Detailed Description

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

Mixin representing matrix of indices 'I' and matrix of gains 'G' in a simple constraint.

Template Parameters

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

Definition at line 890 of file constraints_mixins.h.

#include <constraints_mixins.h>

Inheritance diagram for humoto::constraints::BodyGIMixin< 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::VectorXd &	getIGains ()
	Get gains for each element in simple objective. More...

const Eigen::VectorXd &	getIGains () const
	Get gains for each element in simple objective. 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...

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

Protected Member Functions
	BodyGIMixin ()

	~BodyGIMixin ()
	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=0, const bool initialize_matrices=false)
	Initialize I and gains. More...

Protected Attributes
humoto::IndexVector	I_

Eigen::VectorXd	I_gains_

Constructor & Destructor Documentation

◆ ~BodyGIMixin()

template<class t_Base>

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

inlineprotected

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

Definition at line 902 of file constraints_mixins.h.

◆ BodyGIMixin()

template<class t_Base>

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

inlineprotected

Definition at line 903 of file constraints_mixins.h.

Member Function Documentation

◆ addATA()

template<class t_Base>

void humoto::constraints::BodyGIMixin< 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 945 of file constraints_mixins.h.

◆ copyBodyTo()

template<class t_Base>

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

inlinevirtual

Copy body to the given matrix.

Parameters

[in]	A
[in]	location	offset and length

Reimplemented from humoto::constraints::BodyIMixin< t_Base >.

Definition at line 976 of file constraints_mixins.h.

◆ copyNegativeBodyTo()

template<class t_Base>

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

inlinevirtual

Copy body to the given matrix.

Parameters

[in]	A
[in]	location	offset and length

Reimplemented from humoto::constraints::BodyIMixin< t_Base >.

Definition at line 993 of file constraints_mixins.h.

◆ getATA()

template<class t_Base>

void humoto::constraints::BodyGIMixin< 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 935 of file constraints_mixins.h.

◆ getIGains() [1/2]

template<class t_Base>

Eigen::VectorXd& humoto::constraints::BodyGIMixin< t_Base >::getIGains ( )

inline

Get gains for each element in simple objective.

Returns: gains

Definition at line 963 of file constraints_mixins.h.

◆ getIGains() [2/2]

template<class t_Base>

const Eigen::VectorXd& humoto::constraints::BodyGIMixin< t_Base >::getIGains ( ) const

inline

Get gains for each element in simple objective.

Returns: gains

Definition at line 969 of file constraints_mixins.h.

◆ getIndices() [1/2]

template<class t_Base>

humoto::IndexVector& humoto::constraints::BodyIMixin< t_Base >::getIndices ( )

inlineinherited

Get indices.

Returns: indices

Definition at line 852 of file constraints_mixins.h.

◆ getIndices() [2/2]

template<class t_Base>

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

inlineinherited

Get indices.

Returns: indices

Definition at line 859 of file constraints_mixins.h.

◆ getNumberOfConstraints()

template<class t_Base>

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

inlineinherited

Returns number of constraints in the task.

Returns: number of constraints

Definition at line 866 of file constraints_mixins.h.

◆ getProduct()

template<class t_Base>

double humoto::constraints::BodyGIMixin< 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 1010 of file constraints_mixins.h.

◆ logBody()

template<class t_Base>

void humoto::constraints::BodyGIMixin< 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 922 of file constraints_mixins.h.

◆ resetBody()

template<class t_Base>

void humoto::constraints::BodyGIMixin< t_Base >::resetBody	(	const std::size_t	number_of_constraints = `0`,
		const bool	initialize_matrices = `false`
	)

inlineprotectedvirtual

Initialize I and gains.

Parameters

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

Reimplemented from humoto::constraints::BodyIMixin< t_Base >.

Definition at line 912 of file constraints_mixins.h.

Member Data Documentation

◆ I_

template<class t_Base>

humoto::IndexVector humoto::constraints::BodyIMixin< t_Base >::I_

protectedinherited

Definition at line 746 of file constraints_mixins.h.

◆ I_gains_

template<class t_Base>

Eigen::VectorXd humoto::constraints::BodyGIMixin< t_Base >::I_gains_

protected

Definition at line 894 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::BodyGIMixin< t_Base >

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ ~BodyGIMixin()

◆ BodyGIMixin()

Member Function Documentation

◆ addATA()

◆ copyBodyTo()

◆ copyNegativeBodyTo()

◆ getATA()

◆ getIGains() [1/2]

◆ getIGains() [2/2]

◆ getIndices() [1/2]

◆ getIndices() [2/2]

◆ getNumberOfConstraints()

◆ getProduct()

◆ logBody()

◆ resetBody()

Member Data Documentation

◆ I_

◆ I_gains_

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