humoto::constraints::BoundsB0Mixin< t_Base > Class Template Reference

Detailed Description

template<class t_Base>
class humoto::constraints::BoundsB0Mixin< t_Base >

Mixin representing vector 'b = 0' in an equality constraint.

Template Parameters

t_Base

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

Definition at line 36 of file constraints_mixins.h.

#include <constraints_mixins.h>

Inheritance diagram for humoto::constraints::BoundsB0Mixin< t_Base >:

Public Member Functions
void	copyBoundsTo (Eigen::VectorXd &lb, Eigen::VectorXd &ub, const Location &location) const
	Copy bounds to given vectors. More...

Protected Member Functions
	BoundsB0Mixin ()
	~BoundsB0Mixin ()
	Protected destructor: prevent destruction of the child classes through a base pointer. More...
void	addATb (Eigen::VectorXd &g) const
	Compute 'A^T * b' for general equality constaints and save or add the result to g. More...
void	copyEqualityBoundsTo (Eigen::VectorXd &b, const Location &location) const
	Copy b. More...
void	getATb (Eigen::VectorXd &g) const
	Compute 'A^T * b' for general equality constaints and save or add the result to g. More...
void	logBounds (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="constraints") const
	Log bounds. More...
void	resetBounds (const std::size_t number_of_constraints=0, const bool initialize_matrices=false)
	Reset bounds of constraints (b, lb, ub) More...

Constructor & Destructor Documentation

~BoundsB0Mixin()

template<class t_Base>

humoto::constraints::BoundsB0Mixin< t_Base >::~BoundsB0Mixin ( )

inlineprotected

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

Definition at line 43 of file constraints_mixins.h.

BoundsB0Mixin()

template<class t_Base>

humoto::constraints::BoundsB0Mixin< t_Base >::BoundsB0Mixin ( )

inlineprotected

Definition at line 44 of file constraints_mixins.h.

Member Function Documentation

addATb()

template<class t_Base>

void humoto::constraints::BoundsB0Mixin< t_Base >::addATb ( Eigen::VectorXd &  g ) const

inlineprotected

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

Parameters

[in,out]

g

result

Definition at line 77 of file constraints_mixins.h.

copyBoundsTo()

template<class t_Base>

void humoto::constraints::BoundsB0Mixin< t_Base >::copyBoundsTo ( Eigen::VectorXd &  lb, Eigen::VectorXd &  ub, const Location &  location  ) const

inline

Copy bounds to given vectors.

Parameters

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

Definition at line 98 of file constraints_mixins.h.

copyEqualityBoundsTo()

template<class t_Base>

void humoto::constraints::BoundsB0Mixin< t_Base >::copyEqualityBoundsTo ( Eigen::VectorXd &  b, const Location &  location  ) const

inlineprotected

Copy b.

Parameters

[in,out]	b
[in]	location

Definition at line 89 of file constraints_mixins.h.

getATb()

template<class t_Base>

void humoto::constraints::BoundsB0Mixin< t_Base >::getATb ( Eigen::VectorXd &  g ) const

inlineprotected

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

Parameters

[in,out]

g

result

Definition at line 70 of file constraints_mixins.h.

logBounds()

template<class t_Base>

void humoto::constraints::BoundsB0Mixin< t_Base >::logBounds ( humoto::Logger &  logger, const LogEntryName &  parent = LogEntryName(), const std::string &  name = "constraints"  ) const

inlineprotected

Log bounds.

Parameters

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

Definition at line 56 of file constraints_mixins.h.

resetBounds()

template<class t_Base>

void humoto::constraints::BoundsB0Mixin< t_Base >::resetBounds ( const std::size_t  number_of_constraints = 0, const bool  initialize_matrices = false  )

inlineprotected

Reset bounds of constraints (b, lb, ub)

Parameters

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

Definition at line 48 of file constraints_mixins.h.

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

• core/include/humoto/constraints_mixins.h