Detailed Description

template<class t_Base>
class humoto::constraints::BodyASMixin< t_Base >

Mixin representing matrix 'A*S' in a general constraint.

Template Parameters

t_Base Base class: humoto::constraints::ConstraintsBase or humoto::TaskBase wrapped with other mixins.

Definition at line 580 of file constraints_mixins.h.

#include <constraints_mixins.h>

Inheritance diagram for humoto::constraints::BodyASMixin< t_Base >:

Public Member Functions
void	copyBodyTo (Eigen::MatrixXd &A, const Location &location) const
	Copy body to the given matrix. More...

void	copyNegativeBodyTo (Eigen::MatrixXd &A, const Location &location) const
	Copy body to the given matrix. More...

Eigen::MatrixXd &	getA ()
	Get matrix A from general constraints: 'Ax = b', 'lb <= Ax <= ub'. More...

const Eigen::MatrixXd &	getA () const
	Get matrix A from general constraints: 'Ax = b', 'lb <= Ax <= ub'. More...

std::size_t	getNumberOfConstraints () const
	Returns number of constraints in the task. More...

std::ptrdiff_t	getOffset () const
	Get offset of body part in the constriaints. More...

double	getProduct (const std::size_t i, const Eigen::VectorXd &vector) const
	Compute A(i,:) * vector. More...

void	setOffset (const std::ptrdiff_t offset)
	Set offset of body part in the constriaints. More...

Protected Member Functions
	BodyASMixin ()

	~BodyASMixin ()
	Protected destructor: prevent destruction of the child classes through a base pointer. More...

void	addATA (Eigen::MatrixXd &H) const
	Compute 'A^T * A' for general equality constaints and save or add the result to H. More...

void	getATA (Eigen::MatrixXd &H) const
	Compute 'A^T * A' for general equality constaints and save or add the result to H. More...

void	logBody (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="constraints") const
	Log body. More...

void	resetBody (const std::size_t number_of_constraints, const bool initialize_matrices=false)
	Initialize A. More...

Protected Attributes
Eigen::MatrixXd	A_

std::ptrdiff_t	offset_

Constructor & Destructor Documentation

◆ ~BodyASMixin()

template<class t_Base>

humoto::constraints::BodyASMixin< t_Base >::~BodyASMixin ( )

inlineprotected

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

Definition at line 592 of file constraints_mixins.h.

◆ BodyASMixin()

template<class t_Base>

humoto::constraints::BodyASMixin< t_Base >::BodyASMixin ( )

inlineprotected

Definition at line 593 of file constraints_mixins.h.

Member Function Documentation

◆ addATA()

template<class t_Base>

void humoto::constraints::BodyASMixin< t_Base >::addATA ( Eigen::MatrixXd & H ) const

inlineprotected

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 641 of file constraints_mixins.h.

◆ copyBodyTo()

template<class t_Base>

void humoto::constraints::BodyASMixin< t_Base >::copyBodyTo	(	Eigen::MatrixXd &	A,
		const Location &	location
	)		const

inline

Copy body to the given matrix.

Parameters

[in]	A
[in]	location	offset and length

Definition at line 689 of file constraints_mixins.h.

◆ copyNegativeBodyTo()

template<class t_Base>

void humoto::constraints::BodyASMixin< t_Base >::copyNegativeBodyTo	(	Eigen::MatrixXd &	A,
		const Location &	location
	)		const

inline

Copy body to the given matrix.

Parameters

[in]	A
[in]	location	offset and length

Definition at line 705 of file constraints_mixins.h.

◆ getA() [1/2]

template<class t_Base>

Eigen::MatrixXd& humoto::constraints::BodyASMixin< t_Base >::getA ( )

inline

Get matrix A from general constraints: 'A*x = b', 'lb <= A*x <= ub'.

Returns: matrix A

Definition at line 654 of file constraints_mixins.h.

◆ getA() [2/2]

template<class t_Base>

const Eigen::MatrixXd& humoto::constraints::BodyASMixin< t_Base >::getA ( ) const

inline

Get matrix A from general constraints: 'A*x = b', 'lb <= A*x <= ub'.

Returns: matrix A

Definition at line 660 of file constraints_mixins.h.

◆ getATA()

template<class t_Base>

void humoto::constraints::BodyASMixin< t_Base >::getATA ( Eigen::MatrixXd & H ) const

inlineprotected

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 634 of file constraints_mixins.h.

◆ getNumberOfConstraints()

template<class t_Base>

std::size_t humoto::constraints::BodyASMixin< t_Base >::getNumberOfConstraints ( ) const

inline

Returns number of constraints in the task.

Returns: number of constraints

Definition at line 721 of file constraints_mixins.h.

◆ getOffset()

template<class t_Base>

std::ptrdiff_t humoto::constraints::BodyASMixin< t_Base >::getOffset ( ) const

inline

Get offset of body part in the constriaints.

Returns: offset

Definition at line 671 of file constraints_mixins.h.

◆ getProduct()

template<class t_Base>

double humoto::constraints::BodyASMixin< t_Base >::getProduct	(	const std::size_t	i,
		const Eigen::VectorXd &	vector
	)		const

inline

Compute A(i,:) * vector.

Parameters

[in]	i	row index
[in]	vector	vector

Returns: result of multiplication

Definition at line 728 of file constraints_mixins.h.

◆ logBody()

template<class t_Base>

void humoto::constraints::BodyASMixin< t_Base >::logBody	(	humoto::Logger &	logger,
		const LogEntryName &	parent = `LogEntryName()`,
		const std::string &	name = `"constraints"`
	)		const

inlineprotected

Log body.

Parameters

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

Definition at line 623 of file constraints_mixins.h.

◆ resetBody()

template<class t_Base>

void humoto::constraints::BodyASMixin< t_Base >::resetBody	(	const std::size_t	number_of_constraints,
		const bool	initialize_matrices = `false`
	)

inlineprotected

Initialize A.

Parameters

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

Initialization:

A is filled with zeros

Definition at line 608 of file constraints_mixins.h.

◆ setOffset()

template<class t_Base>

void humoto::constraints::BodyASMixin< t_Base >::setOffset ( const std::ptrdiff_t offset )

inline

Set offset of body part in the constriaints.

Parameters

[in] offset

Definition at line 682 of file constraints_mixins.h.

Member Data Documentation

◆ A_

template<class t_Base>

Eigen::MatrixXd humoto::constraints::BodyASMixin< t_Base >::A_

protected

Definition at line 583 of file constraints_mixins.h.

◆ offset_

template<class t_Base>

std::ptrdiff_t humoto::constraints::BodyASMixin< t_Base >::offset_

protected

Definition at line 584 of file constraints_mixins.h.

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

core/include/humoto/constraints_mixins.h

Detailed Description

template<class t_Base> class humoto::constraints::BodyASMixin< t_Base >

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ ~BodyASMixin()

◆ BodyASMixin()

Member Function Documentation

◆ addATA()

◆ copyBodyTo()

◆ copyNegativeBodyTo()

◆ getA() [1/2]

◆ getA() [2/2]

◆ getATA()

◆ getNumberOfConstraints()

◆ getOffset()

◆ getProduct()

◆ logBody()

◆ resetBody()

◆ setOffset()

Member Data Documentation

◆ A_

◆ offset_

template<class t_Base>
class humoto::constraints::BodyASMixin< t_Base >