This class computes the numerical differentiation of a constraint model. More...

#include <constraint.hpp>

Inheritance diagram for ConstraintModelNumDiffTpl< _Scalar >:

Public Types
typedef ConstraintModelAbstractTpl< Scalar >	Base

typedef ConstraintDataAbstractTpl< Scalar >	ConstraintDataAbstract

typedef ConstraintDataNumDiffTpl< Scalar >	Data

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef boost::function< void(const VectorXs &, const VectorXs &)>	ReevaluationFunction

typedef MathBaseTpl< Scalar >::VectorXs	VectorXs

Public Types inherited from ConstraintModelAbstractTpl< _Scalar >
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
	ConstraintModelNumDiffTpl (const std::shared_ptr< Base > &model)
	Initialize the numdiff constraint model.

virtual	~ConstraintModelNumDiffTpl ()=default
	Initialize the numdiff constraint model.

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

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

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

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

template<typename NewScalar >
ConstraintModelNumDiffTpl< NewScalar >	cast () const
	Cast the constraint numdiff model to a different scalar type.

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

const Scalar	get_disturbance () const
	Return the disturbance constant used by the numerical differentiation routine.

const std::shared_ptr< Base > &	get_model () const
	Return the original constraint model.

void	set_disturbance (const Scalar disturbance)
	Modify the disturbance constant used by the numerical differentiation routine.

void	set_reevals (const std::vector< ReevaluationFunction > &reevals)
	Register functions that updates the shared data computed for a system rollout The updated data is used to evaluate of the gradient and Hessian.

Public Member Functions inherited from ConstraintModelAbstractTpl< _Scalar >
	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.

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

Public Attributes inherited from ConstraintModelAbstractTpl< _Scalar >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Protected Attributes
std::size_t	nu_
	Control dimension.

std::shared_ptr< StateAbstract >	state_
	State description.

VectorXs	unone_
	No control vector.

Protected Attributes inherited from ConstraintModelAbstractTpl< _Scalar >
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.

Detailed Description

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

This class computes the numerical differentiation of a constraint model.

It computes the Jacobian of the constraint model via numerical differentiation, i.e., \(\mathbf{g_x}\), \(\mathbf{g_u}\) and \(\mathbf{h_x}\), \(\mathbf{h_u}\), which denote the Jacobians of the inequality and equality constraints, respectively.

See also: ConstraintModelAbstractTpl(), calcDiff()

Definition at line 30 of file constraint.hpp.

Member Typedef Documentation

◆ ConstraintDataAbstract

template<typename _Scalar >

typedef ConstraintDataAbstractTpl<Scalar> ConstraintDataAbstract

Definition at line 36 of file constraint.hpp.

◆ Base

template<typename _Scalar >

typedef ConstraintModelAbstractTpl<Scalar> Base

Definition at line 37 of file constraint.hpp.

◆ Data

template<typename _Scalar >

typedef ConstraintDataNumDiffTpl<Scalar> Data

Definition at line 38 of file constraint.hpp.

◆ DataCollectorAbstract

template<typename _Scalar >

typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract

Definition at line 39 of file constraint.hpp.

◆ MathBase

template<typename _Scalar >

typedef MathBaseTpl<Scalar> MathBase

Definition at line 40 of file constraint.hpp.

◆ VectorXs

template<typename _Scalar >

typedef MathBaseTpl<Scalar>::VectorXs VectorXs

Definition at line 41 of file constraint.hpp.

◆ ReevaluationFunction

template<typename _Scalar >

typedef boost::function<void(const VectorXs&, const VectorXs&)> ReevaluationFunction

Definition at line 43 of file constraint.hpp.

Constructor & Destructor Documentation

◆ ConstraintModelNumDiffTpl()

template<typename _Scalar >

ConstraintModelNumDiffTpl ( const std::shared_ptr< Base > & model )

explicit

Initialize the numdiff constraint model.

Parameters

model

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
	)

overridevirtual

Compute the constraint value.

Parameters

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

◆ calc() [2/2]

template<typename _Scalar >

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

overridevirtual

◆ 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
	)

overridevirtual

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 \(\mathbf{u}\in\mathbb{R}^{nu}\)

◆ calcDiff() [2/2]

template<typename _Scalar >

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

overridevirtual

◆ createData()

template<typename _Scalar >

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

overridevirtual

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 from ConstraintModelAbstractTpl< _Scalar >.

◆ cast()

template<typename _Scalar >

template<typename NewScalar >

ConstraintModelNumDiffTpl< NewScalar > cast ( ) const

Cast the constraint numdiff model to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters

NewScalar The new scalar type to cast to.

Returns: ConstraintModelNumDiffTpl<NewScalar> A constraint model with the new scalar type.

◆ set_reevals()

template<typename _Scalar >

void set_reevals ( const std::vector< ReevaluationFunction > & reevals )

Register functions that updates the shared data computed for a system rollout The updated data is used to evaluate of the gradient and Hessian.

Parameters

reevals are the registered functions.

Member Data Documentation

◆ Scalar

template<typename _Scalar >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Definition at line 35 of file constraint.hpp.

◆ nu_

template<typename _Scalar >

std::size_t nu_

protected

Control dimension.

Definition at line 258 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.

◆ 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 files:

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

Public Types

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstraintDataAbstract

◆ Base

◆ Data

◆ DataCollectorAbstract

◆ MathBase

◆ VectorXs

◆ ReevaluationFunction

Constructor & Destructor Documentation

◆ ConstraintModelNumDiffTpl()

Member Function Documentation

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ cast()

◆ set_reevals()

Member Data Documentation

◆ Scalar

◆ nu_

◆ state_

◆ unone_