humoto
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humoto::TaskBase Class Referenceabstract

Detailed Description

Abstract base class (a task in a stack of tasks / hierarchy).

Attention
Implementation of this class should perform weighting during formulation (in function form()).

Definition at line 20 of file task.h.

#include <task.h>

Inheritance diagram for humoto::TaskBase:
Inheritance graph

Public Member Functions

virtual void addATAandATb (Eigen::MatrixXd &H, Eigen::VectorXd &g) const
 Compute 'A^T * A' for general equality constaints and save or add the result to H. Compute 'A^T * b' for general equality constaints and save or add the result to g. More...
 
virtual void checkConsistency () const =0
 Check consistency of the constraints. More...
 
virtual void computeViolations (ViolationsConstraints &violations, const Location &location, const Solution &solution) const =0
 Compute violations given a solution vector. More...
 
virtual void copyBodyTo (Eigen::MatrixXd &A, const Location &location) const =0
 Copy body to the given matrix. More...
 
virtual void copyBoundsTo (Eigen::VectorXd &lb, Eigen::VectorXd &ub, const Location &location) const =0
 Copy bounds to given vectors. More...
 
virtual void copyNegativeBodyTo (Eigen::MatrixXd &A, const Location &location) const =0
 Copy negated body to the given matrix. More...
 
virtual std::size_t copyTo (ContainerILU &container, const std::size_t constraints_offset) const
 Set constraints. More...
 
virtual std::size_t copyTo (ContainerAL &container, const std::size_t constraints_offset) const
 Copy constraints to a container. More...
 
virtual std::size_t copyTo (ContainerAB &container, const std::size_t constraints_offset) const
 Copy constraints to a container. More...
 
virtual std::size_t copyTo (ContainerALU &container, const std::size_t constraints_offset) const
 Copy constraints to a container. More...
 
virtual void determineActiveSet (ActiveSetConstraints &active_set, const Location &location, const Solution &solution) const =0
 Determine active set given a solution vector. More...
 
virtual void getATAandATb (Eigen::MatrixXd &H, Eigen::VectorXd &g) const
 Compute 'A^T * A' for general equality constaints and save or add the result to H. Compute 'A^T * b' for general equality constaints and save or add the result to g. More...
 
Location getCopyLocation (const std::size_t number_of_constraints, const std::size_t constraints_offset, const std::size_t number_of_variables) const
 Computes location of the copied constraints in a container and verifies their consistency. More...
 
const std::string getDescription () const
 Get description of the task. More...
 
virtual std::size_t getNumberOfConstraints () const =0
 Returns number of constraints in the task. More...
 
std::size_t getNumberOfVariables () const
 Returns number of variables in the task. More...
 
virtual ConstraintType::Type getType () const =0
 Returns type of the constraints. More...
 
bool isEquality () const
 Check properties of the constriaints. More...
 
bool isSimple () const
 Check properties of the constriaints. More...
 
bool isTwoSidedInequality () const
 Check properties of the constriaints. More...
 
void log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="task") const
 Log task. 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 setDescription (const std::string &description)
 Set description of the task. 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

 TaskBase ()
 
 ~TaskBase ()
 Protected destructor: prevent destruction of the child classes through a base pointer. More...
 
virtual void finalize ()
 This function is called automaticaly after reading a configuration file. Does nothing by default. More...
 
virtual void form (const humoto::SolutionStructure &sol_structure, const humoto::Model &model_base, const humoto::ControlProblem &control_problem)=0
 Form the task. More...
 
ActiveSetConstraintsgetActiveSetGuess ()
 Get active set guess. More...
 
const ActiveSetConstraintsgetActualActiveSet () const
 Get actual active set. More...
 
const std::string & getConfigSectionID () const
 Return the default name of a configuration node corresponding to this class. More...
 
virtual std::size_t getNumberOfEntries () const=0
 Get number of entries in the corresponding configuration node. More...
 
virtual void guessActiveSet (const humoto::SolutionStructure &sol_structure, const humoto::Model &model_base, const humoto::ControlProblem &control_problem)
 Initialize active set guess with defaults. More...
 
virtual void logBody (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="constraints") const =0
 Log body. More...
 
virtual void logBounds (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="constraints") const =0
 Log bounds. More...
 
virtual void logTask (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="task") const =0
 Log task. More...
 
void markAsUnmodified ()
 By default the task is assumed to be modified. Use this function to mark it as unmodified to avoid unnecessary recomputations. More...
 
void reset (const std::size_t number_of_constraints=0, const std::size_t number_of_variables=0, const bool initialize_matrices=false)
 Initialize constraints. More...
 
virtual void resetBody (const std::size_t number_of_constraints=0, const bool initialize_matrices=false)=0
 Reset body of constraints (matrix A or I) More...
 
virtual void resetBounds (const std::size_t number_of_constraints=0, const bool initialize_matrices=false)=0
 Reset bounds of constraints (b, lb, ub) More...
 
virtual void setDefaults ()
 Set members to their default values. More...
 
void setNumberOfVariables (const std::size_t number_of_variables)
 Set number of variables. More...
 

Protected Attributes

ActiveSetConstraints active_set_actual_
 
bool is_modified_
 
std::size_t number_of_variables_
 

Static Protected Attributes

static const bool default_crash_on_missing_entry_
 

Private Member Functions

void copyActiveSetGuessTo (ActiveSetConstraints &active_set, const Location &location) const
 Copy the active set guess of the task to the given active set. More...
 
void copyActualActiveSetFrom (const ActiveSetConstraints &active_set, const Location &location)
 Copy the actual active set of the task from the given active set. More...
 
void postForm () const
 Finalize formulation of a task. More...
 
void preForm (const std::size_t number_of_variables)
 Prepare formulation of a task. More...
 

Private Attributes

ActiveSetConstraints active_set_guess_
 
std::string string_description_
 

Friends

class HierarchyLevel
 

Constructor & Destructor Documentation

◆ ~TaskBase()

humoto::TaskBase::~TaskBase ( )
inlineprotected

Protected destructor: prevent destruction of the child classes through a base pointer.

Definition at line 113 of file task.h.

◆ TaskBase()

humoto::TaskBase::TaskBase ( )
inlineprotected

Definition at line 116 of file task.h.

Member Function Documentation

◆ addATAandATb()

virtual void humoto::constraints::ConstraintsBase::addATAandATb ( Eigen::MatrixXd &  H,
Eigen::VectorXd &  g 
) const
inlinevirtualinherited

Compute 'A^T * A' for general equality constaints and save or add the result to H. Compute 'A^T * b' for general equality constaints and save or add the result to g.

Parameters
[in,out]Hleft lower triangular part of the result.
[in,out]gresult
Attention
Only the left lower triangular part of H is formed. Apply appropriate conversion with etools::convertLLTtoSymmetric() before using H.

Reimplemented in humoto::constraints::ConstraintsIB0< TaskBase >, humoto::constraints::ConstraintsIB< TaskBase >, humoto::constraints::ConstraintsGIB0< TaskBase >, humoto::constraints::ConstraintsGIB< TaskBase >, humoto::constraints::ConstraintsASB0< TaskBase >, humoto::constraints::ConstraintsASB< TaskBase >, humoto::constraints::ConstraintsAB0< TaskBase >, and humoto::constraints::ConstraintsAB< TaskBase >.

Definition at line 443 of file constraints_base.h.

◆ checkConsistency()

virtual void humoto::constraints::ConstraintsBase::checkConsistency ( ) const
pure virtualinherited

◆ computeViolations()

virtual void humoto::constraints::ConstraintsBase::computeViolations ( ViolationsConstraints violations,
const Location location,
const Solution solution 
) const
pure virtualinherited

Compute violations given a solution vector.

Parameters
[in,out]violationsviolations
[in]locationlocation of the constraints in the active set
[in]solutionsolution vector

Implemented in humoto::constraints::ViolationsComputationB0Mixin< ActiveSetDeterminationBMixin< BodyIMixin< BoundsB0Mixin< TaskBase > > > >, humoto::constraints::ViolationsComputationB0Mixin< ActiveSetDeterminationBMixin< BodyGIMixin< BoundsB0Mixin< TaskBase > > > >, humoto::constraints::ViolationsComputationB0Mixin< ActiveSetDeterminationBMixin< BodyAMixin< BoundsB0Mixin< TaskBase > > > >, humoto::constraints::ViolationsComputationB0Mixin< ActiveSetDeterminationBMixin< BodyASMixin< BoundsB0Mixin< TaskBase > > > >, humoto::constraints::ViolationsComputationBMixin< ActiveSetDeterminationBMixin< BodyAMixin< BoundsBMixin< TaskBase > > > >, humoto::constraints::ViolationsComputationBMixin< ActiveSetDeterminationBMixin< BodyASMixin< BoundsBMixin< TaskBase > > > >, humoto::constraints::ViolationsComputationBMixin< ActiveSetDeterminationBMixin< BodyIMixin< BoundsBMixin< TaskBase > > > >, humoto::constraints::ViolationsComputationBMixin< ActiveSetDeterminationBMixin< BodyGIMixin< BoundsBMixin< TaskBase > > > >, humoto::constraints::ViolationsComputationUMixin< ActiveSetDeterminationUMixin< BodyIMixin< BoundsUMixin< TaskBase > > > >, humoto::constraints::ViolationsComputationUMixin< ActiveSetDeterminationUMixin< BodyASMixin< BoundsUMixin< TaskBase > > > >, humoto::constraints::ViolationsComputationUMixin< ActiveSetDeterminationUMixin< BodyGIMixin< BoundsUMixin< TaskBase > > > >, humoto::constraints::ViolationsComputationUMixin< ActiveSetDeterminationUMixin< BodyAMixin< BoundsUMixin< TaskBase > > > >, humoto::constraints::ViolationsComputationLMixin< ActiveSetDeterminationLMixin< BodyIMixin< BoundsLMixin< TaskBase > > > >, humoto::constraints::ViolationsComputationLMixin< ActiveSetDeterminationLMixin< BodyASMixin< BoundsLMixin< TaskBase > > > >, humoto::constraints::ViolationsComputationLMixin< ActiveSetDeterminationLMixin< BodyAMixin< BoundsLMixin< TaskBase > > > >, humoto::constraints::ViolationsComputationLMixin< ActiveSetDeterminationLMixin< BodyGIMixin< BoundsLMixin< TaskBase > > > >, humoto::constraints::ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyIMixin< BoundsLUMixin< TaskBase > > > >, humoto::constraints::ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyASMixin< BoundsLUMixin< TaskBase > > > >, humoto::constraints::ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyAMixin< BoundsLUMixin< TaskBase > > > >, and humoto::constraints::ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyGIMixin< BoundsLUMixin< TaskBase > > > >.

◆ copyActiveSetGuessTo()

void humoto::TaskBase::copyActiveSetGuessTo ( ActiveSetConstraints active_set,
const Location location 
) const
inlineprivate

Copy the active set guess of the task to the given active set.

Parameters
[in]locationlocation of the active set
[in]active_setactive set

Definition at line 95 of file task.h.

◆ copyActualActiveSetFrom()

void humoto::TaskBase::copyActualActiveSetFrom ( const ActiveSetConstraints active_set,
const Location location 
)
inlineprivate

Copy the actual active set of the task from the given active set.

Parameters
[in]active_setactive set
[in]locationlocation of the active set

Definition at line 81 of file task.h.

◆ copyBodyTo()

virtual void humoto::constraints::ConstraintsBase::copyBodyTo ( Eigen::MatrixXd &  A,
const Location location 
) const
pure virtualinherited

◆ copyBoundsTo()

virtual void humoto::constraints::ConstraintsBase::copyBoundsTo ( Eigen::VectorXd &  lb,
Eigen::VectorXd &  ub,
const Location location 
) const
pure virtualinherited

◆ copyNegativeBodyTo()

virtual void humoto::constraints::ConstraintsBase::copyNegativeBodyTo ( Eigen::MatrixXd &  A,
const Location location 
) const
pure virtualinherited

◆ copyTo() [1/4]

virtual std::size_t humoto::constraints::ConstraintsBase::copyTo ( ContainerILU container,
const std::size_t  constraints_offset 
) const
inlinevirtualinherited

◆ copyTo() [2/4]

virtual std::size_t humoto::constraints::ConstraintsBase::copyTo ( ContainerAL container,
const std::size_t  constraints_offset 
) const
inlinevirtualinherited

Copy constraints to a container.

Parameters
[in,out]container
[in]constraints_offsetfirst row offset
Returns
offset of the end of added constraints

Reimplemented in humoto::constraints::CopyTwoSidedInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyASMixin< BoundsLUMixin< TaskBase > > > > > >, humoto::constraints::CopyTwoSidedInequalityToALMixin< CopyAnyToALUMixin< CopySimpleToILUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyIMixin< BoundsLUMixin< TaskBase > > > > > > >, humoto::constraints::CopyTwoSidedInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyGIMixin< BoundsLUMixin< TaskBase > > > > > >, humoto::constraints::CopyTwoSidedInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyAMixin< BoundsLUMixin< TaskBase > > > > > >, humoto::constraints::CopyUpperInequalityToALMixin< CopyLowerInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyGIMixin< BoundsLUMixin< TaskBase > > > > > > >, humoto::constraints::CopyUpperInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationUMixin< ActiveSetDeterminationUMixin< BodyAMixin< BoundsUMixin< TaskBase > > > > > >, humoto::constraints::CopyUpperInequalityToALMixin< CopyLowerInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyASMixin< BoundsLUMixin< TaskBase > > > > > > >, humoto::constraints::CopyUpperInequalityToALMixin< CopyLowerInequalityToALMixin< CopyAnyToALUMixin< CopySimpleToILUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyIMixin< BoundsLUMixin< TaskBase > > > > > > > >, humoto::constraints::CopyUpperInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationUMixin< ActiveSetDeterminationUMixin< BodyASMixin< BoundsUMixin< TaskBase > > > > > >, humoto::constraints::CopyUpperInequalityToALMixin< CopyLowerInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyAMixin< BoundsLUMixin< TaskBase > > > > > > >, humoto::constraints::CopyUpperInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationUMixin< ActiveSetDeterminationUMixin< BodyGIMixin< BoundsUMixin< TaskBase > > > > > >, humoto::constraints::CopyUpperInequalityToALMixin< CopyAnyToALUMixin< CopySimpleToILUMixin< ViolationsComputationUMixin< ActiveSetDeterminationUMixin< BodyIMixin< BoundsUMixin< TaskBase > > > > > > >, humoto::constraints::CopyLowerInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationLMixin< ActiveSetDeterminationLMixin< BodyAMixin< BoundsLMixin< TaskBase > > > > > >, humoto::constraints::CopyLowerInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyASMixin< BoundsLUMixin< TaskBase > > > > > >, humoto::constraints::CopyLowerInequalityToALMixin< CopyAnyToALUMixin< CopySimpleToILUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyIMixin< BoundsLUMixin< TaskBase > > > > > > >, humoto::constraints::CopyLowerInequalityToALMixin< CopyAnyToALUMixin< CopySimpleToILUMixin< ViolationsComputationLMixin< ActiveSetDeterminationLMixin< BodyIMixin< BoundsLMixin< TaskBase > > > > > > >, humoto::constraints::CopyLowerInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationLMixin< ActiveSetDeterminationLMixin< BodyASMixin< BoundsLMixin< TaskBase > > > > > >, humoto::constraints::CopyLowerInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyGIMixin< BoundsLUMixin< TaskBase > > > > > >, humoto::constraints::CopyLowerInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationLMixin< ActiveSetDeterminationLMixin< BodyGIMixin< BoundsLMixin< TaskBase > > > > > >, and humoto::constraints::CopyLowerInequalityToALMixin< CopyAnyToALUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyAMixin< BoundsLUMixin< TaskBase > > > > > >.

Definition at line 472 of file constraints_base.h.

◆ copyTo() [3/4]

virtual std::size_t humoto::constraints::ConstraintsBase::copyTo ( ContainerAB container,
const std::size_t  constraints_offset 
) const
inlinevirtualinherited

◆ copyTo() [4/4]

virtual std::size_t humoto::constraints::ConstraintsBase::copyTo ( ContainerALU container,
const std::size_t  constraints_offset 
) const
inlinevirtualinherited

Copy constraints to a container.

Parameters
[in,out]container
[in]constraints_offsetfirst row offset
Returns
offset of the end of added constraints

Reimplemented in humoto::constraints::CopyAnyToALUMixin< ViolationsComputationUMixin< ActiveSetDeterminationUMixin< BodyASMixin< BoundsUMixin< TaskBase > > > > >, humoto::constraints::CopyAnyToALUMixin< CopyEqualityToABMixin< ViolationsComputationBMixin< ActiveSetDeterminationBMixin< BodyASMixin< BoundsBMixin< TaskBase > > > > > >, humoto::constraints::CopyAnyToALUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyAMixin< BoundsLUMixin< TaskBase > > > > >, humoto::constraints::CopyAnyToALUMixin< CopyEqualityToABMixin< ViolationsComputationBMixin< ActiveSetDeterminationBMixin< BodyAMixin< BoundsBMixin< TaskBase > > > > > >, humoto::constraints::CopyAnyToALUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyGIMixin< BoundsLUMixin< TaskBase > > > > >, humoto::constraints::CopyAnyToALUMixin< ViolationsComputationUMixin< ActiveSetDeterminationUMixin< BodyGIMixin< BoundsUMixin< TaskBase > > > > >, humoto::constraints::CopyAnyToALUMixin< ViolationsComputationLMixin< ActiveSetDeterminationLMixin< BodyAMixin< BoundsLMixin< TaskBase > > > > >, humoto::constraints::CopyAnyToALUMixin< CopySimpleToILUMixin< ViolationsComputationUMixin< ActiveSetDeterminationUMixin< BodyIMixin< BoundsUMixin< TaskBase > > > > > >, humoto::constraints::CopyAnyToALUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyASMixin< BoundsLUMixin< TaskBase > > > > >, humoto::constraints::CopyAnyToALUMixin< CopyEqualityToABMixin< ViolationsComputationB0Mixin< ActiveSetDeterminationBMixin< BodyAMixin< BoundsB0Mixin< TaskBase > > > > > >, humoto::constraints::CopyAnyToALUMixin< ViolationsComputationUMixin< ActiveSetDeterminationUMixin< BodyAMixin< BoundsUMixin< TaskBase > > > > >, humoto::constraints::CopyAnyToALUMixin< CopySimpleToILUMixin< ViolationsComputationLMixin< ActiveSetDeterminationLMixin< BodyIMixin< BoundsLMixin< TaskBase > > > > > >, humoto::constraints::CopyAnyToALUMixin< CopySimpleToILUMixin< CopyEqualityToABMixin< ViolationsComputationBMixin< ActiveSetDeterminationBMixin< BodyIMixin< BoundsBMixin< TaskBase > > > > > > >, humoto::constraints::CopyAnyToALUMixin< CopyEqualityToABMixin< ViolationsComputationB0Mixin< ActiveSetDeterminationBMixin< BodyGIMixin< BoundsB0Mixin< TaskBase > > > > > >, humoto::constraints::CopyAnyToALUMixin< ViolationsComputationLMixin< ActiveSetDeterminationLMixin< BodyASMixin< BoundsLMixin< TaskBase > > > > >, humoto::constraints::CopyAnyToALUMixin< CopySimpleToILUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyIMixin< BoundsLUMixin< TaskBase > > > > > >, humoto::constraints::CopyAnyToALUMixin< CopySimpleToILUMixin< CopyEqualityToABMixin< ViolationsComputationB0Mixin< ActiveSetDeterminationBMixin< BodyIMixin< BoundsB0Mixin< TaskBase > > > > > > >, humoto::constraints::CopyAnyToALUMixin< CopyEqualityToABMixin< ViolationsComputationBMixin< ActiveSetDeterminationBMixin< BodyGIMixin< BoundsBMixin< TaskBase > > > > > >, humoto::constraints::CopyAnyToALUMixin< CopyEqualityToABMixin< ViolationsComputationB0Mixin< ActiveSetDeterminationBMixin< BodyASMixin< BoundsB0Mixin< TaskBase > > > > > >, and humoto::constraints::CopyAnyToALUMixin< ViolationsComputationLMixin< ActiveSetDeterminationLMixin< BodyGIMixin< BoundsLMixin< TaskBase > > > > >.

Definition at line 502 of file constraints_base.h.

◆ determineActiveSet()

virtual void humoto::constraints::ConstraintsBase::determineActiveSet ( ActiveSetConstraints active_set,
const Location location,
const Solution solution 
) const
pure virtualinherited

Determine active set given a solution vector.

Parameters
[in,out]active_setactive set
[in]locationlocation of the constraints in the active set
[in]solutionsolution vector

Implemented in humoto::constraints::ActiveSetDeterminationBMixin< BodyAMixin< BoundsBMixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationBMixin< BodyAMixin< BoundsB0Mixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationBMixin< BodyGIMixin< BoundsB0Mixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationBMixin< BodyIMixin< BoundsBMixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationBMixin< BodyASMixin< BoundsB0Mixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationBMixin< BodyIMixin< BoundsB0Mixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationBMixin< BodyASMixin< BoundsBMixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationBMixin< BodyGIMixin< BoundsBMixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationUMixin< BodyASMixin< BoundsUMixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationUMixin< BodyGIMixin< BoundsUMixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationUMixin< BodyIMixin< BoundsUMixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationUMixin< BodyAMixin< BoundsUMixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationLMixin< BodyIMixin< BoundsLMixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationLMixin< BodyASMixin< BoundsLMixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationLMixin< BodyGIMixin< BoundsLMixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationLMixin< BodyAMixin< BoundsLMixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationLUMixin< BodyIMixin< BoundsLUMixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationLUMixin< BodyGIMixin< BoundsLUMixin< TaskBase > > >, humoto::constraints::ActiveSetDeterminationLUMixin< BodyAMixin< BoundsLUMixin< TaskBase > > >, and humoto::constraints::ActiveSetDeterminationLUMixin< BodyASMixin< BoundsLUMixin< TaskBase > > >.

◆ 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.

Reimplemented in humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIB< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGILU< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIL< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIU< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIB0< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAB< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAB0< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASL< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASLU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAL< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASB< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsALU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASB0< TaskBase > >, humoto::pepper_mpc::MPCParameters, humoto::pepper_mpc::MotionParameters, humoto::walking::RobotFootParameters, humoto::wpg04::MPCParameters, humoto::pepper_mpc::RobotParameters, humoto::pepper_ik::WBCParameters, humoto::pepper_ik::GeneralizedCoordinates< t_features >, humoto::wpg04::TaskCoPPosition, humoto::wpg04::TaskCoMVelocity, humoto::wpg04::TaskCoPVelocity, and humoto::wpg04::TaskTerminalConstraint.

Definition at line 102 of file config.h.

◆ form()

virtual void humoto::TaskBase::form ( const humoto::SolutionStructure sol_structure,
const humoto::Model model_base,
const humoto::ControlProblem control_problem 
)
protectedpure virtual

Form the task.

Parameters
[in]sol_structurestructure of the solution
[in]model_basemodel
[in]control_problemcontrol problem
Attention
This function is called automatically and must be defined in derived tasks.

Implemented in humoto::TaskInfeasibleInequality, humoto::TaskZeroSelectedVariables, humoto::pepper_ik::TaskBaseOrientation< FIXED_WHEELS|ROOT_PLANAR >, humoto::pepper_ik::TaskBaseCoMTracking< FIXED_WHEELS|ROOT_PLANAR >, humoto::pepper_ik::TaskBaseCoMTracking< t_features >, humoto::pepper_ik::TaskBaseOrientation< t_features >, humoto::pepper_ik::TaskTagOrientation< t_features >, humoto::TaskZeroVariables, humoto::pepper_ik::TaskTagPose3Dof< t_features >, humoto::pepper_ik::TaskTagAngularVelocity< t_features >, humoto::pepper_ik::TaskTagCompleteVelocity< t_features >, humoto::pepper_ik::TaskTagPose< t_features >, humoto::pepper_ik::TaskBodyCoMTracking< t_features >, humoto::pepper_ik::TaskJointsReference< t_features >, humoto::wpg04::TaskFootstepBounds, humoto::wpg04::TaskCoPVelocity, humoto::wpg04::TaskCoMVelocity, humoto::wpg04::TaskTerminalConstraint, humoto::wpg04::TaskCoPBounds, humoto::pepper_ik::TaskFixArms< t_features >, humoto::pepper_ik::TaskFixHead< t_features >, humoto::pepper_mpc::TaskBaseJerkMinimization, humoto::pepper_mpc::TaskBasePositionReference, humoto::pepper_mpc::TaskBaseVelocityReference, humoto::pepper_mpc::TaskCoPCentering, humoto::pepper_ik::TaskJointsBounds< t_features >, humoto::pepper_mpc::TaskBaseAccelerationBounds, humoto::pepper_mpc::TaskBaseVelocityBounds, humoto::pepper_mpc::TaskBodyPositionBounds, humoto::pepper_mpc::TaskCoPPositionBounds, and humoto::pepper_mpc::TaskBodyPositionReference.

◆ getActiveSetGuess()

ActiveSetConstraints& humoto::TaskBase::getActiveSetGuess ( )
inlineprotected

Get active set guess.

Returns
active set guess.

Definition at line 226 of file task.h.

◆ getActualActiveSet()

const ActiveSetConstraints& humoto::TaskBase::getActualActiveSet ( ) const
inlineprotected

Get actual active set.

Returns
actual active set.

Definition at line 215 of file task.h.

◆ getATAandATb()

virtual void humoto::constraints::ConstraintsBase::getATAandATb ( Eigen::MatrixXd &  H,
Eigen::VectorXd &  g 
) const
inlinevirtualinherited

Compute 'A^T * A' for general equality constaints and save or add the result to H. Compute 'A^T * b' for general equality constaints and save or add the result to g.

Parameters
[in,out]Hleft lower triangular part of the result.
[in,out]gresult
Attention
Only the left lower triangular part of H is formed. Apply appropriate conversion with etools::convertLLTtoSymmetric() before using H.

Reimplemented in humoto::constraints::ConstraintsIB0< TaskBase >, humoto::constraints::ConstraintsIB< TaskBase >, humoto::constraints::ConstraintsGIB0< TaskBase >, humoto::constraints::ConstraintsGIB< TaskBase >, humoto::constraints::ConstraintsASB0< TaskBase >, humoto::constraints::ConstraintsASB< TaskBase >, humoto::constraints::ConstraintsAB0< TaskBase >, and humoto::constraints::ConstraintsAB< TaskBase >.

Definition at line 436 of file constraints_base.h.

◆ getConfigSectionID()

const std::string& humoto::TaskBase::getConfigSectionID ( ) const
inlineprotectedvirtual

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.

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

Definition at line 122 of file task.h.

◆ getCopyLocation()

Location humoto::constraints::ContainerBase::getCopyLocation ( const std::size_t  number_of_constraints,
const std::size_t  constraints_offset,
const std::size_t  number_of_variables 
) const
inlineinherited

Computes location of the copied constraints in a container and verifies their consistency.

Parameters
[in]number_of_constraintsnumber of added constraints
[in]constraints_offsetoffset in the container
[in]number_of_variablesnumber of variables in the container
Returns
Location

Definition at line 262 of file constraints_base.h.

◆ getDescription()

const std::string humoto::TaskBase::getDescription ( ) const
inline

Get description of the task.

Returns
description

Definition at line 249 of file task.h.

◆ getNumberOfConstraints()

virtual std::size_t humoto::constraints::ContainerBase::getNumberOfConstraints ( ) const
pure virtualinherited

◆ getNumberOfEntries()

virtual std::size_t humoto::config::CommonConfigurableBase< t_crash_on_missing_entry >::getNumberOfEntries ( ) const
protectedpure virtualinherited

Get number of entries in the corresponding configuration node.

Returns
number of entries

Implemented in humoto::ConfigurableOptimizationProblem.

◆ getNumberOfVariables()

std::size_t humoto::constraints::ContainerBase::getNumberOfVariables ( ) const
inlineinherited

Returns number of variables in the task.

Returns
number of variables

Definition at line 215 of file constraints_base.h.

◆ getType()

virtual ConstraintType::Type humoto::constraints::ConstraintsBase::getType ( ) const
pure virtualinherited

◆ guessActiveSet()

virtual void humoto::TaskBase::guessActiveSet ( const humoto::SolutionStructure sol_structure,
const humoto::Model model_base,
const humoto::ControlProblem control_problem 
)
inlineprotectedvirtual

Initialize active set guess with defaults.

Parameters
[in]sol_structurestructure of the solution
[in]model_basemodel
[in]control_problemcontrol problem
Attention
This function is called automatically (after form()) and can be redefined in derfived tasks. It doesn't make sense to redefine it for equality tasks.

Reimplemented in humoto::wpg04::TaskFootstepBounds, humoto::wpg04::TaskCoPBounds, humoto::pepper_mpc::TaskBaseAccelerationBounds, humoto::pepper_mpc::TaskBaseVelocityBounds, humoto::pepper_mpc::TaskCoPPositionBounds, and humoto::pepper_mpc::TaskBodyPositionBounds.

Definition at line 147 of file task.h.

◆ isEquality()

bool humoto::constraints::ConstraintsBase::isEquality ( ) const
inlineinherited

Check properties of the constriaints.

Returns
true/false

Definition at line 523 of file constraints_base.h.

◆ isSimple()

bool humoto::constraints::ConstraintsBase::isSimple ( ) const
inlineinherited

Check properties of the constriaints.

Returns
true/false

Definition at line 529 of file constraints_base.h.

◆ isTwoSidedInequality()

bool humoto::constraints::ConstraintsBase::isTwoSidedInequality ( ) const
inlineinherited

Check properties of the constriaints.

Returns
true/false

Definition at line 535 of file constraints_base.h.

◆ log()

void humoto::TaskBase::log ( humoto::Logger logger,
const LogEntryName parent = LogEntryName(),
const std::string &  name = "task" 
) const
inline

Log task.

Parameters
[in,out]loggerlogger
[in]parentparent
[in]namename

Definition at line 273 of file task.h.

◆ logBody()

virtual void humoto::constraints::ContainerBase::logBody ( humoto::Logger logger,
const LogEntryName parent = LogEntryName(),
const std::string &  name = "constraints" 
) const
protectedpure virtualinherited

Log body.

Parameters
[in,out]loggerlogger
[in]parentparent
[in]namename

Implemented in humoto::constraints::BodyGIMixin< BoundsBMixin< TaskBase > >, humoto::constraints::BodyGIMixin< BoundsB0Mixin< TaskBase > >, humoto::constraints::BodyGIMixin< BoundsLUMixin< TaskBase > >, humoto::constraints::BodyGIMixin< BoundsLMixin< TaskBase > >, humoto::constraints::BodyGIMixin< BoundsUMixin< TaskBase > >, humoto::constraints::BodyIMixin< BoundsBMixin< TaskBase > >, humoto::constraints::BodyIMixin< BoundsB0Mixin< TaskBase > >, humoto::constraints::BodyIMixin< BoundsLUMixin< TaskBase > >, humoto::constraints::BodyIMixin< BoundsLUMixin< ContainerBase > >, humoto::constraints::BodyIMixin< BoundsLMixin< TaskBase > >, humoto::constraints::BodyIMixin< BoundsUMixin< TaskBase > >, humoto::constraints::BodyASMixin< BoundsBMixin< TaskBase > >, humoto::constraints::BodyASMixin< BoundsB0Mixin< TaskBase > >, humoto::constraints::BodyASMixin< BoundsLUMixin< TaskBase > >, humoto::constraints::BodyASMixin< BoundsLMixin< TaskBase > >, humoto::constraints::BodyASMixin< BoundsUMixin< TaskBase > >, humoto::constraints::BodyAMixin< BoundsBMixin< TaskBase > >, humoto::constraints::BodyAMixin< BoundsB0Mixin< TaskBase > >, humoto::constraints::BodyAMixin< BoundsLUMixin< TaskBase > >, humoto::constraints::BodyAMixin< BoundsLMixin< ContainerBase > >, humoto::constraints::BodyAMixin< BoundsLUMixin< ContainerBase > >, humoto::constraints::BodyAMixin< BoundsLMixin< TaskBase > >, humoto::constraints::BodyAMixin< BoundsUMixin< TaskBase > >, and humoto::constraints::BodyAMixin< BoundsBMixin< ContainerBase > >.

◆ logBounds()

virtual void humoto::constraints::ContainerBase::logBounds ( humoto::Logger logger,
const LogEntryName parent = LogEntryName(),
const std::string &  name = "constraints" 
) const
protectedpure virtualinherited

◆ logTask()

virtual void humoto::TaskBase::logTask ( humoto::Logger logger,
const LogEntryName parent = LogEntryName(),
const std::string &  name = "task" 
) const
protectedpure virtual

Log task.

Parameters
[in,out]loggerlogger
[in]parentparent
[in]namename

Implemented in humoto::SimpleTaskBaseMixin< constraints::ConstraintsIU< TaskBase > >, humoto::SimpleTaskBaseMixin< constraints::ConstraintsIL< TaskBase > >, humoto::SimpleTaskBaseMixin< constraints::ConstraintsILU< TaskBase > >, humoto::SimpleTaskBaseMixin< constraints::ConstraintsIB< TaskBase > >, humoto::SimpleTaskBaseMixin< constraints::ConstraintsIB0< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIB< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGILU< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIL< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIU< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIB0< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAB< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAB0< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASL< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASLU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAL< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASB< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsALU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASB0< TaskBase > >, humoto::pepper_ik::TaskBaseCoMTrackingBase, humoto::pepper_ik::TaskBaseOrientationBase, humoto::pepper_ik::TaskTagOrientation< t_features >, humoto::pepper_ik::TaskTagPose3Dof< t_features >, humoto::pepper_ik::TaskTagAngularVelocity< t_features >, humoto::pepper_ik::TaskTagCompleteVelocity< t_features >, humoto::pepper_ik::TaskTagPose< t_features >, humoto::pepper_ik::TaskJointsReference< t_features >, and humoto::pepper_ik::TaskBodyCoMTracking< t_features >.

◆ markAsUnmodified()

void humoto::TaskBase::markAsUnmodified ( )
inlineprotected

By default the task is assumed to be modified. Use this function to mark it as unmodified to avoid unnecessary recomputations.

Attention
This method should be called from form() method only.
If this function is called on a modified task, the result is undefined.

Definition at line 204 of file task.h.

◆ postForm()

void humoto::TaskBase::postForm ( ) const
inlineprivate

Finalize formulation of a task.

Attention
This function is called automatically.

Definition at line 57 of file task.h.

◆ preForm()

void humoto::TaskBase::preForm ( const std::size_t  number_of_variables)
inlineprivate

Prepare formulation of a task.

Parameters
[in]number_of_variables
Attention
This function is called automatically.

Definition at line 44 of file task.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]readerconfiguration 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]readerconfiguration reader
[in]crash_on_missing_entry
[in]node_namenode 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]readerconfiguration reader
[in]crash_on_missing_entry
[in]node_namenode 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_namefile 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_namefile name
[in]node_namenode 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_namefile name
[in]crash_on_missing_entry
[in]node_namenode name, the default is used if empty
Note
Intercept implicit conversion of a pointer to bool.

Definition at line 255 of file config.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_namenode name, the default is used if empty

Definition at line 132 of file config.h.

◆ reset()

void humoto::constraints::ContainerBase::reset ( const std::size_t  number_of_constraints = 0,
const std::size_t  number_of_variables = 0,
const bool  initialize_matrices = false 
)
inlineprotectedinherited

Initialize constraints.

Parameters
[in]number_of_constraintsnumber of constraints
[in]number_of_variablesnumber of variables
[in]initialize_matricesinitialize matrices using defaults

Definition at line 175 of file constraints_base.h.

◆ resetBody()

virtual void humoto::constraints::ContainerBase::resetBody ( const std::size_t  number_of_constraints = 0,
const bool  initialize_matrices = false 
)
protectedpure virtualinherited

Reset body of constraints (matrix A or I)

Parameters
[in]number_of_constraintsnumber of constraints
[in]initialize_matricesinitialize matrices using defaults

Implemented in humoto::constraints::BodyGIMixin< BoundsBMixin< TaskBase > >, humoto::constraints::BodyGIMixin< BoundsB0Mixin< TaskBase > >, humoto::constraints::BodyGIMixin< BoundsLUMixin< TaskBase > >, humoto::constraints::BodyGIMixin< BoundsLMixin< TaskBase > >, humoto::constraints::BodyGIMixin< BoundsUMixin< TaskBase > >, humoto::constraints::BodyIMixin< BoundsBMixin< TaskBase > >, humoto::constraints::BodyIMixin< BoundsB0Mixin< TaskBase > >, humoto::constraints::BodyIMixin< BoundsLUMixin< TaskBase > >, humoto::constraints::BodyIMixin< BoundsLUMixin< ContainerBase > >, humoto::constraints::BodyIMixin< BoundsLMixin< TaskBase > >, humoto::constraints::BodyIMixin< BoundsUMixin< TaskBase > >, humoto::constraints::BodyASMixin< BoundsBMixin< TaskBase > >, humoto::constraints::BodyASMixin< BoundsB0Mixin< TaskBase > >, humoto::constraints::BodyASMixin< BoundsLUMixin< TaskBase > >, humoto::constraints::BodyASMixin< BoundsLMixin< TaskBase > >, humoto::constraints::BodyASMixin< BoundsUMixin< TaskBase > >, humoto::constraints::BodyAMixin< BoundsBMixin< TaskBase > >, humoto::constraints::BodyAMixin< BoundsB0Mixin< TaskBase > >, humoto::constraints::BodyAMixin< BoundsLUMixin< TaskBase > >, humoto::constraints::BodyAMixin< BoundsLMixin< ContainerBase > >, humoto::constraints::BodyAMixin< BoundsLUMixin< ContainerBase > >, humoto::constraints::BodyAMixin< BoundsLMixin< TaskBase > >, humoto::constraints::BodyAMixin< BoundsUMixin< TaskBase > >, and humoto::constraints::BodyAMixin< BoundsBMixin< ContainerBase > >.

◆ resetBounds()

virtual void humoto::constraints::ContainerBase::resetBounds ( const std::size_t  number_of_constraints = 0,
const bool  initialize_matrices = false 
)
protectedpure virtualinherited

◆ setDefaults()

virtual void humoto::TaskBase::setDefaults ( )
inlineprotectedvirtual

Set members to their default values.

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

Reimplemented in humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIB< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGILU< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIL< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIU< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIB0< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAB< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAB0< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASL< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASLU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAL< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASB< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsALU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASB0< TaskBase > >, humoto::pepper_ik::TaskBaseCoMTrackingBase, humoto::pepper_ik::TaskBaseOrientationBase, humoto::pepper_ik::TaskTagOrientation< t_features >, humoto::pepper_ik::TaskTagPose3Dof< t_features >, humoto::pepper_ik::TaskTagAngularVelocity< t_features >, humoto::pepper_ik::TaskTagCompleteVelocity< t_features >, humoto::pepper_ik::TaskTagPose< t_features >, humoto::pepper_ik::TaskBodyCoMTracking< t_features >, humoto::pepper_ik::TaskJointsReference< t_features >, humoto::wpg04::TaskFootstepBounds, humoto::wpg04::TaskCoMVelocity, humoto::wpg04::TaskCoPBounds, humoto::wpg04::TaskCoPPosition, humoto::wpg04::TaskCoPVelocity, and humoto::wpg04::TaskTerminalConstraint.

Definition at line 128 of file task.h.

◆ setDescription()

void humoto::TaskBase::setDescription ( const std::string &  description)
inline

Set description of the task.

Returns
description

Definition at line 260 of file task.h.

◆ setNumberOfVariables()

void humoto::constraints::ContainerBase::setNumberOfVariables ( const std::size_t  number_of_variables)
inlineprotectedinherited

Set number of variables.

Parameters
[in]number_of_variablesnumber of variables

Definition at line 142 of file constraints_base.h.

◆ writeConfig() [1/4]

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

Write configuration.

Parameters
[in,out]writerconfiguration 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]writerconfiguration writer
[in]node_namenode 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_namefile 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_namefile name
[in]node_namenode name, the default is used if empty

Definition at line 342 of file config.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]writerconfiguration 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]writerconfiguration writer
[in]node_namenode name, the default is used if empty

Definition at line 285 of file config.h.

Friends And Related Function Documentation

◆ HierarchyLevel

friend class HierarchyLevel
friend

Definition at line 28 of file task.h.

Member Data Documentation

◆ active_set_actual_

ActiveSetConstraints humoto::TaskBase::active_set_actual_
protected

Definition at line 105 of file task.h.

◆ active_set_guess_

ActiveSetConstraints humoto::TaskBase::active_set_guess_
private

Definition at line 33 of file task.h.

◆ 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.

◆ is_modified_

bool humoto::TaskBase::is_modified_
protected

Definition at line 104 of file task.h.

◆ number_of_variables_

std::size_t humoto::constraints::ContainerBase::number_of_variables_
protectedinherited

Definition at line 120 of file constraints_base.h.

◆ string_description_

std::string humoto::TaskBase::string_description_
private

Definition at line 31 of file task.h.


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