Detailed Description

template<class t_Base>
class humoto::constraints::ConstraintsGIB0< t_Base >

Constraints 'G*x[I] = 0'.

Template Parameters

t_Base Base class (humoto::constraints::ConstraintsBase or humoto::TaskBase)

Definition at line 781 of file constraints.h.

#include <constraints.h>

Inheritance diagram for humoto::constraints::ConstraintsGIB0< t_Base >:

Public Member Functions
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...

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

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

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

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

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

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

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

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

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...

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...

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

Protected Member Functions
	ConstraintsGIB0 ()

	~ConstraintsGIB0 ()
	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	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	getATA (Eigen::MatrixXd &H) const
	Compute 'A^T * A' for general equality constaints and save or add the result to H. 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	logBody (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="constraints") const
	Log body. More...

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

void	resetBody (const std::size_t number_of_constraints=0, const bool initialize_matrices=false)
	Initialize I and gains. 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
humoto::IndexVector	I_

Eigen::VectorXd	I_gains_

Constructor & Destructor Documentation

◆ ~ConstraintsGIB0()

template<class t_Base>

humoto::constraints::ConstraintsGIB0< t_Base >::~ConstraintsGIB0 ( )

inlineprotected

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

Definition at line 788 of file constraints.h.

◆ ConstraintsGIB0()

template<class t_Base>

humoto::constraints::ConstraintsGIB0< t_Base >::ConstraintsGIB0 ( )

inlineprotected

Definition at line 789 of file constraints.h.

Member Function Documentation

◆ addATA()

void humoto::constraints::BodyGIMixin< BoundsB0Mixin< t_Base > >::addATA ( Eigen::MatrixXd & H ) const

inlineprotectedinherited

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.

◆ addATAandATb()

template<class t_Base>

void humoto::constraints::ConstraintsGIB0< t_Base >::addATAandATb	(	Eigen::MatrixXd &	H,
		Eigen::VectorXd &	g
	)		const

inline

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.

Definition at line 814 of file constraints.h.

◆ addATb()

template<class t_Base>

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

inlineprotectedinherited

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.

◆ checkConsistency()

template<class t_Base>

void humoto::constraints::ConstraintsGIB0< t_Base >::checkConsistency ( ) const

inline

Check consistency of the constraints.

Definition at line 822 of file constraints.h.

◆ computeViolations()

void humoto::constraints::ViolationsComputationB0Mixin< ActiveSetDeterminationBMixin< BodyGIMixin< BoundsB0Mixin< t_Base > > > >::computeViolations	(	ViolationsConstraints &	violations,
		const Location &	location,
		const Solution &	solution
	)		const

inlineinherited

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

Definition at line 1366 of file constraints_mixins.h.

◆ copyBodyTo()

void humoto::constraints::BodyGIMixin< BoundsB0Mixin< t_Base > >::copyBodyTo	(	Eigen::MatrixXd &	A,
		const Location &	location
	)		const

inlinevirtualinherited

Copy body to the given matrix.

Parameters

[in]	A
[in]	location	offset and length

Reimplemented from humoto::constraints::BodyIMixin< BoundsB0Mixin< t_Base > >.

Definition at line 976 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

inlineinherited

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

inlineprotectedinherited

Copy b.

Parameters

[in,out]	b
[in]	location

Definition at line 89 of file constraints_mixins.h.

◆ copyNegativeBodyTo()

void humoto::constraints::BodyGIMixin< BoundsB0Mixin< t_Base > >::copyNegativeBodyTo	(	Eigen::MatrixXd &	A,
		const Location &	location
	)		const

inlinevirtualinherited

Copy body to the given matrix.

Parameters

[in]	A
[in]	location	offset and length

Reimplemented from humoto::constraints::BodyIMixin< BoundsB0Mixin< t_Base > >.

Definition at line 993 of file constraints_mixins.h.

◆ copyTo() [1/2]

std::size_t humoto::constraints::CopyAnyToALUMixin< CopyEqualityToABMixin< ViolationsComputationB0Mixin< ActiveSetDeterminationBMixin< BodyGIMixin< BoundsB0Mixin< t_Base > > > > > >::copyTo	(	ContainerALU &	container,
		const std::size_t	constraints_offset
	)		const

inlineinherited

Set constraints.

Parameters

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

Returns: offset of the end of added constraints

Definition at line 615 of file constraints_base.h.

◆ copyTo() [2/2]

std::size_t humoto::constraints::CopyEqualityToABMixin< ViolationsComputationB0Mixin< ActiveSetDeterminationBMixin< BodyGIMixin< BoundsB0Mixin< t_Base > > > > >::copyTo	(	ContainerAB &	container,
		const std::size_t	constraints_offset
	)		const

inlineinherited

Set constraints.

Parameters

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

Returns: offset of the end of added constraints

Definition at line 777 of file constraints_base.h.

◆ determineActiveSet()

void humoto::constraints::ActiveSetDeterminationBMixin< BodyGIMixin< BoundsB0Mixin< t_Base > > >::determineActiveSet	(	ActiveSetConstraints &	active_set,
		const Location &	location,
		const Solution &	solution
	)		const

inlineinherited

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

Definition at line 1187 of file constraints_mixins.h.

◆ getATA()

void humoto::constraints::BodyGIMixin< BoundsB0Mixin< t_Base > >::getATA ( Eigen::MatrixXd & H ) const

inlineprotectedinherited

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.

◆ getATAandATb()

template<class t_Base>

void humoto::constraints::ConstraintsGIB0< t_Base >::getATAandATb	(	Eigen::MatrixXd &	H,
		Eigen::VectorXd &	g
	)		const

inline

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.

Definition at line 806 of file constraints.h.

◆ getATb()

template<class t_Base>

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

inlineprotectedinherited

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.

◆ getIGains() [1/2]

Eigen::VectorXd& humoto::constraints::BodyGIMixin< BoundsB0Mixin< t_Base > >::getIGains ( )

inlineinherited

Get gains for each element in simple objective.

Returns: gains

Definition at line 963 of file constraints_mixins.h.

◆ getIGains() [2/2]

const Eigen::VectorXd& humoto::constraints::BodyGIMixin< BoundsB0Mixin< t_Base > >::getIGains ( ) const

inlineinherited

Get gains for each element in simple objective.

Returns: gains

Definition at line 969 of file constraints_mixins.h.

◆ getIndices() [1/2]

humoto::IndexVector& humoto::constraints::BodyIMixin< BoundsB0Mixin< t_Base > >::getIndices ( )

inlineinherited

Get indices.

Returns: indices

Definition at line 852 of file constraints_mixins.h.

◆ getIndices() [2/2]

const humoto::IndexVector& humoto::constraints::BodyIMixin< BoundsB0Mixin< t_Base > >::getIndices ( ) const

inlineinherited

Get indices.

Returns: indices

Definition at line 859 of file constraints_mixins.h.

◆ getNumberOfConstraints()

std::size_t humoto::constraints::BodyIMixin< BoundsB0Mixin< 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()

double humoto::constraints::BodyGIMixin< BoundsB0Mixin< t_Base > >::getProduct	(	const std::size_t	i,
		const Eigen::VectorXd &	vector
	)		const

inlineinherited

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.

◆ getType()

template<class t_Base>

ConstraintType::Type humoto::constraints::ConstraintsGIB0< t_Base >::getType ( ) const

inline

Returns type of the constraints.

Returns: type of the constraints

Definition at line 799 of file constraints.h.

◆ logBody()

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

inlineprotectedinherited

Log body.

Parameters

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

Definition at line 922 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

inlineprotectedinherited

Log bounds.

Parameters

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

Definition at line 56 of file constraints_mixins.h.

◆ resetBody()

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

inlineprotectedvirtualinherited

Initialize I and gains.

Parameters

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

Reimplemented from humoto::constraints::BodyIMixin< BoundsB0Mixin< t_Base > >.

Definition at line 912 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`
	)

inlineprotectedinherited

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.

Member Data Documentation

◆ I_

humoto::IndexVector humoto::constraints::BodyIMixin< BoundsB0Mixin< t_Base > >::I_

protectedinherited

Definition at line 746 of file constraints_mixins.h.

◆ I_gains_

Eigen::VectorXd humoto::constraints::BodyGIMixin< BoundsB0Mixin< t_Base > >::I_gains_

protectedinherited

Definition at line 894 of file constraints_mixins.h.

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

core/include/humoto/constraints.h

Detailed Description

template<class t_Base> class humoto::constraints::ConstraintsGIB0< t_Base >

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ ~ConstraintsGIB0()

◆ ConstraintsGIB0()

Member Function Documentation

◆ addATA()

◆ addATAandATb()

◆ addATb()

◆ checkConsistency()

◆ computeViolations()

◆ copyBodyTo()

◆ copyBoundsTo()

◆ copyEqualityBoundsTo()

◆ copyNegativeBodyTo()

◆ copyTo() [1/2]

◆ copyTo() [2/2]

◆ determineActiveSet()

◆ getATA()

◆ getATAandATb()

◆ getATb()

◆ getIGains() [1/2]

◆ getIGains() [2/2]

◆ getIndices() [1/2]

◆ getIndices() [2/2]

◆ getNumberOfConstraints()

◆ getProduct()

◆ getType()

◆ logBody()

◆ logBounds()

◆ resetBody()

◆ resetBounds()

Member Data Documentation

◆ I_

◆ I_gains_

template<class t_Base>
class humoto::constraints::ConstraintsGIB0< t_Base >