Solve a system of non-linear equations on a robot configuration. More...

#include <hpp/constraints/solver/hierarchical-iterative.hh>

Inheritance diagram for hpp::constraints::solver::HierarchicalIterative:

Collaboration diagram for hpp::constraints::solver::HierarchicalIterative:

Classes
struct	Data

Public Types
enum	Status { ERROR_INCREASED, MAX_ITERATION_REACHED, INFEASIBLE, SUCCESS }

typedef Eigen::RowBlockIndices	Indices_t

typedef lineSearch::FixedSequence	DefaultLineSearch

typedef boost::function< bool(vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi &saturation)>	Saturation_t
	This function checks which degrees of freedom are saturated. More...

Public Member Functions
	HierarchicalIterative (const LiegroupSpacePtr_t &configSpace)

	HierarchicalIterative (const HierarchicalIterative &other)

virtual	~HierarchicalIterative ()

value_type	residualError () const
	Returns the squared norm of the error vector. More...

void	residualError (vectorOut_t error) const
	Returns the error vector. More...

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

template<typename LineSearchType >
solver::HierarchicalIterative::Status	solve (vectorOut_t arg, LineSearchType lineSearch) const

Problem definition
const LiegroupSpacePtr_t &	configSpace () const
	Get configuration space on which constraints are defined. More...

virtual bool	contains (const ImplicitPtr_t &numericalConstraint) const
	Check whether a numerical constraint has been added. More...

void	add (const DifferentiableFunctionPtr_t &f, const std::size_t &priority) HPP_CONSTRAINTS_DEPRECATED
	Add an implicit equality constraint. More...

void	add (const DifferentiableFunctionPtr_t &f, const std::size_t &priority, const ComparisonTypes_t &comp) HPP_CONSTRAINTS_DEPRECATED
	Add an implicit constraint. More...

void	add (const ImplicitPtr_t &constraint, const std::size_t &priority)
	Add an implicit constraint. More...

void	saturation (const Saturation_t &saturate)
	Set the saturation function. More...

const Saturation_t &	saturation () const
	Get the saturation function. More...

Problem resolution
template<typename LineSearchType >
Status	solve (vectorOut_t arg, LineSearchType ls=LineSearchType()) const
	Solve the system of non linear equations. More...

Status	solve (vectorOut_t arg) const
	Solve the system of non linear equations. More...

bool	isSatisfied (vectorIn_t arg) const

const value_type &	sigma () const
	Returns the lowest singular value. More...

Parameters
void	freeVariables (const segments_t intervals)
	Set free velocity variables. More...

void	freeVariables (const Indices_t &indices)
	Set free velocity variables. More...

const Indices_t &	freeVariables () const
	Get free velocity variables. More...

void	maxIterations (size_type iterations)
	Set maximal number of iterations. More...

size_type	maxIterations () const
	Get maximal number of iterations in config projector. More...

void	errorThreshold (const value_type &threshold)
	Set error threshold. More...

value_type	errorThreshold () const
	Get error threshold. More...

value_type	squaredErrorThreshold () const
	Get error threshold. More...

value_type	inequalityThreshold () const
	Get the inequality threshold. More...

void	inequalityThreshold (const value_type &it)
	set the inequality threshold More...

void	lastIsOptional (bool optional)

bool	lastIsOptional () const

Stack
const ImplicitConstraintSet &	constraints (const std::size_t priority)
	Get set of constraints for a give priority level. More...

std::size_t	numberStacks () const

const size_type &	dimension () const

const size_type &	reducedDimension () const
	Dimension of the problem after removing the rows of the jacobian which do not influence the error (only zeros along those lines). More...

ArrayXb	activeParameters () const
	Configuration parameters involved in the constraint resolution. More...

ArrayXb	activeDerivativeParameters () const
	Velocity parameters involved in the constraint resolution. More...

Right hand side accessors
vector_t	rightHandSideFromConfig (ConfigurationIn_t config)
	Compute right hand side of equality constraints from a configuration. More...

virtual bool	rightHandSideFromConfig (const ImplicitPtr_t &constraint, ConfigurationIn_t config)
	Compute right hand side of a constraint from a configuration. More...

virtual bool	rightHandSide (const ImplicitPtr_t &constraint, vectorIn_t rhs)
	Set right hand side of a constraints. More...

virtual bool	getRightHandSide (const ImplicitPtr_t &constraint, vectorOut_t rhs) const
	Get right hand side of a constraints. More...

virtual void	rightHandSide (vectorIn_t rhs)
	Set the right hand side. More...

void	rightHandSideAt (const value_type &s)
	Set the right hand side at a given parameter. More...

vector_t	rightHandSide () const
	Get the right hand side. More...

size_type	rightHandSideSize () const
	Get size of the right hand side. More...

Access to internal datas
You should know what you do when you call these functions
template<bool ComputeJac>
void	computeValue (vectorIn_t arg) const
	Compute the value of each level, and the jacobian if ComputeJac is true. More...

void	computeSaturation (vectorIn_t arg) const

void	getValue (vectorOut_t v) const

void	getReducedJacobian (matrixOut_t J) const

void	computeError () const
	If lastIsOptional() is true, then the last level is ignored. More...

const vector_t &	lastStep () const
	Accessor to the last step done. More...

virtual bool	integrate (vectorIn_t from, vectorIn_t velocity, vectorOut_t result) const

Protected Types
typedef Eigen::JacobiSVD< matrix_t >	SVD_t

Protected Member Functions
void	update ()
	Allocate datas and update sizes of the problem Should be called whenever the stack is modified. More...

virtual void	computeActiveRowsOfJ (std::size_t iStack)
	Compute which rows of the jacobian of stack_[iStack] are not zero, using the activeDerivativeParameters of the functions. More...

void	computeDescentDirection () const
	Compute a SVD decomposition of each level and find the best descent direction at the first order. More...

void	expandDqSmall () const

void	saturate (vectorOut_t arg) const

Protected Attributes
value_type	squaredErrorThreshold_

value_type	inequalityThreshold_

size_type	maxIterations_

std::vector< ImplicitConstraintSet >	stacks_

LiegroupSpacePtr_t	configSpace_

size_type	dimension_

size_type	reducedDimension_

bool	lastIsOptional_

Indices_t	freeVariables_
	Unknown of the set of implicit constraints. More...

Saturation_t	saturate_

NumericalConstraints_t	constraints_
	Members moved from core::ConfigProjector. More...

std::map< DifferentiableFunctionPtr_t, size_type >	iq_
	Value rank of constraint in its priority level. More...

std::map< DifferentiableFunctionPtr_t, size_type >	iv_
	Derivative rank of constraint in its priority level. More...

std::map< DifferentiableFunctionPtr_t, std::size_t >	priority_
	Priority level of constraint. More...

value_type	sigma_
	The smallest non-zero singular value. More...

vector_t	dq_

vector_t	dqSmall_

matrix_t	reducedJ_

Eigen::VectorXi	saturation_

Eigen::VectorXi	reducedSaturation_

Configuration_t	qSat_

ArrayXb	tmpSat_

value_type	squaredNorm_

std::vector< Data >	datas_

SVD_t	svd_

vector_t	OM_

vector_t	OP_

mutable::hpp::statistics::SuccessStatistics	statistics_

Friends
struct	lineSearch::Backtracking

Detailed Description

Solve a system of non-linear equations on a robot configuration.

The non-linear system of equations is built by adding equations with method HierarchicalIterative::add.

Note that a hierarchy between the equations can be provided. In this case, the solver will try to solve the highest priority equations first, and then to solve the lower priority equations. Note that priorities are in decreasing order: 0 has higher priority than 1.

The algorithm used is a Newton-Raphson like algorithm that works as follows: let \(f (\mathbf{q}) = 0\) be the system of equations where \(f\) is a \(C^1\) mapping from the robot configuration space to a Lie group space \(\mathcal{L}\).

Starting from initial guess \(\mathbf{q}_0\), the method HierarchicalIterative::solve builds a sequence of configurations \(\mathbf{q}_i\) as follows:

\begin{eqnarray*} \mathbf{q}_{i+1} = \mathbf{q}_i - \alpha_i \frac{\partial f}{\partial \mathbf{q}}(\mathbf{q}_i)^{+} f (\mathbf{q}_i) \end{eqnarray*}

where

\(\frac{\partial f}{\partial \mathbf{q}}(\mathbf{q}_i)^{+}\) is the Moore-Penrose pseudo-inverse of the system Jacobian,
\(\alpha_i\) is a sequence of real numbers depending on the line search strategy. Possible line-search strategies are lineSearch::Constant, lineSearch::Backtracking, lineSearch::FixedSequence, lineSearch::ErrorNormBased. until
the residual \(\|f(\mathbf{q})\|\) is below an error threshold, or
the maximal number of iterations has been reached.

The error threshold can be accessed by methods HierarchicalIterative::errorThreshold. The maximal number of iterations can be accessed by methods HierarchicalIterative::maxIterations.

Note: Lie group

The unknowns \(\mathbf{q}\) may take values in a more general set than the configuration space of a robot. This set should be a Cartesian product of Lie groups: hpp::pinocchio::LiegroupSpace.

Note: Saturation

To prevent configuration variables to get out of joint limits during Newton Raphson iterations, the user may provide a method of type HierarchicalIterative::Saturation_t using setter and getter HierarchicalIterative::saturation.

Note: Right hand side and comparison types

Instead of \(f(\mathbf{q}) = 0\), other constraints can be defined. Several comparison types are available:

Equality: \(f(\mathbf{q}) = rhs\), where \(rhs\) is a parameterizable right hand side,
EqualToZero: \(f(\mathbf{q}) = 0\),
Superior: \(f(\mathbf{q}) > 0\)
Inferior: \(f(\mathbf{q}) < 0\) If several constraint are of type equality, the right hand side of the system of equations can be modified by methods HierarchicalIterative::rightHandSideFromInput, HierarchicalIterative::rightHandSide.

Note: Free variables

Some variables can be locked, or computed explicitely. In this case, the iterative resolution will only change the other variables called free variables.

See also

methods

freeVariables (const Indices_t& indices) and
freeVariables (const Indices_t& indices).

Member Typedef Documentation

typedef lineSearch::FixedSequence hpp::constraints::solver::HierarchicalIterative::DefaultLineSearch

typedef Eigen::RowBlockIndices hpp::constraints::solver::HierarchicalIterative::Indices_t

typedef boost::function<bool (vectorIn_t q, vectorOut_t qSat, Eigen::VectorXi& saturation)> hpp::constraints::solver::HierarchicalIterative::Saturation_t

This function checks which degrees of freedom are saturated.

Parameters

q	a configuration,

Return values

qSat	configuration after saturing values out of bounds
saturation	vector: for each degree of freedom, saturation is set to -1 if the lower bound is reached, 1 if the upper bound is reached, 0 otherwise.

Returns: true if and only if at least one degree of freedom has been saturated

typedef Eigen::JacobiSVD<matrix_t> hpp::constraints::solver::HierarchicalIterative::SVD_t

protected

Member Enumeration Documentation

enum hpp::constraints::solver::HierarchicalIterative::Status

Enumerator
ERROR_INCREASED
MAX_ITERATION_REACHED
INFEASIBLE
SUCCESS

Constructor & Destructor Documentation

hpp::constraints::solver::HierarchicalIterative::HierarchicalIterative ( const LiegroupSpacePtr_t & configSpace )

hpp::constraints::solver::HierarchicalIterative::HierarchicalIterative ( const HierarchicalIterative & other )

virtual hpp::constraints::solver::HierarchicalIterative::~HierarchicalIterative ( )

inlinevirtual

Member Function Documentation

ArrayXb hpp::constraints::solver::HierarchicalIterative::activeDerivativeParameters ( ) const

Velocity parameters involved in the constraint resolution.

ArrayXb hpp::constraints::solver::HierarchicalIterative::activeParameters ( ) const

Configuration parameters involved in the constraint resolution.

void hpp::constraints::solver::HierarchicalIterative::add	(	const DifferentiableFunctionPtr_t &	f,
		const std::size_t &	priority
	)

Add an implicit equality constraint.

Parameters

f	differentiable function from the robot configuration space to a Lie group (See hpp::pinocchio::LiegroupSpace),
priority	level of priority of the constraint: priority are in decreasing order: 0 is the highest priority level.

Constraint is defined by \(f (\mathbf{q}) = 0\).

void hpp::constraints::solver::HierarchicalIterative::add	(	const DifferentiableFunctionPtr_t &	f,
		const std::size_t &	priority,
		const ComparisonTypes_t &	comp
	)

Add an implicit constraint.

Parameters

f	differentiable function from the robot configuration space to a Lie group (See hpp::pinocchio::LiegroupSpace),
priority	level of priority of the constraint: priority are in decreasing order: 0 is the highest priority level,
comp	comparison type. See class documentation for details.

void hpp::constraints::solver::HierarchicalIterative::add	(	const ImplicitPtr_t &	constraint,
		const std::size_t &	priority
	)

Add an implicit constraint.

Parameters

constraint	implicit constraint
priority	level of priority of the constraint: priority are in decreasing order: 0 is the highest priority level,

virtual void hpp::constraints::solver::HierarchicalIterative::computeActiveRowsOfJ ( std::size_t iStack )

protectedvirtual

Compute which rows of the jacobian of stack_[iStack] are not zero, using the activeDerivativeParameters of the functions.

The result is stored in datas_[i].activeRowsOfJ

Reimplemented in hpp::constraints::solver::BySubstitution.

void hpp::constraints::solver::HierarchicalIterative::computeDescentDirection ( ) const

protected

Compute a SVD decomposition of each level and find the best descent direction at the first order.

Linearization of the system of equations rhs - v_{i} = J (q_i) (dq_{i+1} - q_{i}) q_{i+1} - q_{i} = J(q_i)^{+} ( rhs - v_{i} ) dq = J(q_i)^{+} ( rhs - v_{i} )

Warning: computeValue<true> must have been called first.

Referenced by hpp::constraints::solver::BySubstitution::impl_solve().

void hpp::constraints::solver::HierarchicalIterative::computeError ( ) const

If lastIsOptional() is true, then the last level is ignored.

Warning: computeValue must have been called first.

Referenced by hpp::constraints::solver::BySubstitution::impl_solve().

void hpp::constraints::solver::HierarchicalIterative::computeSaturation ( vectorIn_t arg ) const

Referenced by hpp::constraints::solver::BySubstitution::impl_solve().

template<bool ComputeJac>

void hpp::constraints::solver::HierarchicalIterative::computeValue ( vectorIn_t arg ) const

Compute the value of each level, and the jacobian if ComputeJac is true.

const LiegroupSpacePtr_t& hpp::constraints::solver::HierarchicalIterative::configSpace ( ) const

inline

Get configuration space on which constraints are defined.

const ImplicitConstraintSet& hpp::constraints::solver::HierarchicalIterative::constraints ( const std::size_t priority )

inline

Get set of constraints for a give priority level.

References Eigen::assert().

virtual bool hpp::constraints::solver::HierarchicalIterative::contains ( const ImplicitPtr_t & numericalConstraint ) const

virtual

Check whether a numerical constraint has been added.

Parameters

numericalConstraint numerical constraint

Returns: true if numerical constraint is already in the solver whatever the passive dofs are.

Reimplemented in hpp::constraints::solver::BySubstitution.

const size_type& hpp::constraints::solver::HierarchicalIterative::dimension ( ) const

inline

void hpp::constraints::solver::HierarchicalIterative::errorThreshold ( const value_type & threshold )

inline

Set error threshold.

value_type hpp::constraints::solver::HierarchicalIterative::errorThreshold ( ) const

inline

Get error threshold.

Referenced by hpp::constraints::solver::BySubstitution::errorThreshold().

void hpp::constraints::solver::HierarchicalIterative::expandDqSmall ( ) const

protected

void hpp::constraints::solver::HierarchicalIterative::freeVariables ( const segments_t intervals )

inline

Set free velocity variables.

The other variables will be left unchanged by the iterative resolution.

Parameters

intervals set of index intervals

void hpp::constraints::solver::HierarchicalIterative::freeVariables ( const Indices_t & indices )

inline

Set free velocity variables.

The other variables will be left unchanged by the iterative resolution.

const Indices_t& hpp::constraints::solver::HierarchicalIterative::freeVariables ( ) const

inline

Get free velocity variables.

void hpp::constraints::solver::HierarchicalIterative::getReducedJacobian ( matrixOut_t J ) const

virtual bool hpp::constraints::solver::HierarchicalIterative::getRightHandSide	(	const ImplicitPtr_t &	constraint,
		vectorOut_t	rhs
	)		const

virtual

Get right hand side of a constraints.

Reimplemented in hpp::constraints::solver::BySubstitution.

void hpp::constraints::solver::HierarchicalIterative::getValue ( vectorOut_t v ) const

value_type hpp::constraints::solver::HierarchicalIterative::inequalityThreshold ( ) const

inline

Get the inequality threshold.

void hpp::constraints::solver::HierarchicalIterative::inequalityThreshold ( const value_type & it )

inline

set the inequality threshold

virtual bool hpp::constraints::solver::HierarchicalIterative::integrate	(	vectorIn_t	from,
		vectorIn_t	velocity,
		vectorOut_t	result
	)		const

virtual

Reimplemented in hpp::constraints::solver::BySubstitution.

Referenced by hpp::constraints::solver::BySubstitution::integrate().

bool hpp::constraints::solver::HierarchicalIterative::isSatisfied ( vectorIn_t arg ) const

inline

Referenced by hpp::constraints::solver::BySubstitution::isSatisfied(), and hpp::constraints::solver::BySubstitution::oneStep().

void hpp::constraints::solver::HierarchicalIterative::lastIsOptional ( bool optional )

inline

bool hpp::constraints::solver::HierarchicalIterative::lastIsOptional ( ) const

inline

const vector_t& hpp::constraints::solver::HierarchicalIterative::lastStep ( ) const

inline

Accessor to the last step done.

References integrate().

void hpp::constraints::solver::HierarchicalIterative::maxIterations ( size_type iterations )

inline

Set maximal number of iterations.

size_type hpp::constraints::solver::HierarchicalIterative::maxIterations ( ) const

inline

Get maximal number of iterations in config projector.

std::size_t hpp::constraints::solver::HierarchicalIterative::numberStacks ( ) const

inline

virtual std::ostream& hpp::constraints::solver::HierarchicalIterative::print ( std::ostream & os ) const

virtual

Reimplemented in hpp::constraints::solver::BySubstitution.

const size_type& hpp::constraints::solver::HierarchicalIterative::reducedDimension ( ) const

inline

Dimension of the problem after removing the rows of the jacobian which do not influence the error (only zeros along those lines).

value_type hpp::constraints::solver::HierarchicalIterative::residualError ( ) const

inline

Returns the squared norm of the error vector.

void hpp::constraints::solver::HierarchicalIterative::residualError ( vectorOut_t error ) const

Returns the error vector.

virtual bool hpp::constraints::solver::HierarchicalIterative::rightHandSide	(	const ImplicitPtr_t &	constraint,
		vectorIn_t	rhs
	)

virtual

Set right hand side of a constraints.

Parameters

constraint	the constraint,
rhs	right hand side.

Note: Size of rhs should be equal to the total dimension of parameterizable constraints (type Equality) .

Reimplemented in hpp::constraints::solver::BySubstitution.

virtual void hpp::constraints::solver::HierarchicalIterative::rightHandSide ( vectorIn_t rhs )

virtual

Set the right hand side.

Parameters

rhs	the right hand side

Note: Size of rhs should be equal to the total dimension of parameterizable constraints (type Equality).

Reimplemented in hpp::constraints::solver::BySubstitution.

vector_t hpp::constraints::solver::HierarchicalIterative::rightHandSide ( ) const

Get the right hand side.

Returns: the right hand side

Note: size of result is equal to total dimension of parameterizable constraints (type Equality).

void hpp::constraints::solver::HierarchicalIterative::rightHandSideAt ( const value_type & s )

Set the right hand side at a given parameter.

Parameters

s	parameter passed to Implicit::rightHandSideAt

vector_t hpp::constraints::solver::HierarchicalIterative::rightHandSideFromConfig ( ConfigurationIn_t config )

Compute right hand side of equality constraints from a configuration.

Parameters

config a configuration.

for each constraint of type Equality, set right hand side as \(rhs = f(\mathbf{q})\).

Note: Only parameterizable constraints (type Equality) are set

virtual bool hpp::constraints::solver::HierarchicalIterative::rightHandSideFromConfig	(	const ImplicitPtr_t &	constraint,
		ConfigurationIn_t	config
	)

virtual

Compute right hand side of a constraint from a configuration.

Parameters

constraint	the constraint,
config	a configuration.

Set right hand side as \(rhs = f(\mathbf{q})\).

Note: Only parameterizable constraints (type Equality) are set

Reimplemented in hpp::constraints::solver::BySubstitution.

size_type hpp::constraints::solver::HierarchicalIterative::rightHandSideSize ( ) const

Get size of the right hand side.

Returns: sum of dimensions of parameterizable constraints (type Equality)

void hpp::constraints::solver::HierarchicalIterative::saturate ( vectorOut_t arg ) const

protected

void hpp::constraints::solver::HierarchicalIterative::saturation ( const Saturation_t & saturate )

inline

Set the saturation function.

const Saturation_t& hpp::constraints::solver::HierarchicalIterative::saturation ( ) const

inline

Get the saturation function.

const value_type& hpp::constraints::solver::HierarchicalIterative::sigma ( ) const

inline

Returns the lowest singular value.

If the jacobian has maximum rank r, then it corresponds to r-th greatest singular value. This value is zero when the jacobian is singular.

template<typename LineSearchType >

solver::HierarchicalIterative::Status hpp::constraints::solver::HierarchicalIterative::solve	(	vectorOut_t	arg,
		LineSearchType	lineSearch
	)		const

inline

References Eigen::assert().

template<typename LineSearchType >

Status hpp::constraints::solver::HierarchicalIterative::solve	(	vectorOut_t	arg,
		LineSearchType	ls = `LineSearchType()`
	)		const

Solve the system of non linear equations.

Parameters

arg	initial guess,
ls	line search method used.

Use Newton Rhapson like iterative method until the error is below the threshold, or until the maximal number of iterations has been reached.

Note: Explicit constraints are expressed in their implicit form: \(\mathbf{q}_2 = f (\mathbf{q}_1)\) is replaced by \(\mathbf{q}_2 - f (\mathbf{q}_1) = 0\), where \(\mathbf{q}_1\) and \(\mathbf{q}_2\) are vectors composed of the components of \(\mathbf{q}\).

Status hpp::constraints::solver::HierarchicalIterative::solve ( vectorOut_t arg ) const

inline

Solve the system of non linear equations.

Parameters

arg	initial guess,

Use Newton Rhapson like iterative method until the error is below the threshold, or until the maximal number of iterations has been reached. Use the default line search method (fixed sequence of \(\alpha_i\)).

Note: Explicit constraints are expressed in their implicit form: \(\mathbf{q}_2 = f (\mathbf{q}_1)\) is replaced by \(\mathbf{q}_2 - f (\mathbf{q}_1) = 0\), where \(\mathbf{q}_1\) and \(\mathbf{q}_2\) are vectors composed of the components of \(\mathbf{q}\).

value_type hpp::constraints::solver::HierarchicalIterative::squaredErrorThreshold ( ) const

inline

Get error threshold.

void hpp::constraints::solver::HierarchicalIterative::update ( )

protected

Allocate datas and update sizes of the problem Should be called whenever the stack is modified.

Friends And Related Function Documentation

friend struct lineSearch::Backtracking

friend

Member Data Documentation

LiegroupSpacePtr_t hpp::constraints::solver::HierarchicalIterative::configSpace_

protected

NumericalConstraints_t hpp::constraints::solver::HierarchicalIterative::constraints_

protected

Members moved from core::ConfigProjector.

std::vector<Data> hpp::constraints::solver::HierarchicalIterative::datas_

mutableprotected

Referenced by hpp::constraints::solver::BySubstitution::impl_solve().

size_type hpp::constraints::solver::HierarchicalIterative::dimension_

protected

vector_t hpp::constraints::solver::HierarchicalIterative::dq_

mutableprotected

Referenced by hpp::constraints::solver::BySubstitution::impl_solve().

vector_t hpp::constraints::solver::HierarchicalIterative::dqSmall_

mutableprotected

Indices_t hpp::constraints::solver::HierarchicalIterative::freeVariables_

protected

Unknown of the set of implicit constraints.

value_type hpp::constraints::solver::HierarchicalIterative::inequalityThreshold_

protected

std::map<DifferentiableFunctionPtr_t, size_type> hpp::constraints::solver::HierarchicalIterative::iq_

protected

Value rank of constraint in its priority level.

std::map<DifferentiableFunctionPtr_t, size_type> hpp::constraints::solver::HierarchicalIterative::iv_

protected

Derivative rank of constraint in its priority level.

bool hpp::constraints::solver::HierarchicalIterative::lastIsOptional_

protected

Referenced by hpp::constraints::solver::BySubstitution::impl_solve().

size_type hpp::constraints::solver::HierarchicalIterative::maxIterations_

protected

Referenced by hpp::constraints::solver::BySubstitution::impl_solve().

vector_t hpp::constraints::solver::HierarchicalIterative::OM_

mutableprotected

vector_t hpp::constraints::solver::HierarchicalIterative::OP_

mutableprotected

std::map<DifferentiableFunctionPtr_t, std::size_t> hpp::constraints::solver::HierarchicalIterative::priority_

protected

Priority level of constraint.

Configuration_t hpp::constraints::solver::HierarchicalIterative::qSat_

mutableprotected

size_type hpp::constraints::solver::HierarchicalIterative::reducedDimension_

protected

Referenced by hpp::constraints::solver::BySubstitution::impl_solve().

matrix_t hpp::constraints::solver::HierarchicalIterative::reducedJ_

mutableprotected

Eigen::VectorXi hpp::constraints::solver::HierarchicalIterative::reducedSaturation_

mutableprotected

Saturation_t hpp::constraints::solver::HierarchicalIterative::saturate_

protected

Eigen::VectorXi hpp::constraints::solver::HierarchicalIterative::saturation_

mutableprotected

value_type hpp::constraints::solver::HierarchicalIterative::sigma_

mutableprotected

The smallest non-zero singular value.

value_type hpp::constraints::solver::HierarchicalIterative::squaredErrorThreshold_

protected

Referenced by hpp::constraints::solver::BySubstitution::impl_solve().

value_type hpp::constraints::solver::HierarchicalIterative::squaredNorm_

mutableprotected

Referenced by hpp::constraints::solver::BySubstitution::impl_solve().

std::vector<ImplicitConstraintSet> hpp::constraints::solver::HierarchicalIterative::stacks_

protected

mutable ::hpp::statistics::SuccessStatistics hpp::constraints::solver::HierarchicalIterative::statistics_

protected

SVD_t hpp::constraints::solver::HierarchicalIterative::svd_

mutableprotected

ArrayXb hpp::constraints::solver::HierarchicalIterative::tmpSat_

mutableprotected

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation