LinearizedTaskConstraint.h

Go to the documentation of this file.

 
#pragma once
 
#include <tvm/Task.h>
#include <tvm/constraint/abstract/LinearConstraint.h>
#include <tvm/utils/ProtoTask.h>
 
namespace tvm
{
 
namespace constraint
{
 
namespace internal
{
 
class TVM_DLLAPI LinearizedTaskConstraint : public abstract::LinearConstraint
{
public:
  SET_UPDATES(LinearizedTaskConstraint, UpdateRHS, UpdateRHS2)
 
  
  LinearizedTaskConstraint(const Task & task);
 
  template<constraint::Type T>
  LinearizedTaskConstraint(const utils::ProtoTask<T> & pt, const task_dynamics::abstract::TaskDynamics & td);
 
  void updateLKin();
  void updateLDyn();
  void updateUKin();
  void updateUDyn();
  void updateEKin();
  void updateEDyn();
  void updateU2Kin();
  void updateU2Dyn();
 
  tvm::internal::MatrixConstRefWithProperties jacobian(const Variable & x) const override;
 
private:
  FunctionPtr f_;
  TaskDynamicsPtr td_;
  TaskDynamicsPtr td2_; // for double sided constraints only;
};
 
template<constraint::Type T>
LinearizedTaskConstraint::LinearizedTaskConstraint(const utils::ProtoTask<T> & pt,
                                                   const task_dynamics::abstract::TaskDynamics & td)
: LinearizedTaskConstraint(Task(pt, td))
{}
 
} // namespace internal
 
} // namespace constraint
 
} // namespace tvm