humoto
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Class representing the hierarchy of the problem.
Definition at line 21 of file configurable_optimization_problem.h.
#include <configurable_optimization_problem.h>
Public Member Functions | |
void | computeViolations (humoto::Violations &violations, const humoto::Solution &solution) const |
Compute violations based on the solution. More... | |
void | determineActiveSet (humoto::ActiveSet &active_set, const humoto::Solution &solution) const |
Determine active set based on the solution. This active set may differ from the active set returned by the solver due to tolerances. More... | |
void | form (humoto::Solution &solution, const humoto::Model &model, const humoto::ControlProblem &control_problem) |
Form hierarchy. More... | |
void | form (humoto::Solution &solution, humoto::ActiveSet &active_set_guess, const humoto::Model &model, const humoto::ControlProblem &control_problem) |
Form hierarchy. More... | |
void | form (humoto::Solution &solution, humoto::Solution &solution_guess, humoto::ActiveSet &active_set_guess, const humoto::Model &model, const humoto::ControlProblem &control_problem, const humoto::Solution &old_solution) |
Form hierarchy. More... | |
void | form (humoto::Solution &solution, humoto::Solution &solution_guess, const humoto::Model &model, const humoto::ControlProblem &control_problem, const humoto::Solution &old_solution) |
Form hierarchy. More... | |
std::size_t | getNumberOfLevels () const |
Returns number of levels in the hierarchy. More... | |
template<class t_QPConstraints > | |
void | getQPProblem (QPProblemBase< t_QPConstraints > &qp_problem, const humoto::SolutionStructure &sol_structure, const bool initialize_upper_triangular_part=true) const |
Form a QP problem. More... | |
void | initializeActiveSet (humoto::ActiveSet &active_set) const |
Initialize active set of the hierarchy. More... | |
void | log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="") const |
Log hierarchy as a set of tasks. More... | |
const humoto::HierarchyLevel & | operator[] (const std::size_t level_index) const |
Access hierarchy level (const) More... | |
humoto::HierarchyLevel & | operator[] (const std::size_t level_index) |
Access hierarchy level. More... | |
void | processActiveSet (const humoto::ActiveSet &active_set) |
Process actual active set: extract active sets of individual tasks. More... | |
void | pushTask (TaskSharedPointer task_pointer, const std::size_t level_index, const std::string &task_class_name) |
Push task to the hierarchy. More... | |
void | pushTask (TaskSharedPointer task_pointer, const std::size_t level_index) |
Add task to the optimization problem. More... | |
void | readConfig (t_Reader &reader, const bool crash_on_missing_entry=default_crash_on_missing_entry_) |
Read configuration (assuming the configuration node to be in the root). More... | |
void | readConfig (t_Reader &reader, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_) |
Read configuration (assuming the configuration node to be in the root). More... | |
void | readConfig (t_Reader &reader, const char *node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_) |
Read configuration (assuming the configuration node to be in the root). More... | |
void | readConfig (const std::string &file_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_) |
Read configuration (assuming the configuration node to be in the root). More... | |
void | readConfig (const std::string &file_name, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_) |
Read configuration (assuming the configuration node to be in the root). More... | |
void | readConfig (const std::string &file_name, const char *node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_) |
Read configuration (assuming the configuration node to be in the root). More... | |
void | readNestedConfig (t_Reader &reader, const std::string &node_name, const bool crash_on_missing_entry=default_crash_on_missing_entry_) |
Read nested configuration node. More... | |
void | reset (const std::size_t number_of_levels) |
Reset the optimization problem. More... | |
void | writeConfig (t_Writer &writer) const |
Write configuration. More... | |
void | writeConfig (t_Writer &writer, const std::string &node_name) const |
Write configuration. More... | |
void | writeConfig (const std::string &file_name) const |
Write configuration. More... | |
void | writeConfig (const std::string &file_name, const std::string &node_name) const |
Write configuration. More... | |
void | writeNestedConfig (t_Writer &writer) const |
Write nested configuration node. More... | |
void | writeNestedConfig (t_Writer &writer, const std::string &node_name) const |
Write nested configuration node. More... | |
Protected Member Functions | |
virtual void | finalize () |
This function is called automaticaly after reading a configuration file. Does nothing by default. More... | |
void | formHierarchy (humoto::Solution &solution, const humoto::Model &model, const humoto::ControlProblem &control_problem, const bool is_active_set_guessing_enabled) |
Form hierarchy. More... | |
virtual const std::string & | getConfigSectionID () const=0 |
Return the default name of a configuration node corresponding to this class. More... | |
humoto::TaskSharedPointer | getTask (const std::string &string_id) const |
Fill map with all pointers to all tasks for given module. More... | |
void | guessActiveSet (ActiveSet &active_set) const |
Form active set guess. More... | |
void | setDefaults () |
Initialize to default values. More... | |
Protected Attributes | |
std::vector< humoto::HierarchyLevel > | hierarchy_ |
std::vector< std::size_t > | number_of_constraints_ |
std::size_t | number_of_levels_ |
std::vector< std::vector< std::string > > | task_class_names_ |
std::vector< std::vector< std::string > > | task_ids_ |
Static Protected Attributes | |
static const bool | default_crash_on_missing_entry_ |
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inlineinherited |
Compute violations based on the solution.
[out] | violations | violations |
[in] | solution | solution |
Definition at line 221 of file hierarchy.h.
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inlineinherited |
Determine active set based on the solution. This active set may differ from the active set returned by the solver due to tolerances.
[out] | active_set | active set |
[in] | solution | solution |
Definition at line 202 of file hierarchy.h.
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inlineprotectedvirtualinherited |
This function is called automaticaly after reading a configuration file. Does nothing by default.
Reimplemented in humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIB< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGILU< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIL< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIU< TaskBase > >, humoto::WeightedSimpleTaskBaseMixin< constraints::ConstraintsGIB0< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAB< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAB0< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASL< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASLU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsAL< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASB< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsALU< TaskBase > >, humoto::GeneralTaskBaseMixin< constraints::ConstraintsASB0< TaskBase > >, humoto::pepper_mpc::MPCParameters, humoto::pepper_mpc::MotionParameters, humoto::walking::RobotFootParameters, humoto::wpg04::MPCParameters, humoto::pepper_mpc::RobotParameters, humoto::pepper_ik::WBCParameters, humoto::pepper_ik::GeneralizedCoordinates< t_features >, humoto::wpg04::TaskCoPPosition, humoto::wpg04::TaskCoMVelocity, humoto::wpg04::TaskCoPVelocity, and humoto::wpg04::TaskTerminalConstraint.
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inlineinherited |
Form hierarchy.
[out] | solution | initialized solution |
[in] | model | model of the system |
[in] | control_problem | control problem associated with the model |
Definition at line 106 of file hierarchy.h.
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inlineinherited |
Form hierarchy.
[out] | solution | initialized solution |
[out] | active_set_guess | active set guess |
[in] | model | model of the system |
[in] | control_problem | control problem associated with the model |
Definition at line 122 of file hierarchy.h.
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inlineinherited |
Form hierarchy.
[out] | solution | initialized solution |
[out] | solution_guess | guess of the solution |
[out] | active_set_guess | active set guess |
[in] | model | model of the system |
[in] | control_problem | control problem associated with the model |
[in] | old_solution | old solution |
Definition at line 142 of file hierarchy.h.
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inlineinherited |
Form hierarchy.
[out] | solution | initialized solution |
[out] | solution_guess | guess of the solution |
[in] | model | model of the system |
[in] | control_problem | control problem associated with the model |
[in] | old_solution | old solution |
Definition at line 164 of file hierarchy.h.
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Form hierarchy.
[out] | solution | initialized solution |
[in] | model | model of the system |
[in] | control_problem | control problem associated with the model |
[in] | is_active_set_guessing_enabled |
Definition at line 39 of file hierarchy.h.
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protectedpure virtualinherited |
Return the default name of a configuration node corresponding to this class.
Implemented in humoto::TaskBase.
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inlineinherited |
Returns number of levels in the hierarchy.
Definition at line 280 of file hierarchy.h.
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inlineinherited |
Form a QP problem.
t_QPConstraints | QP constraints type |
[in] | qp_problem | QP problem |
[in] | sol_structure | solution structure |
[in] | initialize_upper_triangular_part | of the Hessian |
Definition at line 329 of file hierarchy.h.
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inlineprotectedvirtual |
Fill map with all pointers to all tasks for given module.
Reimplemented from humoto::ConfigurableOptimizationProblem.
Definition at line 28 of file configurable_optimization_problem.h.
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Form active set guess.
[out] | active_set | active set guess |
Definition at line 62 of file hierarchy.h.
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Initialize active set of the hierarchy.
[in,out] | active_set | active set. |
Definition at line 312 of file hierarchy.h.
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Log hierarchy as a set of tasks.
[in,out] | logger | logger |
[in] | parent | parent |
[in] | name | name |
Definition at line 293 of file hierarchy.h.
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Access hierarchy level (const)
[in] | level_index | index of the level |
Definition at line 256 of file hierarchy.h.
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Access hierarchy level.
[in] | level_index | index of the level |
Definition at line 269 of file hierarchy.h.
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Process actual active set: extract active sets of individual tasks.
[in] | active_set |
Definition at line 181 of file hierarchy.h.
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Push task to the hierarchy.
[in,out] | task_pointer | task |
[in] | level_index | level index |
[in] | task_class_name | name of the task class (not necessarily the same as task description!) |
Definition at line 44 of file configurable_optimization_problem.h.
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Add task to the optimization problem.
[in,out] | task_pointer | pointer to a task |
[in] | level_index | level in the hierarchy |
Definition at line 91 of file hierarchy.h.
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Reset the optimization problem.
[in] | number_of_levels | new number of levels |
Definition at line 60 of file configurable_optimization_problem.h.
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Initialize to default values.
Implements humoto::config::CommonConfigurableBase< true >.
Definition at line 84 of file configurable_optimization_problem.h.
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Definition at line 25 of file hierarchy.h.
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Definition at line 26 of file hierarchy.h.
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Definition at line 23 of file hierarchy.h.
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Definition at line 73 of file configurable_optimization_problem.h.
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Definition at line 74 of file configurable_optimization_problem.h.