Manage the individual constraint models. More...

#include <constraint-manager.hpp>

Public Types
typedef ConstraintDataAbstractTpl< Scalar >	ConstraintDataAbstract

typedef std::map< std::string, boost::shared_ptr< ConstraintDataAbstract > >	ConstraintDataContainer

typedef ConstraintDataManagerTpl< Scalar >	ConstraintDataManager

typedef ConstraintItemTpl< Scalar >	ConstraintItem

typedef ConstraintModelAbstractTpl< Scalar >	ConstraintModelAbstract

typedef std::map< std::string, boost::shared_ptr< ConstraintItem > >	ConstraintModelContainer

typedef DataCollectorAbstractTpl< Scalar >	DataCollectorAbstract

typedef MathBaseTpl< Scalar >	MathBase

typedef MathBase::MatrixXs	MatrixXs

typedef StateAbstractTpl< Scalar >	StateAbstract

typedef MathBase::VectorXs	VectorXs

Public Member Functions
	ConstraintModelManagerTpl (boost::shared_ptr< StateAbstract > state)
	Initialize the constraint-manager model. More...

	ConstraintModelManagerTpl (boost::shared_ptr< StateAbstract > state, const std::size_t nu)
	Initialize the constraint-manager model. More...

void	addConstraint (const std::string &name, boost::shared_ptr< ConstraintModelAbstract > constraint, const bool active=true)
	Add a constraint item. More...

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

void	calc (const boost::shared_ptr< ConstraintDataManager > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the total constraint value. More...

void	calcDiff (const boost::shared_ptr< ConstraintDataManager > &data, const Eigen::Ref< const VectorXs > &x)
	Compute the Jacobian of the total constraint with respect to the state only. More...

void	calcDiff (const boost::shared_ptr< ConstraintDataManager > &data, const Eigen::Ref< const VectorXs > &x, const Eigen::Ref< const VectorXs > &u)
	Compute the Jacobian of the total constraint. More...

void	changeConstraintStatus (const std::string &name, bool active)
	Change the constraint status. More...

boost::shared_ptr< ConstraintDataManager >	createData (DataCollectorAbstract *const data)
	Create the constraint data. More...

const std::set< std::string > &	get_active_set () const
	Return the names of the set of active constraints.

const ConstraintModelContainer &	get_constraints () const
	Return the stack of constraint models.

const std::set< std::string > &	get_inactive_set () const
	Return the names of the set of inactive constraints.

const VectorXs &	get_lb () const
	Return the state lower bound.

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

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

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

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

const VectorXs &	get_ub () const
	Return the state upper bound.

bool	getConstraintStatus (const std::string &name) const
	Return the status of a given constraint name. More...

void	removeConstraint (const std::string &name)
	Remove a constraint item. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar	Scalar

Friends
template<class Scalar >
std::ostream &	operator<< (std::ostream &os, const ConstraintModelManagerTpl< Scalar > &model)
	Print information on the stack of constraints.

Detailed Description

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

Manage the individual constraint models.

This class serves to manage a set of added constraint models. The constraint functions might active or inactive, with this approach we avoid dynamic allocation of memory. Each constraint model is added through addConstraint, where its status can be defined.

The main computations are carring out in calc and calcDiff routines. calc computes the constraint residuals and calcDiff computes the Jacobians of the constraint functions. Concretely speaking, calcDiff builds a linear approximation of the total constraint function (both inequality and equality) with the form: \(\mathbf{g_u}\in\mathbb{R}^{ng\times nu}\), \(\mathbf{h_x}\in\mathbb{R}^{nh\times ndx}\) \(\mathbf{h_u}\in\mathbb{R}^{nh\times nu}\).

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

Definition at line 68 of file constraint-manager.hpp.

Constructor & Destructor Documentation

◆ ConstraintModelManagerTpl() [1/2]

ConstraintModelManagerTpl	(	boost::shared_ptr< StateAbstract >	state,
		const std::size_t	nu
	)

Initialize the constraint-manager model.

Parameters

[in]	state	State of the multibody system
[in]	nu	Dimension of control vector

◆ ConstraintModelManagerTpl() [2/2]

ConstraintModelManagerTpl ( boost::shared_ptr< StateAbstract > state )

explicit

Initialize the constraint-manager model.

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

Parameters

[in] state State of the multibody system

Member Function Documentation

◆ addConstraint()

void addConstraint	(	const std::string &	name,
		boost::shared_ptr< ConstraintModelAbstract >	constraint,
		const bool	active = `true`
	)

Add a constraint item.

Parameters

[in]	name	Constraint name
[in]	constraint	Constraint model
[in]	weight	Constraint weight
[in]	active	True if the constraint is activated (default true)

◆ removeConstraint()

void removeConstraint ( const std::string & name )

Remove a constraint item.

Parameters

[in] name Constraint name

◆ changeConstraintStatus()

void changeConstraintStatus	(	const std::string &	name,
		bool	active
	)

Change the constraint status.

Parameters

[in]	name	Constraint name
[in]	active	Constraint status (true for active and false for inactive)

◆ calc() [1/2]

void calc	(	const boost::shared_ptr< ConstraintDataManager > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

Compute the total 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]

void calc	(	const boost::shared_ptr< ConstraintDataManager > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

Compute the total 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 \(\mathbf{x}\in\mathbb{R}^{ndx}\)

◆ calcDiff() [1/2]

void calcDiff	(	const boost::shared_ptr< ConstraintDataManager > &	data,
		const Eigen::Ref< const VectorXs > &	x,
		const Eigen::Ref< const VectorXs > &	u
	)

Compute the Jacobian of the total constraint.

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]

void calcDiff	(	const boost::shared_ptr< ConstraintDataManager > &	data,
		const Eigen::Ref< const VectorXs > &	x
	)

Compute the Jacobian of the total 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 \(\mathbf{x}\in\mathbb{R}^{ndx}\)

◆ createData()

boost::shared_ptr<ConstraintDataManager> createData ( DataCollectorAbstract *const data )

Create the constraint data.

The default data contains objects to store the values of the constraint and their derivatives (i.e. Jacobians). 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

◆ getConstraintStatus()

bool getConstraintStatus ( const std::string & name ) const

Return the status of a given constraint name.

Parameters

[in] name Constraint name

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

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

Public Types

Public Member Functions

Public Attributes

Friends

Detailed Description

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

Constructor & Destructor Documentation

◆ ConstraintModelManagerTpl() [1/2]

◆ ConstraintModelManagerTpl() [2/2]

Member Function Documentation

◆ addConstraint()

◆ removeConstraint()

◆ changeConstraintStatus()

◆ calc() [1/2]

◆ calc() [2/2]

◆ calcDiff() [1/2]

◆ calcDiff() [2/2]

◆ createData()

◆ getConstraintStatus()

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