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/////////////////////////////////////////////////////////////////////////////// |
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// BSD 3-Clause License |
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// |
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// Copyright (C) 2020-2024, University of Edinburgh, Heriot-Watt University |
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// Copyright note valid unless otherwise stated in individual files. |
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// All rights reserved. |
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/////////////////////////////////////////////////////////////////////////////// |
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#ifndef CROCODDYL_CORE_CONSTRAINTS_CONSTRAINT_MANAGER_HPP_ |
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#define CROCODDYL_CORE_CONSTRAINTS_CONSTRAINT_MANAGER_HPP_ |
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#include <map> |
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#include <set> |
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#include <string> |
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#include <utility> |
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#include "crocoddyl/core/constraint-base.hpp" |
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#include "crocoddyl/core/utils/exception.hpp" |
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namespace crocoddyl { |
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template <typename _Scalar> |
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struct ConstraintItemTpl { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef ConstraintModelAbstractTpl<Scalar> ConstraintModelAbstract; |
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ConstraintItemTpl() {} |
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2453 |
ConstraintItemTpl(const std::string& name, |
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boost::shared_ptr<ConstraintModelAbstract> constraint, |
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bool active = true) |
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2453 |
: name(name), constraint(constraint), active(active) {} |
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/** |
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* @brief Print information on the constraint item |
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*/ |
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friend std::ostream& operator<<(std::ostream& os, |
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const ConstraintItemTpl<Scalar>& model) { |
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os << "{" << *model.constraint << "}"; |
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return os; |
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} |
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std::string name; |
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boost::shared_ptr<ConstraintModelAbstract> constraint; |
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bool active; |
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}; |
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/** |
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* @brief Manage the individual constraint models |
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* |
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* This class serves to manage a set of added constraint models. The constraint |
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* functions might active or inactive, with this approach we avoid dynamic |
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* allocation of memory. Each constraint model is added through `addConstraint`, |
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* where its status can be defined. |
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* |
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* The main computations are carring out in `calc` and `calcDiff` routines. |
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* `calc` computes the constraint residuals and `calcDiff` computes the |
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* Jacobians of the constraint functions. Concretely speaking, `calcDiff` builds |
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* a linear approximation of the total constraint function (both inequality and |
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* equality) with the form: \f$\mathbf{g_u}\in\mathbb{R}^{ng\times nu}\f$, |
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* \f$\mathbf{h_x}\in\mathbb{R}^{nh\times ndx}\f$ |
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* \f$\mathbf{h_u}\in\mathbb{R}^{nh\times nu}\f$. |
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* |
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* \sa `StateAbstractTpl`, `calc()`, `calcDiff()`, `createData()` |
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*/ |
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template <typename _Scalar> |
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class ConstraintModelManagerTpl { |
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public: |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef ConstraintDataManagerTpl<Scalar> ConstraintDataManager; |
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typedef StateAbstractTpl<Scalar> StateAbstract; |
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typedef ConstraintModelAbstractTpl<Scalar> ConstraintModelAbstract; |
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typedef ConstraintDataAbstractTpl<Scalar> ConstraintDataAbstract; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef ConstraintItemTpl<Scalar> ConstraintItem; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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typedef std::map<std::string, boost::shared_ptr<ConstraintItem> > |
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ConstraintModelContainer; |
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typedef std::map<std::string, boost::shared_ptr<ConstraintDataAbstract> > |
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ConstraintDataContainer; |
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/** |
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* @brief Initialize the constraint-manager model |
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* |
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* @param[in] state State of the multibody system |
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* @param[in] nu Dimension of control vector |
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*/ |
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ConstraintModelManagerTpl(boost::shared_ptr<StateAbstract> state, |
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const std::size_t nu); |
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/** |
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* @brief Initialize the constraint-manager model |
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* |
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* The default `nu` value is obtained from `StateAbstractTpl::get_nv()`. |
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* |
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* @param[in] state State of the multibody system |
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*/ |
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explicit ConstraintModelManagerTpl(boost::shared_ptr<StateAbstract> state); |
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~ConstraintModelManagerTpl(); |
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/** |
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* @brief Add a constraint item |
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* |
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* @param[in] name Constraint name |
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* @param[in] constraint Constraint model |
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* @param[in] weight Constraint weight |
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* @param[in] active True if the constraint is activated (default true) |
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*/ |
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void addConstraint(const std::string& name, |
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boost::shared_ptr<ConstraintModelAbstract> constraint, |
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const bool active = true); |
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/** |
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* @brief Remove a constraint item |
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* |
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* @param[in] name Constraint name |
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*/ |
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void removeConstraint(const std::string& name); |
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/** |
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* @brief Change the constraint status |
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* |
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* @param[in] name Constraint name |
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* @param[in] active Constraint status (true for active and false for |
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* inactive) |
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*/ |
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void changeConstraintStatus(const std::string& name, bool active); |
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/** |
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* @brief Compute the total constraint value |
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* |
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* @param[in] data Constraint data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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void calc(const boost::shared_ptr<ConstraintDataManager>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u); |
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/** |
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* @brief Compute the total constraint value for nodes that depends only on |
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* the state |
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* |
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* It updates the constraint based on the state only. This function is |
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* commonly used in the terminal nodes of an optimal control problem. |
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* |
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* @param[in] data Constraint data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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*/ |
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void calc(const boost::shared_ptr<ConstraintDataManager>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief Compute the Jacobian of the total constraint |
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* |
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* @param[in] data Constraint data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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* @param[in] u Control input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ |
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*/ |
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void calcDiff(const boost::shared_ptr<ConstraintDataManager>& data, |
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const Eigen::Ref<const VectorXs>& x, |
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const Eigen::Ref<const VectorXs>& u); |
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/** |
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* @brief Compute the Jacobian of the total constraint with respect to the |
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* state only |
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* |
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* It computes the Jacobian of the constraint function based on the state |
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* only. This function is commonly used in the terminal nodes of an optimal |
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* control problem. |
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* |
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* @param[in] data Constraint data |
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* @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ |
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*/ |
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void calcDiff(const boost::shared_ptr<ConstraintDataManager>& data, |
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const Eigen::Ref<const VectorXs>& x); |
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/** |
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* @brief Create the constraint data |
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* |
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* The default data contains objects to store the values of the constraint and |
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* their derivatives (i.e. Jacobians). However, it is possible to specialize |
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* this function is we need to create additional data, for instance, to avoid |
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* dynamic memory allocation. |
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* |
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* @param data Data collector |
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* @return the constraint data |
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*/ |
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boost::shared_ptr<ConstraintDataManager> createData( |
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DataCollectorAbstract* const data); |
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/** |
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* @brief Return the state |
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*/ |
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const boost::shared_ptr<StateAbstract>& get_state() const; |
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/** |
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* @brief Return the stack of constraint models |
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*/ |
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const ConstraintModelContainer& get_constraints() const; |
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/** |
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* @brief Return the dimension of the control input |
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*/ |
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std::size_t get_nu() const; |
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/** |
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* @brief Return the number of active inequality constraints |
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*/ |
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std::size_t get_ng() const; |
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/** |
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* @brief Return the number of active equality constraints |
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*/ |
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std::size_t get_nh() const; |
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/** |
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* @brief Return the names of the set of active constraints |
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*/ |
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const std::set<std::string>& get_active_set() const; |
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/** |
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* @brief Return the names of the set of inactive constraints |
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*/ |
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const std::set<std::string>& get_inactive_set() const; |
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/** |
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* @brief Return the state lower bound |
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*/ |
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const VectorXs& get_lb() const; |
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/** |
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* @brief Return the state upper bound |
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*/ |
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const VectorXs& get_ub() const; |
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/** |
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* @brief Return the status of a given constraint name |
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* |
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* @param[in] name Constraint name |
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*/ |
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bool getConstraintStatus(const std::string& name) const; |
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/** |
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* @brief Print information on the stack of constraints |
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*/ |
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template <class Scalar> |
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friend std::ostream& operator<<( |
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std::ostream& os, const ConstraintModelManagerTpl<Scalar>& model); |
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private: |
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boost::shared_ptr<StateAbstract> state_; //!< State description |
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ConstraintModelContainer constraints_; //!< Stack of constraint items |
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VectorXs lb_; //!< Lower bound of the constraint |
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VectorXs ub_; //!< Upper bound of the constraint |
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std::size_t nu_; //!< Dimension of the control input |
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std::size_t ng_; //!< Number of the active inequality constraints |
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std::size_t nh_; //!< Number of the active equality constraints |
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std::set<std::string> active_set_; //!< Names of the active constraint items |
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std::set<std::string> |
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inactive_set_; //!< Names of the inactive constraint items |
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}; |
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template <typename _Scalar> |
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struct ConstraintDataManagerTpl { |
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW |
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typedef _Scalar Scalar; |
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typedef MathBaseTpl<Scalar> MathBase; |
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typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract; |
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typedef ConstraintItemTpl<Scalar> ConstraintItem; |
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typedef typename MathBase::VectorXs VectorXs; |
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typedef typename MathBase::MatrixXs MatrixXs; |
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template <template <typename Scalar> class Model> |
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50024 |
ConstraintDataManagerTpl(Model<Scalar>* const model, |
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DataCollectorAbstract* const data) |
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: g_internal(model->get_ng()), |
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50024 |
Gx_internal(model->get_ng(), model->get_state()->get_ndx()), |
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Gu_internal(model->get_ng(), model->get_nu()), |
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h_internal(model->get_nh()), |
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50024 |
Hx_internal(model->get_nh(), model->get_state()->get_ndx()), |
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Hu_internal(model->get_nh(), model->get_nu()), |
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shared(data), |
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g(g_internal.data(), model->get_ng()), |
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50024 |
Gx(Gx_internal.data(), model->get_ng(), model->get_state()->get_ndx()), |
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Gu(Gu_internal.data(), model->get_ng(), model->get_nu()), |
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h(h_internal.data(), model->get_nh()), |
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50024 |
Hx(Hx_internal.data(), model->get_nh(), model->get_state()->get_ndx()), |
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✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✗✓✗ ✓✓✗✓ ✗✓✗✓ ✗✗✓✓ ✗✓✗✓ ✓✗✓✗ ✗✓✗✓ ✓✗✓✓ ✗✗✓✗ ✓✓✗✓ ✓✗✓✓ ✗✓✓✗ ✓✗✓✗ ✓✗ |
150072 |
Hu(Hu_internal.data(), model->get_nh(), model->get_nu()) { |
297 |
✓✗ | 50024 |
g.setZero(); |
298 |
✓✗ | 50024 |
Gx.setZero(); |
299 |
✓✗ | 50024 |
Gu.setZero(); |
300 |
✓✗ | 50024 |
h.setZero(); |
301 |
✓✗ | 50024 |
Hx.setZero(); |
302 |
✓✗ | 50024 |
Hu.setZero(); |
303 |
220648 |
for (typename ConstraintModelManagerTpl< |
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50024 |
Scalar>::ConstraintModelContainer::const_iterator it = |
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50024 |
model->get_constraints().begin(); |
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✓✓ | 270672 |
it != model->get_constraints().end(); ++it) { |
307 |
220648 |
const boost::shared_ptr<ConstraintItem>& item = it->second; |
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✓✗ | 220648 |
constraints.insert( |
309 |
✓✗✓✗ |
220648 |
std::make_pair(item->name, item->constraint->createData(data))); |
310 |
} |
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50024 |
} |
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template <class ActionData> |
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314 |
97929 |
void shareMemory(ActionData* const data) { |
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// Save memory by setting the internal variables with null dimension |
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97929 |
g_internal.resize(0); |
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317 |
97929 |
Gx_internal.resize(0, 0); |
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318 |
97929 |
Gu_internal.resize(0, 0); |
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319 |
97929 |
h_internal.resize(0); |
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320 |
97929 |
Hx_internal.resize(0, 0); |
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321 |
97929 |
Hu_internal.resize(0, 0); |
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// Share memory with the differential action data |
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323 |
✓✗ | 97929 |
new (&g) Eigen::Map<VectorXs>(data->g.data(), data->g.size()); |
324 |
✓✗ | 97929 |
new (&Gx) |
325 |
Eigen::Map<MatrixXs>(data->Gx.data(), data->Gx.rows(), data->Gx.cols()); |
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326 |
✓✗ | 97929 |
new (&Gu) |
327 |
Eigen::Map<MatrixXs>(data->Gu.data(), data->Gu.rows(), data->Gu.cols()); |
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✓✗ | 97929 |
new (&h) Eigen::Map<VectorXs>(data->h.data(), data->h.size()); |
329 |
✓✗ | 97929 |
new (&Hx) |
330 |
Eigen::Map<MatrixXs>(data->Hx.data(), data->Hx.rows(), data->Hx.cols()); |
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331 |
✓✗ | 97929 |
new (&Hu) |
332 |
Eigen::Map<MatrixXs>(data->Hu.data(), data->Hu.rows(), data->Hu.cols()); |
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333 |
97929 |
} |
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334 |
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335 |
template <class ActionModel, class ActionData> |
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336 |
93771 |
void resize(ActionModel* const model, ActionData* const data) { |
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337 |
93771 |
const std::size_t ndx = model->get_state()->get_ndx(); |
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338 |
93771 |
const std::size_t nu = model->get_nu(); |
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339 |
93771 |
const std::size_t ng = model->get_ng(); |
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340 |
93771 |
const std::size_t nh = model->get_nh(); |
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341 |
93771 |
data->g.conservativeResize(ng); |
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342 |
93771 |
data->Gx.conservativeResize(ng, ndx); |
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343 |
93771 |
data->Gu.conservativeResize(ng, nu); |
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344 |
93771 |
data->h.conservativeResize(nh); |
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345 |
93771 |
data->Hx.conservativeResize(nh, ndx); |
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346 |
93771 |
data->Hu.conservativeResize(nh, nu); |
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347 |
✓✗ | 93771 |
new (&g) Eigen::Map<VectorXs>(data->g.data(), ng); |
348 |
✓✗ | 93771 |
new (&Gx) Eigen::Map<MatrixXs>(data->Gx.data(), ng, ndx); |
349 |
✓✗ | 93771 |
new (&Gu) Eigen::Map<MatrixXs>(data->Gu.data(), ng, nu); |
350 |
✓✗ | 93771 |
new (&h) Eigen::Map<VectorXs>(data->h.data(), nh); |
351 |
✓✗ | 93771 |
new (&Hx) Eigen::Map<MatrixXs>(data->Hx.data(), nh, ndx); |
352 |
✓✗ | 93771 |
new (&Hu) Eigen::Map<MatrixXs>(data->Hu.data(), nh, nu); |
353 |
93771 |
} |
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354 |
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355 |
VectorXs get_g() const { return g; } |
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356 |
MatrixXs get_Gx() const { return Gx; } |
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357 |
MatrixXs get_Gu() const { return Gu; } |
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358 |
VectorXs get_h() const { return h; } |
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359 |
MatrixXs get_Hx() const { return Hx; } |
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360 |
MatrixXs get_Hu() const { return Hu; } |
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361 |
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362 |
void set_g(const VectorXs& _g) { |
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363 |
if (g.size() != _g.size()) { |
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364 |
throw_pretty("Invalid argument: " |
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365 |
<< "g has wrong dimension (it should be " + |
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366 |
std::to_string(g.size()) + ")"); |
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367 |
} |
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368 |
g = _g; |
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369 |
} |
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370 |
void set_Gx(const MatrixXs& _Gx) { |
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371 |
if (Gx.rows() != _Gx.rows() || Gx.cols() != _Gx.cols()) { |
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372 |
throw_pretty("Invalid argument: " |
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<< "Gx has wrong dimension (it should be " + |
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374 |
std::to_string(Gx.rows()) + ", " + |
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std::to_string(Gx.cols()) + ")"); |
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} |
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Gx = _Gx; |
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378 |
} |
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379 |
void set_Gu(const MatrixXs& _Gu) { |
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380 |
if (Gu.rows() != _Gu.rows() || Gu.cols() != _Gu.cols()) { |
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381 |
throw_pretty("Invalid argument: " |
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382 |
<< "Gu has wrong dimension (it should be " + |
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383 |
std::to_string(Gu.rows()) + ", " + |
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384 |
std::to_string(Gu.cols()) + ")"); |
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385 |
} |
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386 |
Gu = _Gu; |
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387 |
} |
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388 |
void set_h(const VectorXs& _h) { |
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389 |
if (h.size() != _h.size()) { |
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390 |
throw_pretty("Invalid argument: " |
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391 |
<< "h has wrong dimension (it should be " + |
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392 |
std::to_string(h.size()) + ")"); |
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393 |
} |
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394 |
h = _h; |
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395 |
} |
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396 |
void set_Hx(const MatrixXs& _Hx) { |
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397 |
if (Hx.rows() != _Hx.rows() || Hx.cols() != _Hx.cols()) { |
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398 |
throw_pretty("Invalid argument: " |
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399 |
<< "Hx has wrong dimension (it should be " + |
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400 |
std::to_string(Hx.rows()) + ", " + |
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401 |
std::to_string(Hx.cols()) + ")"); |
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402 |
} |
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403 |
Hx = _Hx; |
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404 |
} |
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405 |
void set_Hu(const MatrixXs& _Hu) { |
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406 |
if (Hu.rows() != _Hu.rows() || Hu.cols() != _Hu.cols()) { |
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throw_pretty("Invalid argument: " |
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408 |
<< "Hu has wrong dimension (it should be " + |
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409 |
std::to_string(Hu.rows()) + ", " + |
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410 |
std::to_string(Hu.cols()) + ")"); |
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411 |
} |
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Hu = _Hu; |
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} |
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414 |
|||
415 |
// Creates internal data in case we don't share it externally |
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416 |
VectorXs g_internal; |
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417 |
MatrixXs Gx_internal; |
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418 |
MatrixXs Gu_internal; |
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419 |
VectorXs h_internal; |
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420 |
MatrixXs Hx_internal; |
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421 |
MatrixXs Hu_internal; |
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422 |
|||
423 |
typename ConstraintModelManagerTpl<Scalar>::ConstraintDataContainer |
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424 |
constraints; |
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425 |
DataCollectorAbstract* shared; |
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426 |
Eigen::Map<VectorXs> g; |
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427 |
Eigen::Map<MatrixXs> Gx; |
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428 |
Eigen::Map<MatrixXs> Gu; |
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429 |
Eigen::Map<VectorXs> h; |
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430 |
Eigen::Map<MatrixXs> Hx; |
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431 |
Eigen::Map<MatrixXs> Hu; |
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432 |
}; |
||
433 |
|||
434 |
} // namespace crocoddyl |
||
435 |
|||
436 |
/* --- Details -------------------------------------------------------------- */ |
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437 |
/* --- Details -------------------------------------------------------------- */ |
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438 |
/* --- Details -------------------------------------------------------------- */ |
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439 |
#include "crocoddyl/core/constraints/constraint-manager.hxx" |
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|||
441 |
#endif // CROCODDYL_CORE_CONSTRAINTS_CONSTRAINT_MANAGER_HPP_ |
Generated by: GCOVR (Version 4.2) |