Detailed Description

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

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

Template Parameters

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

Definition at line 743 of file constraints_mixins.h.

#include <constraints_mixins.h>

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

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

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

	~BodyIMixin ()
	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...

virtual 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_

Constructor & Destructor Documentation

◆ ~BodyIMixin()

template<class t_Base>

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

inlineprotected

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

Definition at line 754 of file constraints_mixins.h.

◆ BodyIMixin()

template<class t_Base>

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

inlineprotected

Default constructor.

Definition at line 760 of file constraints_mixins.h.

Member Function Documentation

◆ addATA()

template<class t_Base>

void humoto::constraints::BodyIMixin< 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 799 of file constraints_mixins.h.

◆ copyBodyTo()

template<class t_Base>

virtual void humoto::constraints::BodyIMixin< 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

Definition at line 814 of file constraints_mixins.h.

◆ copyNegativeBodyTo()

template<class t_Base>

virtual void humoto::constraints::BodyIMixin< 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

Definition at line 831 of file constraints_mixins.h.

◆ getATA()

template<class t_Base>

void humoto::constraints::BodyIMixin< 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 789 of file constraints_mixins.h.

◆ getIndices() [1/2]

template<class t_Base>

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

inline

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

inline

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

inline

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::BodyIMixin< 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 873 of file constraints_mixins.h.

◆ logBody()

template<class t_Base>

void humoto::constraints::BodyIMixin< 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

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

Definition at line 780 of file constraints_mixins.h.

◆ resetBody()

template<class t_Base>

virtual void humoto::constraints::BodyIMixin< 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

Definition at line 771 of file constraints_mixins.h.

Member Data Documentation

◆ I_

template<class t_Base>

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

protected

Definition at line 746 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::BodyIMixin< t_Base >

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ ~BodyIMixin()

◆ BodyIMixin()

Member Function Documentation

◆ addATA()

◆ copyBodyTo()

◆ copyNegativeBodyTo()

◆ getATA()

◆ getIndices() [1/2]

◆ getIndices() [2/2]

◆ getNumberOfConstraints()

◆ getProduct()

◆ logBody()

◆ resetBody()

Member Data Documentation

◆ I_

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