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

Detailed Description

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

Mixin representing vector 'b' in an equality constraint.

Template Parameters

t_Base

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

Definition at line 115 of file constraints_mixins.h.

#include <constraints_mixins.h>

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

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

Protected Member Functions
	BoundsBMixin ()
	~BoundsBMixin ()
	Protected destructor: prevent destruction of the child classes through a base pointer. More...
void	copyEqualityBoundsTo (Eigen::VectorXd &b, const Location &location) const
	Copy b. 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...

Protected Attributes
Eigen::VectorXd	b_

Constructor & Destructor Documentation

~BoundsBMixin()

template<class t_Base>

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

inlineprotected

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

Definition at line 126 of file constraints_mixins.h.

BoundsBMixin()

template<class t_Base>

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

inlineprotected

Definition at line 127 of file constraints_mixins.h.

Member Function Documentation

copyBoundsTo()

template<class t_Base>

void humoto::constraints::BoundsBMixin< 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 190 of file constraints_mixins.h.

copyEqualityBoundsTo()

template<class t_Base>

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

inlineprotected

Copy b.

Parameters

[in,out]	b
[in]	location

Definition at line 163 of file constraints_mixins.h.

getB() [1/2]

template<class t_Base>

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

inline

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]

template<class t_Base>

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

inline

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

Returns

Vector b.

Definition at line 183 of file constraints_mixins.h.

logBounds()

template<class t_Base>

void humoto::constraints::BoundsBMixin< 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 149 of file constraints_mixins.h.

resetBounds()

template<class t_Base>

void humoto::constraints::BoundsBMixin< 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

Note

Initialization: b is filled with zeros

Definition at line 134 of file constraints_mixins.h.

Member Data Documentation

b_

template<class t_Base>

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

protected

Definition at line 118 of file constraints_mixins.h.

---

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

• core/include/humoto/constraints_mixins.h