| Directory: | ./ |
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| File: | include/hpp/constraints/implicit-constraint-set.hh |
| Date: | 2025-05-05 12:19:30 |
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| 1 | // | ||
| 2 | // Copyright (c) 2016 - 2018 CNRS | ||
| 3 | // Authors: Joseph Mirabel, Florent Lamiraux | ||
| 4 | // | ||
| 5 | |||
| 6 | // Redistribution and use in source and binary forms, with or without | ||
| 7 | // modification, are permitted provided that the following conditions are | ||
| 8 | // met: | ||
| 9 | // | ||
| 10 | // 1. Redistributions of source code must retain the above copyright | ||
| 11 | // notice, this list of conditions and the following disclaimer. | ||
| 12 | // | ||
| 13 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 14 | // notice, this list of conditions and the following disclaimer in the | ||
| 15 | // documentation and/or other materials provided with the distribution. | ||
| 16 | // | ||
| 17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 18 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 19 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 20 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 21 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 22 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 23 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 24 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 25 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 26 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 27 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 28 | // DAMAGE. | ||
| 29 | |||
| 30 | #ifndef HPP_CONSTRAINTS_IMPLICIT_CONSTRAINT_SET_HH | ||
| 31 | #define HPP_CONSTRAINTS_IMPLICIT_CONSTRAINT_SET_HH | ||
| 32 | |||
| 33 | #include <hpp/constraints/differentiable-function-set.hh> | ||
| 34 | #include <hpp/constraints/fwd.hh> | ||
| 35 | #include <hpp/constraints/implicit.hh> | ||
| 36 | |||
| 37 | namespace hpp { | ||
| 38 | namespace constraints { | ||
| 39 | /// \addtogroup constraints | ||
| 40 | /// \{ | ||
| 41 | |||
| 42 | /// Set of implicit constraints | ||
| 43 | /// | ||
| 44 | /// This class also handles selection of cols of the output matrix. | ||
| 45 | class HPP_CONSTRAINTS_DLLAPI ImplicitConstraintSet : public Implicit { | ||
| 46 | public: | ||
| 47 | typedef std::vector<ImplicitPtr_t> Implicits_t; | ||
| 48 | |||
| 49 | /// Return a shared pointer to a new instance | ||
| 50 | /// | ||
| 51 | /// \param name the name of the constraints, | ||
| 52 | static ImplicitConstraintSetPtr_t create(const std::string& name) { | ||
| 53 | return ImplicitConstraintSetPtr_t(new ImplicitConstraintSet(name)); | ||
| 54 | } | ||
| 55 | |||
| 56 | 4142 | virtual ~ImplicitConstraintSet() {} | |
| 57 | |||
| 58 | /// \name Function stack management | ||
| 59 | /// \{ | ||
| 60 | |||
| 61 | 1051 | void add(const ImplicitPtr_t& constraint) { | |
| 62 |
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1051 | assert(HPP_DYNAMIC_PTR_CAST(DifferentiableFunctionSet, function_)); |
| 63 | DifferentiableFunctionSetPtr_t functions( | ||
| 64 | 1051 | HPP_STATIC_PTR_CAST(DifferentiableFunctionSet, function_)); | |
| 65 |
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1051 | functions->add(constraint->functionPtr()); |
| 66 |
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1051 | constraints_.push_back(constraint); |
| 67 | // Handle comparison types | ||
| 68 |
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1051 | const ComparisonTypes_t& comp(constraint->comparisonType()); |
| 69 |
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11173 | for (std::size_t i = 0; i < comp.size(); ++i) { |
| 70 |
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10122 | comparison_.push_back(comp[i]); |
| 71 | } | ||
| 72 | // Handle mask | ||
| 73 |
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1051 | mask_.insert(mask_.end(), constraint->mask_.begin(), |
| 74 | 1051 | constraint->mask_.end()); | |
| 75 | // Recompute active rows | ||
| 76 |
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1051 | computeActiveRows(); |
| 77 |
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1051 | computeIndices(); |
| 78 | // Resize temporary variables | ||
| 79 |
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1051 | output_ = LiegroupElement(functions->outputSpace()); |
| 80 |
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1051 | logOutput_.resize(functions->outputSpace()->nv()); |
| 81 | 1051 | } | |
| 82 | |||
| 83 | /// Get constraints | ||
| 84 | 28029 | const Implicits_t& constraints() const { return constraints_; } | |
| 85 | |||
| 86 | /// The output columns selection of other is not taken into account. | ||
| 87 | void merge(const ImplicitConstraintSetPtr_t& other) { | ||
| 88 | const Implicits_t& constraints = other->constraints(); | ||
| 89 | for (Implicits_t::const_iterator constraint = constraints.begin(); | ||
| 90 | constraint != constraints.end(); ++constraint) | ||
| 91 | add(*constraint); | ||
| 92 | } | ||
| 93 | |||
| 94 | /// \} | ||
| 95 | |||
| 96 | std::ostream& print(std::ostream& os) const { | ||
| 97 | function_->print(os); | ||
| 98 | return os; | ||
| 99 | } | ||
| 100 | |||
| 101 | /// Constructor | ||
| 102 | /// | ||
| 103 | /// \param name the name of the constraints, | ||
| 104 | ImplicitConstraintSet(const std::string& name) | ||
| 105 | : Implicit(DifferentiableFunctionSet::create(name), ComparisonTypes_t(), | ||
| 106 | std::vector<bool>()) {} | ||
| 107 | |||
| 108 | 1032 | ImplicitConstraintSet() | |
| 109 |
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2064 | : Implicit(DifferentiableFunctionSet::create("Stack"), |
| 110 |
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3096 | ComparisonTypes_t(), std::vector<bool>()) {} |
| 111 | |||
| 112 | 1039 | ImplicitConstraintSet(const ImplicitConstraintSet& o) | |
| 113 |
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2078 | : Implicit(DifferentiableFunctionSet::create("Stack"), |
| 114 |
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3117 | ComparisonTypes_t(), std::vector<bool>()) { |
| 115 | 1039 | const Implicits_t& constraints = o.constraints(); | |
| 116 | 1039 | for (Implicits_t::const_iterator constraint = constraints.begin(); | |
| 117 |
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1048 | constraint != constraints.end(); ++constraint) |
| 118 |
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9 | add(*constraint); |
| 119 | 1039 | } | |
| 120 | |||
| 121 | private: | ||
| 122 | Implicits_t constraints_; | ||
| 123 | |||
| 124 | HPP_SERIALIZABLE(); | ||
| 125 | }; // class ImplicitConstraintSet | ||
| 126 | /// \} | ||
| 127 | } // namespace constraints | ||
| 128 | } // namespace hpp | ||
| 129 | |||
| 130 | #endif // HPP_CONSTRAINTS_IMPLICIT_CONSTRAINT_SET_HH | ||
| 131 |