humoto::TaskIB Class Reference

Detailed Description

Task: x[I] = b.

Definition at line 578 of file task.h.

#include <task.h>

Inheritance diagram for humoto::TaskIB:

Public Member Functions
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...
void	checkConsistency () const
	Check consistency of the constraints. More...
void	computeViolations (ViolationsConstraints &violations, const Location &location, const Solution &solution) const
	Compute violations given a solution vector. More...
virtual void	copyBodyTo (Eigen::MatrixXd &A, const Location &location) const
	Copy body to the given matrix. More...
void	copyBoundsTo (Eigen::VectorXd &lb, Eigen::VectorXd &ub, const Location &location) const
	Copy bounds to given vectors. More...
virtual void	copyNegativeBodyTo (Eigen::MatrixXd &A, const Location &location) const
	Copy body to the given matrix. More...
virtual std::size_t	copyTo (ContainerAL &container, const std::size_t constraints_offset) const
	Copy constraints to a container. More...
std::size_t	copyTo (ContainerALU &container, const std::size_t constraints_offset) const
	Set constraints. More...
std::size_t	copyTo (ContainerILU &container, const std::size_t constraints_offset) const
	Set constraints. More...
std::size_t	copyTo (ContainerAB &container, const std::size_t constraints_offset) const
	Set constraints. More...
void	determineActiveSet (ActiveSetConstraints &active_set, const Location &location, const Solution &solution) const
	Determine active set given a solution vector. More...
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...
Eigen::VectorXd &	getB ()
	Get vector b from equalities: 'A*x = b' or 'x = b'. More...
const Eigen::VectorXd &	getB () const
	Get vector b from equalities: 'A*x = b' or 'x = b'. 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...
humoto::IndexVector &	getIndices ()
	Get indices. More...
const humoto::IndexVector &	getIndices () const
	Get indices. More...
std::size_t	getNumberOfConstraints () const
	Returns number of constraints in the task. More...
std::size_t	getNumberOfVariables () const
	Returns number of variables in the task. More...
double	getProduct (const std::size_t i, const Eigen::VectorXd &vector) const
	Compute A(i,:) * vector. More...
ConstraintType::Type	getType () const
	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
void	addATA (Eigen::MatrixXd &H) const
	Compute 'A^T * A' for general equality constaints and save or add the result to H. More...
void	copyEqualityBoundsTo (Eigen::VectorXd &b, const Location &location) const
	Copy b. 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...
void	getATA (Eigen::MatrixXd &H) const
	Compute 'A^T * A' for general equality constaints and save or add the result to H. 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...
void	logBody (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="constraints") const
	Log body. More...
void	logBounds (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="constraints") const
	Log bounds. More...
virtual void	logTask (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="task") const
	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)
	Initialize I and gains. More...
void	resetBounds (const std::size_t number_of_constraints=0, const bool initialize_matrices=false)
	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_
Eigen::VectorXd	b_
humoto::IndexVector	I_
bool	is_modified_
std::size_t	number_of_variables_

Static Protected Attributes
static const bool	default_crash_on_missing_entry_

Member Function Documentation

addATA()

void humoto::constraints::BodyIMixin< BoundsBMixin< TaskBase > >::addATA ( Eigen::MatrixXd &  H ) const

inlineprotectedinherited

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

Parameters

[in,out]

H

left lower triangular part of the result.

Attention

Only the left lower triangular part of H is formed. Apply appropriate conversion with etools::convertLLTtoSymmetric() before using H.

Definition at line 799 of file constraints_mixins.h.

addATAandATb()

void humoto::constraints::ConstraintsIB< TaskBase >::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 from humoto::constraints::ConstraintsBase.

Definition at line 1014 of file constraints.h.

checkConsistency()

void humoto::constraints::ConstraintsIB< TaskBase >::checkConsistency ( ) const

inlinevirtualinherited

Check consistency of the constraints.

Implements humoto::constraints::ConstraintsBase.

Definition at line 999 of file constraints.h.

computeViolations()

void humoto::constraints::ViolationsComputationBMixin< ActiveSetDeterminationBMixin< BodyIMixin< BoundsBMixin< TaskBase > > > >::computeViolations ( ViolationsConstraints &  violations, const Location &  location, const Solution &  solution  ) const

inlinevirtualinherited

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

Implements humoto::constraints::ConstraintsBase.

Definition at line 1333 of file constraints_mixins.h.

copyBodyTo()

virtual void humoto::constraints::BodyIMixin< BoundsBMixin< TaskBase > >::copyBodyTo ( Eigen::MatrixXd &  A, const Location &  location  ) const

inlinevirtualinherited

Copy body to the given matrix.

Parameters

[in]	A
[in]	location	offset and length

Implements humoto::constraints::ConstraintsBase.

Reimplemented in humoto::constraints::BodyGIMixin< BoundsBMixin< TaskBase > >.

Definition at line 814 of file constraints_mixins.h.

copyBoundsTo()

void humoto::constraints::BoundsBMixin< TaskBase >::copyBoundsTo ( Eigen::VectorXd &  lb, Eigen::VectorXd &  ub, const Location &  location  ) const

inlinevirtualinherited

Copy bounds to given vectors.

Parameters

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

Implements humoto::constraints::ConstraintsBase.

Definition at line 190 of file constraints_mixins.h.

copyEqualityBoundsTo()

void humoto::constraints::BoundsBMixin< TaskBase >::copyEqualityBoundsTo ( Eigen::VectorXd &  b, const Location &  location  ) const

inlineprotectedinherited

Copy b.

Parameters

[in,out]	b
[in]	location

Definition at line 163 of file constraints_mixins.h.

copyNegativeBodyTo()

virtual void humoto::constraints::BodyIMixin< BoundsBMixin< TaskBase > >::copyNegativeBodyTo ( Eigen::MatrixXd &  A, const Location &  location  ) const

inlinevirtualinherited

Copy body to the given matrix.

Parameters

[in]	A
[in]	location	offset and length

Implements humoto::constraints::ConstraintsBase.

Reimplemented in humoto::constraints::BodyGIMixin< BoundsBMixin< TaskBase > >.

Definition at line 831 of file constraints_mixins.h.

copyTo() [1/4]

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

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() [2/4]

std::size_t humoto::constraints::CopyAnyToALUMixin< CopySimpleToILUMixin< CopyEqualityToABMixin< ViolationsComputationBMixin< ActiveSetDeterminationBMixin< BodyIMixin< BoundsBMixin< TaskBase > > > > > > >::copyTo ( ContainerALU &  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 from humoto::constraints::ConstraintsBase.

Definition at line 615 of file constraints_base.h.

copyTo() [3/4]

std::size_t humoto::constraints::CopySimpleToILUMixin< CopyEqualityToABMixin< ViolationsComputationBMixin< ActiveSetDeterminationBMixin< BodyIMixin< BoundsBMixin< TaskBase > > > > > >::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 from humoto::constraints::ConstraintsBase.

Definition at line 743 of file constraints_base.h.

copyTo() [4/4]

std::size_t humoto::constraints::CopyEqualityToABMixin< ViolationsComputationBMixin< ActiveSetDeterminationBMixin< BodyIMixin< BoundsBMixin< TaskBase > > > > >::copyTo ( ContainerAB &  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 from humoto::constraints::ConstraintsBase.

Definition at line 777 of file constraints_base.h.

determineActiveSet()

void humoto::constraints::ActiveSetDeterminationBMixin< BodyIMixin< BoundsBMixin< TaskBase > > >::determineActiveSet ( ActiveSetConstraints &  active_set, const Location &  location, const Solution &  solution  ) const

inlinevirtualinherited

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

Implements humoto::constraints::ConstraintsBase.

Definition at line 1187 of file constraints_mixins.h.

finalize()

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

inlineprotectedvirtualinherited

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

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 virtualinherited

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.

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 ( )

inlineprotectedinherited

Get active set guess.

Returns

active set guess.

Definition at line 226 of file task.h.

getActualActiveSet()

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

inlineprotectedinherited

Get actual active set.

Returns

actual active set.

Definition at line 215 of file task.h.

getATA()

void humoto::constraints::BodyIMixin< BoundsBMixin< TaskBase > >::getATA ( Eigen::MatrixXd &  H ) const

inlineprotectedinherited

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

Parameters

[in,out]

H

left lower triangular part of the result.

Attention

Only the left lower triangular part of H is formed. Apply appropriate conversion with etools::convertLLTtoSymmetric() before using H.

Definition at line 789 of file constraints_mixins.h.

getATAandATb()

void humoto::constraints::ConstraintsIB< TaskBase >::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 from humoto::constraints::ConstraintsBase.

Definition at line 1006 of file constraints.h.

getB() [1/2]

Eigen::VectorXd& humoto::constraints::BoundsBMixin< TaskBase >::getB ( )

inlineinherited

Get vector b from equalities: 'A*x = b' or 'x = b'.

Returns

Vector b.

Definition at line 176 of file constraints_mixins.h.

getB() [2/2]

const Eigen::VectorXd& humoto::constraints::BoundsBMixin< TaskBase >::getB ( ) const

inlineinherited

Get vector b from equalities: 'A*x = b' or 'x = b'.

Returns

Vector b.

Definition at line 183 of file constraints_mixins.h.

getConfigSectionID()

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

inlineprotectedvirtualinherited

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

inlineinherited

Get description of the task.

Returns

description

Definition at line 249 of file task.h.

getIndices() [1/2]

humoto::IndexVector& humoto::constraints::BodyIMixin< BoundsBMixin< TaskBase > >::getIndices ( )

inlineinherited

Get indices.

Returns

indices

Definition at line 852 of file constraints_mixins.h.

getIndices() [2/2]

const humoto::IndexVector& humoto::constraints::BodyIMixin< BoundsBMixin< TaskBase > >::getIndices ( ) const

inlineinherited

Get indices.

Returns

indices

Definition at line 859 of file constraints_mixins.h.

getNumberOfConstraints()

std::size_t humoto::constraints::BodyIMixin< BoundsBMixin< TaskBase > >::getNumberOfConstraints ( ) const

inlinevirtualinherited

Returns number of constraints in the task.

Returns

number of constraints

Implements humoto::constraints::ContainerBase.

Definition at line 866 of file constraints_mixins.h.

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.

getProduct()

double humoto::constraints::BodyIMixin< BoundsBMixin< TaskBase > >::getProduct ( const std::size_t  i, const Eigen::VectorXd &  vector  ) const

inlineinherited

Compute A(i,:) * vector.

Parameters

[in]	i	row index
[in]	vector	vector

Returns

result of multiplication

Definition at line 873 of file constraints_mixins.h.

getType()

ConstraintType::Type humoto::constraints::ConstraintsIB< TaskBase >::getType ( ) const

inlinevirtualinherited

Returns type of the constraints.

Returns

type of the constraints

Implements humoto::constraints::ConstraintsBase.

Definition at line 991 of file constraints.h.

guessActiveSet()

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

inlineprotectedvirtualinherited

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

inlineinherited

Log task.

Parameters

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

Definition at line 273 of file task.h.

logBody()

void humoto::constraints::BodyIMixin< BoundsBMixin< TaskBase > >::logBody ( humoto::Logger &  logger, const LogEntryName &  parent = LogEntryName(), const std::string &  name = "constraints"  ) const

inlineprotectedvirtualinherited

Log body.

Parameters

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

Implements humoto::constraints::ContainerBase.

Reimplemented in humoto::constraints::BodyGIMixin< BoundsBMixin< TaskBase > >.

Definition at line 780 of file constraints_mixins.h.

logBounds()

void humoto::constraints::BoundsBMixin< TaskBase >::logBounds ( humoto::Logger &  logger, const LogEntryName &  parent = LogEntryName(), const std::string &  name = "constraints"  ) const

inlineprotectedvirtualinherited

Log bounds.

Parameters

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

Implements humoto::constraints::ContainerBase.

Definition at line 149 of file constraints_mixins.h.

logTask()

virtual void humoto::SimpleTaskBaseMixin< constraints::ConstraintsIB< TaskBase > >::logTask ( humoto::Logger &  logger, const LogEntryName &  parent = LogEntryName(), const std::string &  name = "task"  ) const

inlineprotectedvirtualinherited

Log task.

Parameters

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

Implements humoto::TaskBase.

Definition at line 512 of file task.h.

markAsUnmodified()

void humoto::TaskBase::markAsUnmodified ( )

inlineprotectedinherited

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.

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::BodyIMixin< BoundsBMixin< TaskBase > >::resetBody ( const std::size_t  number_of_constraints = 0, const bool  initialize_matrices = false  )

inlineprotectedvirtualinherited

Initialize I and gains.

Parameters

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

Implements humoto::constraints::ContainerBase.

Reimplemented in humoto::constraints::BodyGIMixin< BoundsBMixin< TaskBase > >.

Definition at line 771 of file constraints_mixins.h.

resetBounds()

void humoto::constraints::BoundsBMixin< TaskBase >::resetBounds ( const std::size_t  number_of_constraints = 0, const bool  initialize_matrices = false  )

inlineprotectedvirtualinherited

Reset bounds of constraints (b, lb, ub)

Parameters

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

Note

Initialization: b is filled with zeros

Implements humoto::constraints::ContainerBase.

Definition at line 134 of file constraints_mixins.h.

setDefaults()

virtual void humoto::TaskBase::setDefaults ( )

inlineprotectedvirtualinherited

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 )

inlineinherited

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.

Member Data Documentation

active_set_actual_

ActiveSetConstraints humoto::TaskBase::active_set_actual_

protectedinherited

Definition at line 105 of file task.h.

b_

Eigen::VectorXd humoto::constraints::BoundsBMixin< TaskBase >::b_

protectedinherited

Definition at line 118 of file constraints_mixins.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.

I_

humoto::IndexVector humoto::constraints::BodyIMixin< BoundsBMixin< TaskBase > >::I_

protectedinherited

Definition at line 746 of file constraints_mixins.h.

is_modified_

bool humoto::TaskBase::is_modified_

protectedinherited

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.

---

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

• core/include/humoto/task.h