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:

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...

ActiveSetConstraints &	getActiveSetGuess ()
	Get active set guess. More...

const ActiveSetConstraints &	getActualActiveSet () 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]	H	left lower triangular part of the result.
[in,out]	g	result

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

Check consistency of the constraints.

◆ 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]	violations	violations
[in]	location	location of the constraints in the active set
[in]	solution	solution vector

◆ 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]	location	location of the active set
[in]	active_set	active 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_set	active set
[in]	location	location 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

Copy body to the given matrix.

Parameters

[in]	A
[in]	location	offset and length

◆ copyBoundsTo()

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

pure virtualinherited

Copy bounds to given vectors.

Parameters

[in]	lb
[in]	ub
[in]	location	offset and length

Implemented in humoto::constraints::BoundsLUMixin< TaskBase >, humoto::constraints::BoundsUMixin< TaskBase >, humoto::constraints::BoundsLMixin< TaskBase >, humoto::constraints::BoundsLMixin< BoundsUMixin< TaskBase > >, humoto::constraints::BoundsBMixin< TaskBase >, and humoto::constraints::BoundsB0Mixin< TaskBase >.

◆ copyNegativeBodyTo()

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

pure virtualinherited

Copy negated body to the given matrix.

Parameters

[in]	A
[in]	location	offset and length

◆ copyTo() [1/4]

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

inlinevirtualinherited

Set constraints.

Parameters

[in,out]	container	new constraints
[in]	constraints_offset	first row offset

Returns: offset of the end of added constraints

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

Definition at line 457 of file constraints_base.h.

◆ 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_offset	first row offset

Returns: offset of the end of added constraints

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

Copy constraints to a container.

Parameters

[in,out]	container
[in]	constraints_offset	first row offset

Returns: offset of the end of added constraints

Definition at line 487 of file constraints_base.h.

◆ 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_offset	first row offset

Returns: offset of the end of added constraints

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_set	active set
[in]	location	location of the constraints in the active set
[in]	solution	solution vector

◆ 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()

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_structure	structure of the solution
[in]	model_base	model
[in]	control_problem	control problem

Attention: This function is called automatically and must be defined in derived tasks.

◆ 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]	H	left lower triangular part of the result.
[in,out]	g	result

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_constraints	number of added constraints
[in]	constraints_offset	offset in the container
[in]	number_of_variables	number 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

Returns number of constraints in the task.

Returns: number of constraints

◆ 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

Returns type of the constraints.

Returns: type of the constraints

◆ 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_structure	structure of the solution
[in]	model_base	model
[in]	control_problem	control 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]	logger	logger
[in]	parent	parent
[in]	name	name

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]	logger	logger
[in]	parent	parent
[in]	name	name

◆ logBounds()

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

protectedpure virtualinherited

Log bounds.

Parameters

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

◆ 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]	logger	logger
[in]	parent	parent
[in]	name	name

◆ 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]	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.

◆ 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::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_constraints	number of constraints
[in]	number_of_variables	number of variables
[in]	initialize_matrices	initialize 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_constraints	number of constraints
[in]	initialize_matrices	initialize matrices using defaults

◆ resetBounds()

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

protectedpure virtualinherited

Reset bounds of constraints (b, lb, ub)

Parameters

[in]	number_of_constraints	number of constraints
[in]	initialize_matrices	initialize matrices using defaults

◆ setDefaults()

virtual void humoto::TaskBase::setDefaults ( )

inlineprotectedvirtual

Set members to their default values.

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

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_variables number 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] 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.

◆ 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.

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:

core/include/humoto/task.h

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Member Functions

Private Attributes

Friends

Constructor & Destructor Documentation

◆ ~TaskBase()

◆ TaskBase()

Member Function Documentation

◆ addATAandATb()

◆ checkConsistency()

◆ computeViolations()

◆ copyActiveSetGuessTo()

◆ copyActualActiveSetFrom()

◆ copyBodyTo()

◆ copyBoundsTo()

◆ copyNegativeBodyTo()

◆ copyTo() [1/4]

◆ copyTo() [2/4]

◆ copyTo() [3/4]

◆ copyTo() [4/4]

◆ determineActiveSet()

◆ finalize()

◆ form()

◆ getActiveSetGuess()

◆ getActualActiveSet()

◆ getATAandATb()

◆ getConfigSectionID()

◆ getCopyLocation()

◆ getDescription()

◆ getNumberOfConstraints()

◆ getNumberOfEntries()

◆ getNumberOfVariables()

◆ getType()

◆ guessActiveSet()

◆ isEquality()

◆ isSimple()

◆ isTwoSidedInequality()

◆ log()

◆ logBody()

◆ logBounds()

◆ logTask()

◆ markAsUnmodified()

◆ postForm()

◆ preForm()

◆ readConfig() [1/6]

◆ readConfig() [2/6]

◆ readConfig() [3/6]

◆ readConfig() [4/6]

◆ readConfig() [5/6]

◆ readConfig() [6/6]

◆ readNestedConfig()

◆ reset()

◆ resetBody()

◆ resetBounds()

◆ setDefaults()

◆ setDescription()

◆ setNumberOfVariables()

◆ writeConfig() [1/4]

◆ writeConfig() [2/4]

◆ writeConfig() [3/4]

◆ writeConfig() [4/4]

◆ writeNestedConfig() [1/2]

◆ writeNestedConfig() [2/2]

Friends And Related Function Documentation

◆ HierarchyLevel

Member Data Documentation

◆ active_set_actual_

◆ active_set_guess_

◆ default_crash_on_missing_entry_

◆ is_modified_

◆ number_of_variables_

◆ string_description_