Detailed Description

Constraints abstract interface class.

Definition at line 376 of file constraints_base.h.

#include <constraints_base.h>

Inheritance diagram for humoto::constraints::ConstraintsBase:

Public Member Functions
virtual void	addATAandATb (Eigen::MatrixXd &H, Eigen::VectorXd &g) const
	Compute 'A^T * A' for general equality constaints and save or add the result to H. Compute 'A^T * b' for general equality constaints and save or add the result to g. More...

virtual void	checkConsistency () const =0
	Check consistency of the constraints. More...

virtual void	computeViolations (ViolationsConstraints &violations, const Location &location, const Solution &solution) const =0
	Compute violations given a solution vector. More...

virtual void	copyBodyTo (Eigen::MatrixXd &A, const Location &location) const =0
	Copy body to the given matrix. More...

virtual void	copyBoundsTo (Eigen::VectorXd &lb, Eigen::VectorXd &ub, const Location &location) const =0
	Copy bounds to given vectors. More...

virtual void	copyNegativeBodyTo (Eigen::MatrixXd &A, const Location &location) const =0
	Copy negated body to the given matrix. More...

virtual std::size_t	copyTo (ContainerILU &container, const std::size_t constraints_offset) const
	Set constraints. More...

virtual std::size_t	copyTo (ContainerAL &container, const std::size_t constraints_offset) const
	Copy constraints to a container. More...

virtual std::size_t	copyTo (ContainerAB &container, const std::size_t constraints_offset) const
	Copy constraints to a container. More...

virtual std::size_t	copyTo (ContainerALU &container, const std::size_t constraints_offset) const
	Copy constraints to a container. More...

virtual void	determineActiveSet (ActiveSetConstraints &active_set, const Location &location, const Solution &solution) const =0
	Determine active set given a solution vector. More...

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

Location	getCopyLocation (const std::size_t number_of_constraints, const std::size_t constraints_offset, const std::size_t number_of_variables) const
	Computes location of the copied constraints in a container and verifies their consistency. More...

virtual std::size_t	getNumberOfConstraints () const =0
	Returns number of constraints in the task. More...

std::size_t	getNumberOfVariables () const
	Returns number of variables in the task. More...

virtual ConstraintType::Type	getType () const =0
	Returns type of the constraints. More...

bool	isEquality () const
	Check properties of the constriaints. More...

bool	isSimple () const
	Check properties of the constriaints. More...

bool	isTwoSidedInequality () const
	Check properties of the constriaints. More...

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

Protected Member Functions
	ConstraintsBase ()

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

virtual void	logBody (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="constraints") const =0
	Log body. More...

virtual void	logBounds (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="constraints") const =0
	Log bounds. More...

void	reset (const std::size_t number_of_constraints=0, const std::size_t number_of_variables=0, const bool initialize_matrices=false)
	Initialize constraints. More...

virtual void	resetBody (const std::size_t number_of_constraints=0, const bool initialize_matrices=false)=0
	Reset body of constraints (matrix A or I) More...

virtual void	resetBounds (const std::size_t number_of_constraints=0, const bool initialize_matrices=false)=0
	Reset bounds of constraints (b, lb, ub) More...

void	setNumberOfVariables (const std::size_t number_of_variables)
	Set number of variables. More...

Protected Attributes
std::size_t	number_of_variables_

Constructor & Destructor Documentation

◆ ~ConstraintsBase()

humoto::constraints::ConstraintsBase::~ConstraintsBase ( )

inlineprotected

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

Definition at line 383 of file constraints_base.h.

◆ ConstraintsBase()

humoto::constraints::ConstraintsBase::ConstraintsBase ( )

inlineprotected

Definition at line 386 of file constraints_base.h.

Member Function Documentation

◆ addATAandATb()

virtual void humoto::constraints::ConstraintsBase::addATAandATb	(	Eigen::MatrixXd &	H,
		Eigen::VectorXd &	g
	)		const

inlinevirtual

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

Parameters

[in,out]	H	left lower triangular part of the result.
[in,out]	g	result

Attention: Only the left lower triangular part of H is formed. Apply appropriate conversion with etools::convertLLTtoSymmetric() before using H.

Reimplemented in humoto::constraints::ConstraintsIB0< TaskBase >, humoto::constraints::ConstraintsIB< TaskBase >, humoto::constraints::ConstraintsGIB0< TaskBase >, humoto::constraints::ConstraintsGIB< TaskBase >, humoto::constraints::ConstraintsASB0< TaskBase >, humoto::constraints::ConstraintsASB< TaskBase >, humoto::constraints::ConstraintsAB0< TaskBase >, and humoto::constraints::ConstraintsAB< TaskBase >.

Definition at line 443 of file constraints_base.h.

◆ checkConsistency()

virtual void humoto::constraints::ConstraintsBase::checkConsistency ( ) const

pure virtual

Check consistency of the constraints.

◆ computeViolations()

virtual void humoto::constraints::ConstraintsBase::computeViolations	(	ViolationsConstraints &	violations,
		const Location &	location,
		const Solution &	solution
	)		const

pure virtual

Compute violations given a solution vector.

Parameters

[in,out]	violations	violations
[in]	location	location of the constraints in the active set
[in]	solution	solution vector

◆ copyBodyTo()

virtual void humoto::constraints::ConstraintsBase::copyBodyTo	(	Eigen::MatrixXd &	A,
		const Location &	location
	)		const

pure virtual

Copy body to the given matrix.

Parameters

[in]	A
[in]	location	offset and length

◆ copyBoundsTo()

virtual void humoto::constraints::ConstraintsBase::copyBoundsTo	(	Eigen::VectorXd &	lb,
		Eigen::VectorXd &	ub,
		const Location &	location
	)		const

pure virtual

Copy bounds to given vectors.

Parameters

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

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

◆ copyNegativeBodyTo()

virtual void humoto::constraints::ConstraintsBase::copyNegativeBodyTo	(	Eigen::MatrixXd &	A,
		const Location &	location
	)		const

pure virtual

Copy negated body to the given matrix.

Parameters

[in]	A
[in]	location	offset and length

◆ copyTo() [1/4]

virtual std::size_t humoto::constraints::ConstraintsBase::copyTo	(	ContainerILU &	container,
		const std::size_t	constraints_offset
	)		const

inlinevirtual

Set constraints.

Parameters

[in,out]	container	new constraints
[in]	constraints_offset	first row offset

Returns: offset of the end of added constraints

Reimplemented in humoto::constraints::CopySimpleToILUMixin< CopyEqualityToABMixin< ViolationsComputationBMixin< ActiveSetDeterminationBMixin< BodyIMixin< BoundsBMixin< TaskBase > > > > > >, humoto::constraints::CopySimpleToILUMixin< ViolationsComputationLUMixin< ActiveSetDeterminationLUMixin< BodyIMixin< BoundsLUMixin< TaskBase > > > > >, humoto::constraints::CopySimpleToILUMixin< ViolationsComputationLMixin< ActiveSetDeterminationLMixin< BodyIMixin< BoundsLMixin< TaskBase > > > > >, humoto::constraints::CopySimpleToILUMixin< ViolationsComputationUMixin< ActiveSetDeterminationUMixin< BodyIMixin< BoundsUMixin< TaskBase > > > > >, and humoto::constraints::CopySimpleToILUMixin< CopyEqualityToABMixin< ViolationsComputationB0Mixin< ActiveSetDeterminationBMixin< BodyIMixin< BoundsB0Mixin< TaskBase > > > > > >.

Definition at line 457 of file constraints_base.h.

◆ copyTo() [2/4]

virtual std::size_t humoto::constraints::ConstraintsBase::copyTo	(	ContainerAL &	container,
		const std::size_t	constraints_offset
	)		const

inlinevirtual

Copy constraints to a container.

Parameters

[in,out]	container
[in]	constraints_offset	first row offset

Returns: offset of the end of added constraints

Definition at line 472 of file constraints_base.h.

◆ copyTo() [3/4]

virtual std::size_t humoto::constraints::ConstraintsBase::copyTo	(	ContainerAB &	container,
		const std::size_t	constraints_offset
	)		const

inlinevirtual

Copy constraints to a container.

Parameters

[in,out]	container
[in]	constraints_offset	first row offset

Returns: offset of the end of added constraints

Definition at line 487 of file constraints_base.h.

◆ copyTo() [4/4]

virtual std::size_t humoto::constraints::ConstraintsBase::copyTo	(	ContainerALU &	container,
		const std::size_t	constraints_offset
	)		const

inlinevirtual

Copy constraints to a container.

Parameters

[in,out]	container
[in]	constraints_offset	first row offset

Returns: offset of the end of added constraints

Definition at line 502 of file constraints_base.h.

◆ determineActiveSet()

virtual void humoto::constraints::ConstraintsBase::determineActiveSet	(	ActiveSetConstraints &	active_set,
		const Location &	location,
		const Solution &	solution
	)		const

pure virtual

Determine active set given a solution vector.

Parameters

[in,out]	active_set	active set
[in]	location	location of the constraints in the active set
[in]	solution	solution vector

◆ getATAandATb()

virtual void humoto::constraints::ConstraintsBase::getATAandATb	(	Eigen::MatrixXd &	H,
		Eigen::VectorXd &	g
	)		const

inlinevirtual

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

Parameters

[in,out]	H	left lower triangular part of the result.
[in,out]	g	result

Attention: Only the left lower triangular part of H is formed. Apply appropriate conversion with etools::convertLLTtoSymmetric() before using H.

Reimplemented in humoto::constraints::ConstraintsIB0< TaskBase >, humoto::constraints::ConstraintsIB< TaskBase >, humoto::constraints::ConstraintsGIB0< TaskBase >, humoto::constraints::ConstraintsGIB< TaskBase >, humoto::constraints::ConstraintsASB0< TaskBase >, humoto::constraints::ConstraintsASB< TaskBase >, humoto::constraints::ConstraintsAB0< TaskBase >, and humoto::constraints::ConstraintsAB< TaskBase >.

Definition at line 436 of file constraints_base.h.

◆ getCopyLocation()

Location humoto::constraints::ContainerBase::getCopyLocation	(	const std::size_t	number_of_constraints,
		const std::size_t	constraints_offset,
		const std::size_t	number_of_variables
	)		const

inlineinherited

Computes location of the copied constraints in a container and verifies their consistency.

Parameters

[in]	number_of_constraints	number of added constraints
[in]	constraints_offset	offset in the container
[in]	number_of_variables	number of variables in the container

Returns: Location

Definition at line 262 of file constraints_base.h.

◆ getNumberOfConstraints()

virtual std::size_t humoto::constraints::ContainerBase::getNumberOfConstraints ( ) const

pure virtualinherited

Returns number of constraints in the task.

Returns: number of constraints

◆ getNumberOfVariables()

std::size_t humoto::constraints::ContainerBase::getNumberOfVariables ( ) const

inlineinherited

Returns number of variables in the task.

Returns: number of variables

Definition at line 215 of file constraints_base.h.

◆ getType()

virtual ConstraintType::Type humoto::constraints::ConstraintsBase::getType ( ) const

pure virtual

Returns type of the constraints.

Returns: type of the constraints

◆ isEquality()

bool humoto::constraints::ConstraintsBase::isEquality ( ) const

inline

Check properties of the constriaints.

Returns: true/false

Definition at line 523 of file constraints_base.h.

◆ isSimple()

bool humoto::constraints::ConstraintsBase::isSimple ( ) const

inline

Check properties of the constriaints.

Returns: true/false

Definition at line 529 of file constraints_base.h.

◆ isTwoSidedInequality()

bool humoto::constraints::ConstraintsBase::isTwoSidedInequality ( ) const

inline

Check properties of the constriaints.

Returns: true/false

Definition at line 535 of file constraints_base.h.

◆ log()

void humoto::constraints::ContainerBase::log	(	humoto::Logger &	logger,
		const LogEntryName &	parent = `LogEntryName()`,
		const std::string &	name = `"constraints"`
	)		const

inlineinherited

Log data.

Parameters

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

Definition at line 238 of file constraints_base.h.

◆ logBody()

virtual void humoto::constraints::ContainerBase::logBody	(	humoto::Logger &	logger,
		const LogEntryName &	parent = `LogEntryName()`,
		const std::string &	name = `"constraints"`
	)		const

protectedpure virtualinherited

Log body.

Parameters

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

◆ logBounds()

virtual void humoto::constraints::ContainerBase::logBounds	(	humoto::Logger &	logger,
		const LogEntryName &	parent = `LogEntryName()`,
		const std::string &	name = `"constraints"`
	)		const

protectedpure virtualinherited

Log bounds.

Parameters

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

◆ reset()

void humoto::constraints::ContainerBase::reset	(	const std::size_t	number_of_constraints = `0`,
		const std::size_t	number_of_variables = `0`,
		const bool	initialize_matrices = `false`
	)

inlineprotectedinherited

Initialize constraints.

Parameters

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

Definition at line 175 of file constraints_base.h.

◆ resetBody()

virtual void humoto::constraints::ContainerBase::resetBody	(	const std::size_t	number_of_constraints = `0`,
		const bool	initialize_matrices = `false`
	)

protectedpure virtualinherited

Reset body of constraints (matrix A or I)

Parameters

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

◆ resetBounds()

virtual void humoto::constraints::ContainerBase::resetBounds	(	const std::size_t	number_of_constraints = `0`,
		const bool	initialize_matrices = `false`
	)

protectedpure virtualinherited

Reset bounds of constraints (b, lb, ub)

Parameters

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

◆ setNumberOfVariables()

void humoto::constraints::ContainerBase::setNumberOfVariables ( const std::size_t number_of_variables )

inlineprotectedinherited

Set number of variables.

Parameters

[in] number_of_variables number of variables

Definition at line 142 of file constraints_base.h.

Member Data Documentation

◆ number_of_variables_

std::size_t humoto::constraints::ContainerBase::number_of_variables_

protectedinherited

Definition at line 120 of file constraints_base.h.

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

core/include/humoto/constraints_base.h

Detailed Description

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ ~ConstraintsBase()

◆ ConstraintsBase()

Member Function Documentation

◆ addATAandATb()

◆ checkConsistency()

◆ computeViolations()

◆ copyBodyTo()

◆ copyBoundsTo()

◆ copyNegativeBodyTo()

◆ copyTo() [1/4]

◆ copyTo() [2/4]

◆ copyTo() [3/4]

◆ copyTo() [4/4]

◆ determineActiveSet()

◆ getATAandATb()

◆ getCopyLocation()

◆ getNumberOfConstraints()

◆ getNumberOfVariables()

◆ getType()

◆ isEquality()

◆ isSimple()

◆ isTwoSidedInequality()

◆ log()

◆ logBody()

◆ logBounds()

◆ reset()

◆ resetBody()

◆ resetBounds()

◆ setNumberOfVariables()

Member Data Documentation

◆ number_of_variables_