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// |
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// Copyright (c) 2017 CNRS |
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// |
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// This file is part of tsid |
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// tsid is free software: you can redistribute it |
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// and/or modify it under the terms of the GNU Lesser General Public |
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// License as published by the Free Software Foundation, either version |
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// 3 of the License, or (at your option) any later version. |
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// tsid is distributed in the hope that it will be |
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// useful, but WITHOUT ANY WARRANTY; without even the implied warranty |
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// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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// General Lesser Public License for more details. You should have |
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// received a copy of the GNU Lesser General Public License along with |
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// tsid If not, see |
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// <http://www.gnu.org/licenses/>. |
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// |
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#include <tsid/math/constraint-bound.hpp> |
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using namespace tsid::math; |
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ConstraintBound::ConstraintBound(const std::string& name) |
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: ConstraintBase(name) {} |
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ConstraintBound::ConstraintBound(const std::string& name, |
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const unsigned int size) |
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: ConstraintBase(name, Matrix::Identity(size, size)), |
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m_lb(Vector::Zero(size)), |
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m_ub(Vector::Zero(size)) {} |
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ConstraintBound::ConstraintBound(const std::string& name, ConstRefVector lb, |
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ConstRefVector ub) |
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: ConstraintBase(name, Matrix::Identity(lb.size(), lb.size())), |
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m_lb(lb), |
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m_ub(ub) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT( |
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lb.size() == ub.size(), |
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"The size of the lower and upper bound vectors needs to be match!"); |
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} |
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unsigned int ConstraintBound::rows() const { |
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assert(m_lb.rows() == m_ub.rows()); |
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return (unsigned int)m_lb.rows(); |
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} |
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unsigned int ConstraintBound::cols() const { |
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assert(m_lb.rows() == m_ub.rows()); |
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return (unsigned int)m_lb.rows(); |
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} |
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void ConstraintBound::resize(const unsigned int r, const unsigned int c) { |
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PINOCCHIO_CHECK_INPUT_ARGUMENT(r == c, "r and c need to be equal!"); |
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m_A.setIdentity(r, c); |
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m_lb.setZero(r); |
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m_ub.setZero(r); |
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} |
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bool ConstraintBound::isEquality() const { return false; } |
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bool ConstraintBound::isInequality() const { return false; } |
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bool ConstraintBound::isBound() const { return true; } |
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const Vector& ConstraintBound::vector() const { |
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assert(false); |
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return m_lb; |
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} |
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const Vector& ConstraintBound::lowerBound() const { return m_lb; } |
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const Vector& ConstraintBound::upperBound() const { return m_ub; } |
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Vector& ConstraintBound::vector() { |
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assert(false); |
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return m_lb; |
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} |
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Vector& ConstraintBound::lowerBound() { return m_lb; } |
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Vector& ConstraintBound::upperBound() { return m_ub; } |
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bool ConstraintBound::setVector(ConstRefVector) { |
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assert(false); |
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return false; |
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} |
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bool ConstraintBound::setLowerBound(ConstRefVector lb) { |
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m_lb = lb; |
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return true; |
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} |
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bool ConstraintBound::setUpperBound(ConstRefVector ub) { |
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m_ub = ub; |
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return true; |
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} |
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bool ConstraintBound::checkConstraint(ConstRefVector x, double tol) const { |
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return (x.array() <= m_ub.array() + tol).all() && |
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(x.array() >= m_lb.array() - tol).all(); |
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} |
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