Detailed Description

An optimization problem [initialize_stack.m, simulation_loop.m].

A stack of tasks / hierarchy, convertible to a QP in some cases.

Definition at line 20 of file hierarchy.h.

#include <hierarchy.h>

Inheritance diagram for humoto::OptimizationProblem:

Public Member Functions
	OptimizationProblem ()
	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)
	Add task to the optimization problem. More...

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

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

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

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

std::vector< std::size_t >	number_of_constraints_

std::size_t	number_of_levels_

Constructor & Destructor Documentation

◆ OptimizationProblem()

humoto::OptimizationProblem::OptimizationProblem ( )

inline

Default constructor.

Definition at line 77 of file hierarchy.h.

Member Function Documentation

◆ computeViolations()

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

inline

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

inline

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.

◆ form() [1/4]

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

inline

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
	)

inline

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
	)

inline

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
	)

inline

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
	)

inlineprotected

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.

◆ getNumberOfLevels()

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

inline

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

inline

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.

◆ guessActiveSet()

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

inlineprotected

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

inline

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

inline

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

inline

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 )

inline

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 )

inline

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

Parameters

[in] active_set

Definition at line 181 of file hierarchy.h.

◆ pushTask()

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

inline

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.

◆ reset()

void humoto::OptimizationProblem::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 238 of file hierarchy.h.

Member Data Documentation

◆ hierarchy_

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

protected

Definition at line 25 of file hierarchy.h.

◆ number_of_constraints_

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

protected

Definition at line 26 of file hierarchy.h.

◆ number_of_levels_

std::size_t humoto::OptimizationProblem::number_of_levels_

protected

Definition at line 23 of file hierarchy.h.

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

core/include/humoto/hierarchy.h

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ OptimizationProblem()

Member Function Documentation

◆ computeViolations()

◆ determineActiveSet()

◆ form() [1/4]

◆ form() [2/4]

◆ form() [3/4]

◆ form() [4/4]

◆ formHierarchy()

◆ getNumberOfLevels()

◆ getQPProblem()

◆ guessActiveSet()

◆ initializeActiveSet()

◆ log()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ processActiveSet()

◆ pushTask()

◆ reset()

Member Data Documentation

◆ hierarchy_

◆ number_of_constraints_

◆ number_of_levels_