Detailed Description

Container for general inequality constraints.

Definition at line 282 of file constraints_base.h.

#include <constraints_base.h>

Inheritance diagram for humoto::constraints::ContainerALU:

Public Member Functions
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...

Eigen::MatrixXd &	getA ()
	Get matrix A from general constraints: 'Ax = b', 'lb <= Ax <= ub'. More...

const Eigen::MatrixXd &	getA () const
	Get matrix A from general constraints: 'Ax = b', 'lb <= Ax <= ub'. 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...

Eigen::VectorXd &	getLowerBounds ()
	Get lower bounds (lb/ub vectors from 'lb <= A*x <= ub'). More...

const Eigen::VectorXd &	getLowerBounds () const
	Get lower bounds (lb/ub vectors from 'lb <= A*x <= ub'). More...

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

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

double	getProduct (const std::size_t i, const Eigen::VectorXd &vector) const
	Compute A(i,:) * vector. More...

Eigen::VectorXd &	getUpperBounds ()
	Get upper bounds (ub vectors from 'A*x <= ub'). More...

const Eigen::VectorXd &	getUpperBounds () const
	Get upper bounds (ub vectors from 'A*x <= ub'). More...

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

Protected Member Functions
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...

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

void	resetBody (const std::size_t number_of_constraints, const bool initialize_matrices=false)
	Initialize A. More...

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

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

Protected Attributes
Eigen::MatrixXd	A_

Eigen::VectorXd	lb_

std::size_t	number_of_variables_

Eigen::VectorXd	ub_

Member Function Documentation

◆ addATA()

void humoto::constraints::BodyAMixin< BoundsLUMixin< ContainerBase > >::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 503 of file constraints_mixins.h.

◆ copyBodyTo()

void humoto::constraints::BodyAMixin< BoundsLUMixin< ContainerBase > >::copyBodyTo	(	Eigen::MatrixXd &	A,
		const Location &	location
	)		const

inlineinherited

Copy body to the given matrix.

Parameters

[in]	A
[in]	location	offset and length

Definition at line 530 of file constraints_mixins.h.

◆ copyBoundsTo()

void humoto::constraints::BoundsLUMixin< ContainerBase >::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 401 of file constraints_mixins.h.

◆ copyNegativeBodyTo()

void humoto::constraints::BodyAMixin< BoundsLUMixin< ContainerBase > >::copyNegativeBodyTo	(	Eigen::MatrixXd &	A,
		const Location &	location
	)		const

inlineinherited

Copy body to the given matrix.

Parameters

[in]	A
[in]	location	offset and length

Definition at line 540 of file constraints_mixins.h.

◆ getA() [1/2]

Eigen::MatrixXd& humoto::constraints::BodyAMixin< BoundsLUMixin< ContainerBase > >::getA ( )

inlineinherited

Get matrix A from general constraints: 'A*x = b', 'lb <= A*x <= ub'.

Returns: matrix A

Definition at line 517 of file constraints_mixins.h.

◆ getA() [2/2]

const Eigen::MatrixXd& humoto::constraints::BodyAMixin< BoundsLUMixin< ContainerBase > >::getA ( ) const

inlineinherited

Get matrix A from general constraints: 'A*x = b', 'lb <= A*x <= ub'.

Returns: matrix A

Definition at line 523 of file constraints_mixins.h.

◆ getATA()

void humoto::constraints::BodyAMixin< BoundsLUMixin< ContainerBase > >::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 495 of file constraints_mixins.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.

◆ getLowerBounds() [1/2]

Eigen::VectorXd& humoto::constraints::BoundsLMixin< BoundsUMixin< ContainerBase > >::getLowerBounds ( )

inlineinherited

Get lower bounds (lb/ub vectors from 'lb <= A*x <= ub').

Returns: lower bounds.

Definition at line 254 of file constraints_mixins.h.

◆ getLowerBounds() [2/2]

const Eigen::VectorXd& humoto::constraints::BoundsLMixin< BoundsUMixin< ContainerBase > >::getLowerBounds ( ) const

inlineinherited

Get lower bounds (lb/ub vectors from 'lb <= A*x <= ub').

Returns: lower bounds.

Definition at line 260 of file constraints_mixins.h.

◆ getNumberOfConstraints()

std::size_t humoto::constraints::BodyAMixin< BoundsLUMixin< ContainerBase > >::getNumberOfConstraints ( ) const

inlinevirtualinherited

Returns number of constraints in the task.

Returns: number of constraints

Implements humoto::constraints::ContainerBase.

Definition at line 550 of file constraints_mixins.h.

◆ 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.

◆ getProduct()

double humoto::constraints::BodyAMixin< BoundsLUMixin< ContainerBase > >::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 564 of file constraints_mixins.h.

◆ getUpperBounds() [1/2]

Eigen::VectorXd& humoto::constraints::BoundsUMixin< ContainerBase >::getUpperBounds ( )

inlineinherited

Get upper bounds (ub vectors from 'A*x <= ub').

Returns: upper bounds.

Definition at line 333 of file constraints_mixins.h.

◆ getUpperBounds() [2/2]

const Eigen::VectorXd& humoto::constraints::BoundsUMixin< ContainerBase >::getUpperBounds ( ) const

inlineinherited

Get upper bounds (ub vectors from 'A*x <= ub').

Returns: upper bounds.

Definition at line 340 of file constraints_mixins.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()

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

inlineprotectedvirtualinherited

Log body.

Parameters

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

Implements humoto::constraints::ContainerBase.

Definition at line 476 of file constraints_mixins.h.

◆ logBounds()

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

inlineprotectedvirtualinherited

Log bounds.

Parameters

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

Reimplemented from humoto::constraints::BoundsLMixin< BoundsUMixin< ContainerBase > >.

Definition at line 388 of file constraints_mixins.h.

◆ 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()

void humoto::constraints::BodyAMixin< BoundsLUMixin< ContainerBase > >::resetBody	(	const std::size_t	number_of_constraints,
		const bool	initialize_matrices = `false`
	)

inlineprotectedvirtualinherited

Initialize A.

Parameters

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

Initialization:

A is filled with zeros

Implements humoto::constraints::ContainerBase.

Definition at line 462 of file constraints_mixins.h.

◆ resetBounds()

void humoto::constraints::BoundsLUMixin< ContainerBase >::resetBounds	(	const std::size_t	number_of_constraints,
		const bool	initialize_matrices = `false`
	)

inlineprotectedvirtualinherited

Reset bounds of constraints (b, lb, ub)

Parameters

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

Note: Initialization: lb is set to -humotog_infinity, ub is set to humoto::g_infinity

Reimplemented from humoto::constraints::BoundsLMixin< BoundsUMixin< ContainerBase > >.

Definition at line 380 of file constraints_mixins.h.

◆ 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

◆ A_

Eigen::MatrixXd humoto::constraints::BodyAMixin< BoundsLUMixin< ContainerBase > >::A_

protectedinherited

Definition at line 441 of file constraints_mixins.h.

◆ lb_

Eigen::VectorXd humoto::constraints::BoundsLMixin< BoundsUMixin< ContainerBase > >::lb_

protectedinherited

Definition at line 210 of file constraints_mixins.h.

◆ number_of_variables_

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

protectedinherited

Definition at line 120 of file constraints_base.h.

◆ ub_

Eigen::VectorXd humoto::constraints::BoundsUMixin< ContainerBase >::ub_

protectedinherited

Definition at line 288 of file constraints_mixins.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

Member Function Documentation

◆ addATA()

◆ copyBodyTo()

◆ copyBoundsTo()

◆ copyNegativeBodyTo()

◆ getA() [1/2]

◆ getA() [2/2]

◆ getATA()

◆ getCopyLocation()

◆ getLowerBounds() [1/2]

◆ getLowerBounds() [2/2]

◆ getNumberOfConstraints()

◆ getNumberOfVariables()

◆ getProduct()

◆ getUpperBounds() [1/2]

◆ getUpperBounds() [2/2]

◆ log()

◆ logBody()

◆ logBounds()

◆ reset()

◆ resetBody()

◆ resetBounds()

◆ setNumberOfVariables()

Member Data Documentation

◆ A_

◆ lb_

◆ number_of_variables_

◆ ub_