 of file hierarchy_level.h.

◆ tasks_

std::list<TaskInfo> humoto::HierarchyLevel::tasks_

General constraints are added in the beginning, simple – in the end. It is easier to process tasks this way and formulation of the Hessian can be slightly faster, if objective includes general and simple tasks.

Definition at line 235 of file hierarchy_level.h.

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

core/include/humoto/hierarchy_level.h

Detailed Description

Classes

Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Friends

Constructor & Destructor Documentation

◆ HierarchyLevel()

Member Function Documentation

◆ computeViolations()

◆ determineActiveSet()

◆ form()

◆ getAllConstraints()

◆ getEqualityConstraints()

◆ getGeneralConstraints()

◆ getInequalityConstraints()

◆ getNumberOfConstraints()

◆ getNumberOfEqualityConstraints()

◆ getNumberOfGeneralConstraints()

◆ getNumberOfInequalityConstraints()

◆ getNumberOfInequalityConstraintsOneSided()

◆ getNumberOfSimpleConstraints()

◆ getObjective()

◆ getSimpleConstraints()

◆ guessActiveSet()

◆ isEquality()

◆ isSimple()

◆ log()

◆ processActiveSet()

◆ pushTask()

◆ reset()

Friends And Related Function Documentation

◆ OptimizationProblem

Member Data Documentation

◆ number_of_equality_constraints_

◆ number_of_general_constraints_

◆ number_of_simple_constraints_

◆ number_of_twosided_constraints_

◆ tasks_