Abstract class for constraint models. More...

#include <constraint-base.hpp>

Inheritance diagram for ConstraintModelAbstractTpl< _Scalar >:

Public Types
typedef ConstraintDataAbstractTpl< Scalar >	ConstraintDataAbstract

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef ResidualModelAbstractTpl< Scalar >	ResidualModelAbstract

typedef StateAbstractTpl< Scalar >	StateAbstract

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ConstraintModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t ng, const std::size_t nh, const bool T_const=true)

	ConstraintModelAbstractTpl (std::shared_ptr< StateAbstract > state, const std::size_t nu, const std::size_t ng, const std::size_t nh, const bool T_const=true)
	the constraint model

	ConstraintModelAbstractTpl (std::shared_ptr< StateAbstract > state, std::shared_ptr< ResidualModelAbstract > residual, const std::size_t ng, const std::size_t nh)
	Initialize the constraint model.

virtual void	calc (const std::shared_ptr< ConstraintDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the constraint value for nodes that depends only on the state.

virtual void	calc (const std::shared_ptr< ConstraintDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
	Compute the constraint value.

virtual void	calcDiff (const std::shared_ptr< ConstraintDataAbstract > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the Jacobian of the constraint with respect to the state only.

virtual void	calcDiff (const std::shared_ptr< ConstraintDataAbstract > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)=0
	Compute the Jacobian of the constraint.

virtual std::shared_ptr< ConstraintDataAbstract >	createData (DataCollectorAbstract *const data)
	Create the constraint data.

const VectorXs &	get_lb () const
	Return the lower bound of the constraint.

std::size_t	get_ng () const
	Return the number of inequality constraints.

std::size_t	get_nh () const
	Return the number of equality constraints.

std::size_t	get_nu () const
	Return the dimension of the control input.

const std::shared_ptr< ResidualModelAbstract > &	get_residual () const
	Return the residual model.

const std::shared_ptr< StateAbstract > &	get_state () const
	Return the state.

bool	get_T_constraint () const
	Return true if the constraint is imposed in terminal nodes as well.

ConstraintType	get_type () const
	Return the type of constraint.

const VectorXs &	get_ub () const
	Return the upper bound of the constraint.

virtual void	print (std::ostream &os) const
	Print relevant information of the constraint model.

void	remove_bounds ()
	Remove the bounds of the constraint.

void	update_bounds (const VectorXs &lower, const VectorXs &upper)
	Update the lower and upper bounds the upper bound of constraint.

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
VectorXs	lb_
	Lower bound of the constraint.

std::size_t	ng_
	Number of inequality constraints.

std::size_t	nh_
	Number of equality constraints.

std::size_t	nu_
	Control dimension.

std::shared_ptr< ResidualModelAbstract >	residual_
	Residual model.

std::shared_ptr< StateAbstract >	state_
	State description.

bool	T_constraint_

ConstraintType	type_
	Type of constraint: inequality=0, equality=1, both=2.

VectorXs	ub_
	Upper bound of the constraint.

VectorXs	unone_
	No control vector.

Friends
template<class Scalar >
std::ostream &	operator<< (std::ostream &os, const CostModelAbstractTpl< Scalar > &model)
	Print information on the constraint model.

Detailed Description

template<typename _Scalar>
class crocoddyl::ConstraintModelAbstractTpl< _Scalar >

Abstract class for constraint models.

A constraint model defines both: inequality \(\mathbf{g}(\mathbf{x}, \mathbf{u})\in\mathbb{R}^{ng}\) and equality \(\mathbf{h}(\mathbf{x}, \mathbf{u})\in\mathbb{R}^{nh}\) constraints. The constraint function depends on the state point \(\mathbf{x}\in\mathcal{X}\), which lies in the state manifold described with a nx-tuple, its velocity \(\dot{\mathbf{x}}\in T_{\mathbf{x}}\mathcal{X}\) that belongs to the tangent space with ndx dimension, and the control input \(\mathbf{u}\in\mathbb{R}^{nu}\).

The main computations are carried out in calc() and calcDiff() routines. calc() computes the constraint residual and calcDiff() computes the Jacobians of the constraint function. Concretely speaking, calcDiff() builds a linear approximation of the constraint function with the form: \(\mathbf{g_x}\in\mathbb{R}^{ng\times ndx}\), \(\mathbf{g_u}\in\mathbb{R}^{ng\times nu}\), \(\mathbf{h_x}\in\mathbb{R}^{nh\times ndx}\) \(\mathbf{h_u}\in\mathbb{R}^{nh\times nu}\). Additionally, it is important to note that calcDiff() computes the derivatives using the latest stored values by calc(). Thus, we need to first run calc().

See also: calc(), calcDiff(), createData()

Definition at line 54 of file constraint-base.hpp.

Member Typedef Documentation

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 59 of file constraint-base.hpp.

◆ ConstraintDataAbstract

template<typename _Scalar >

typedef ConstraintDataAbstractTpl<Scalar> ConstraintDataAbstract

Definition at line 60 of file constraint-base.hpp.

◆ StateAbstract

template<typename _Scalar >

typedef StateAbstractTpl<Scalar> StateAbstract

Definition at line 61 of file constraint-base.hpp.

◆ ResidualModelAbstract

template<typename _Scalar >

typedef ResidualModelAbstractTpl<Scalar> ResidualModelAbstract

Definition at line 62 of file constraint-base.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 63 of file constraint-base.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBase::VectorXs VectorXs

Definition at line 64 of file constraint-base.hpp.

Constructor & Destructor Documentation

◆ ConstraintModelAbstractTpl() [1/4]

template<typename _Scalar >

ConstraintModelAbstractTpl	(	std::shared_ptr< StateAbstract >	state,
		std::shared_ptr< ResidualModelAbstract >	residual,
		const std::size_t	ng,
		const std::size_t	nh
	)

Initialize the constraint model.

Parameters

[in]	state	State of the multibody system
[in]	residual	Residual model
[in]	ng	Number of inequality constraints
[in]	nh	Number of equality constraints

◆ ConstraintModelAbstractTpl() [2/4]

template<typename _Scalar >

ConstraintModelAbstractTpl	(	std::shared_ptr< StateAbstract >	state,
		const std::size_t	nu,
		const std::size_t	ng,
		const std::size_t	nh,
		const bool	T_const = `true`
	)

the constraint model

Parameters

[in]	state	State of the multibody system
[in]	nu	Dimension of control vector
[in]	ng	Number of inequality constraints
[in]	nh	Number of equality constraints
[in]	T_const	True if this is a constraint in both running and terminal nodes. False if it is a constraint on running nodes only (default true)

◆ ConstraintModelAbstractTpl() [3/4]

template<typename _Scalar >

ConstraintModelAbstractTpl	(	std::shared_ptr< StateAbstract >	state,
		const std::size_t	ng,
		const std::size_t	nh,
		const bool	T_const = `true`
	)

The default nu value is obtained from StateAbstractTpl::get_nv().

Parameters

[in]	state	State of the multibody system
[in]	ng	Number of inequality constraints
[in]	nh	Number of equality constraints
[in]	T_const	True if this is a constraint in both running and terminal nodes. False if it is a constraint on running nodes only (default true)

◆ ConstraintModelAbstractTpl() [4/4]

template<typename _Scalar >

ConstraintModelAbstractTpl ( )

inlineprotected

Definition at line 264 of file constraint-base.hpp.

Member Function Documentation

◆ calc() [1/2]

template<typename _Scalar >

virtual void calc	(	const std::shared_ptr< ConstraintDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

pure virtual

Compute the constraint value.

Parameters

[in]	data	Constraint data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implemented in ConstraintModelResidualTpl< _Scalar >.

◆ calc() [2/2]

template<typename _Scalar >

virtual void calc	(	const std::shared_ptr< ConstraintDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

virtual

Compute the constraint value for nodes that depends only on the state.

It updates the constraint based on the state only. This function is commonly used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Constraint data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented in ConstraintModelResidualTpl< _Scalar >.

◆ calcDiff() [1/2]

template<typename _Scalar >

virtual void calcDiff	(	const std::shared_ptr< ConstraintDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

pure virtual

Compute the Jacobian of the constraint.

It computes the Jacobian of the constraint function. It assumes that calc() has been run first.

Parameters

[in]	data	Constraint data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)
[in]	u	Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

Implemented in ConstraintModelResidualTpl< _Scalar >.

◆ calcDiff() [2/2]

template<typename _Scalar >

virtual void calcDiff	(	const std::shared_ptr< ConstraintDataAbstract > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

virtual

Compute the Jacobian of the constraint with respect to the state only.

It computes the Jacobian of the constraint function based on the state only. This function is commonly used in the terminal nodes of an optimal control problem.

Parameters

[in]	data	Constraint data
[in]	x	State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

Reimplemented in ConstraintModelResidualTpl< _Scalar >.

◆ createData()

template<typename _Scalar >

virtual std::shared_ptr< ConstraintDataAbstract > createData ( DataCollectorAbstract *const data )

virtual

Create the constraint data.

The default data contains objects to store the values of the constraint, residual vector and their first derivatives. However, it is possible to specialize this function is we need to create additional data, for instance, to avoid dynamic memory allocation.

Parameters

data	Data collector

Returns: the constraint data

Reimplemented in ConstraintModelResidualTpl< _Scalar >, and ConstraintModelNumDiffTpl< _Scalar >.

◆ print()

template<typename _Scalar >

virtual void print ( std::ostream & os ) const

virtual

Print relevant information of the constraint model.

Parameters

[out] os Output stream object

Reimplemented in ConstraintModelResidualTpl< _Scalar >.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 58 of file constraint-base.hpp.

◆ state_

template<typename _Scalar >

std::shared_ptr<StateAbstract> state_

protected

State description.

Definition at line 252 of file constraint-base.hpp.

◆ residual_

template<typename _Scalar >

std::shared_ptr<ResidualModelAbstract> residual_

protected

Residual model.

Definition at line 253 of file constraint-base.hpp.

◆ type_

template<typename _Scalar >

ConstraintType type_

protected

Type of constraint: inequality=0, equality=1, both=2.

Definition at line 255 of file constraint-base.hpp.

◆ lb_

template<typename _Scalar >

VectorXs lb_

protected

Lower bound of the constraint.

Definition at line 256 of file constraint-base.hpp.

◆ ub_

template<typename _Scalar >

VectorXs ub_

protected

Upper bound of the constraint.

Definition at line 257 of file constraint-base.hpp.

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

Control dimension.

Definition at line 258 of file constraint-base.hpp.

◆ ng_

template<typename _Scalar >

std::size_t ng_

protected

Number of inequality constraints.

Definition at line 259 of file constraint-base.hpp.

◆ nh_

template<typename _Scalar >

std::size_t nh_

protected

Number of equality constraints.

Definition at line 260 of file constraint-base.hpp.

◆ T_constraint_

template<typename _Scalar >

bool T_constraint_

protected

Label that indicates if the constraint is imposed in terminal nodes as well

Definition at line 261 of file constraint-base.hpp.

◆ unone_

template<typename _Scalar >

VectorXs unone_

protected

No control vector.

Definition at line 263 of file constraint-base.hpp.

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

/root/robotpkg/optimization/py-crocoddyl/work/crocoddyl-2.1.0/include/crocoddyl/core/constraint-base.hpp

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

◆ MathBase

◆ ConstraintDataAbstract

◆ StateAbstract

◆ ResidualModelAbstract

◆ DataCollectorAbstract

◆ VectorXs

Constructor & Destructor Documentation

◆ ConstraintModelAbstractTpl() [1/4]

◆ ConstraintModelAbstractTpl() [2/4]

◆ ConstraintModelAbstractTpl() [3/4]

◆ ConstraintModelAbstractTpl() [4/4]

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ print()

Member Data Documentation

◆ Scalar

◆ state_

◆ residual_

◆ type_

◆ lb_

◆ ub_

◆ nu_

◆ ng_

◆ nh_

◆ T_constraint_

◆ unone_