tvm::LinearizedControlProblem Class Reference

#include <tvm/LinearizedControlProblem.h>

Inheritance diagram for tvm::LinearizedControlProblem:

Collaboration diagram for tvm::LinearizedControlProblem:

Public Member Functions
	LinearizedControlProblem ()
	LinearizedControlProblem (const ControlProblem &pb)
TaskWithRequirementsPtr	add (const Task &task, const requirements::SolvingRequirements &req={})
template<constraint::Type T>
TaskWithRequirementsPtr	add (utils::ProtoTask< T > proto, const task_dynamics::abstract::TaskDynamics &td, const requirements::SolvingRequirements &req={})
template<constraint::Type T>
TaskWithRequirementsPtr	add (utils::LinearProtoTask< T > proto, const task_dynamics::abstract::TaskDynamics &td, const requirements::SolvingRequirements &req={})
template<constraint::Type T>
TaskWithRequirementsPtr	add (utils::LinearProtoTask< T > proto, const requirements::SolvingRequirements &req={})
void	add (TaskWithRequirementsPtr tr)
void	remove (const TaskWithRequirements &tr)
void	add (const hint::Substitution &s)
void	remove (const hint::Substitution &s)
const hint::internal::Substitutions &	substitutions () const
void	removeSubstitutionFor (const constraint::abstract::LinearConstraint &cstr)
VariableVector	variables () const
std::vector< LinearConstraintWithRequirements >	constraints () const
LinearConstraintPtr	constraint (const TaskWithRequirements &t) const
LinearConstraintPtr	constraintNoThrow (const TaskWithRequirements &t) const
const LinearConstraintWithRequirements &	constraintWithRequirements (const TaskWithRequirements &t) const
std::optional< std::reference_wrapper< const LinearConstraintWithRequirements > >	constraintWithRequirementsNoThrow (const TaskWithRequirements &t) const
const tvm::utils::internal::map< TaskWithRequirements const *, LinearConstraintWithRequirements > &	constraintMap () const
Public Member Functions inherited from tvm::ControlProblem
	ControlProblem ()=default
	ControlProblem (const ControlProblem &)=delete
ControlProblem &	operator= (const ControlProblem &)=delete
TaskWithRequirementsPtr	add (const Task &task, const requirements::SolvingRequirements &req={})
template<constraint::Type T>
TaskWithRequirementsPtr	add (utils::ProtoTask< T > proto, const task_dynamics::abstract::TaskDynamics &td, const requirements::SolvingRequirements &req={})
template<constraint::Type T>
TaskWithRequirementsPtr	add (utils::LinearProtoTask< T > proto, const task_dynamics::abstract::TaskDynamics &td, const requirements::SolvingRequirements &req={})
template<constraint::Type T>
TaskWithRequirementsPtr	add (utils::LinearProtoTask< T > proto, const requirements::SolvingRequirements &req={})
void	add (TaskWithRequirementsPtr tr)
void	remove (const TaskWithRequirements &tr)
const std::vector< TaskWithRequirementsPtr > &	tasks () const
int	size () const
void	update ()
void	finalize ()
const graph::CallGraph &	updateGraph () const

Protected Member Functions
void	update_ () override
void	finalize_ () override
Protected Member Functions inherited from tvm::ControlProblem
void	needFinalize ()
void	notify (const scheme::internal::ProblemDefinitionEvent &e)

Additional Inherited Members
Protected Attributes inherited from tvm::ControlProblem
Updater	updater_

Constructor & Destructor Documentation

LinearizedControlProblem() [1/2]

tvm::LinearizedControlProblem::LinearizedControlProblem

(

)

LinearizedControlProblem() [2/2]

tvm::LinearizedControlProblem::LinearizedControlProblem

(

const ControlProblem &

pb

)

Member Function Documentation

add() [1/6]

void tvm::LinearizedControlProblem::add

(

const hint::Substitution &

s

)

add() [2/6]

TaskWithRequirementsPtr tvm::LinearizedControlProblem::add	(	const Task &	task,
		const requirements::SolvingRequirements &	req = {}
	)

add() [3/6]

void tvm::LinearizedControlProblem::add

(

TaskWithRequirementsPtr

tr

)

add() [4/6]

template<constraint::Type T>

TaskWithRequirementsPtr tvm::LinearizedControlProblem::add	(	utils::LinearProtoTask< T >	proto,
		const requirements::SolvingRequirements &	req = {}
	)

add() [5/6]

template<constraint::Type T>

TaskWithRequirementsPtr tvm::LinearizedControlProblem::add	(	utils::LinearProtoTask< T >	proto,
		const task_dynamics::abstract::TaskDynamics &	td,
		const requirements::SolvingRequirements &	req = {}
	)

add() [6/6]

template<constraint::Type T>

TaskWithRequirementsPtr tvm::LinearizedControlProblem::add	(	utils::ProtoTask< T >	proto,
		const task_dynamics::abstract::TaskDynamics &	td,
		const requirements::SolvingRequirements &	req = {}
	)

constraint()

LinearConstraintPtr tvm::LinearizedControlProblem::constraint

(

const TaskWithRequirements &

t

)

const

Access to the linear constraint corresponding to the task t

Parameters

t	TaskWithRequirements object as return by add.

constraintMap()

const tvm::utils::internal::map<TaskWithRequirements const *, LinearConstraintWithRequirements>& tvm::LinearizedControlProblem::constraintMap

(

)

const

Return the map task -> constraint

constraintNoThrow()

LinearConstraintPtr tvm::LinearizedControlProblem::constraintNoThrow

(

const TaskWithRequirements &

t

)

const

Access to the linear constraint corresponding to the task t

Parameters

t	TaskWithRequirements object as return by add.

Returns

A shared_ptr that can be null if t is not in the problem.

constraints()

std::vector<LinearConstraintWithRequirements> tvm::LinearizedControlProblem::constraints

(

)

const

Access to constraints

constraintWithRequirements()

const LinearConstraintWithRequirements& tvm::LinearizedControlProblem::constraintWithRequirements

(

const TaskWithRequirements &

t

)

const

Access to the linear constraint and requirements corresponding to the task t

Parameters

t	TaskWithRequirements object as return by add.

constraintWithRequirementsNoThrow()

std::optional<std::reference_wrapper<const LinearConstraintWithRequirements> > tvm::LinearizedControlProblem::constraintWithRequirementsNoThrow

(

const TaskWithRequirements &

t

)

const

Access to the linear constraint and requirements corresponding to the task t

Parameters

t	TaskWithRequirements object as return by add.

Returns

An std::optional containing a const reference on LinearConstraintWithRequirements if t is in the problem.

finalize_()

void tvm::LinearizedControlProblem::finalize_ ( )

overrideprotectedvirtual

Finalize the data of the solver

Reimplemented from tvm::ControlProblem.

remove() [1/2]

void tvm::LinearizedControlProblem::remove

(

const hint::Substitution &

s

)

remove() [2/2]

void tvm::LinearizedControlProblem::remove

(

const TaskWithRequirements &

tr

)

removeSubstitutionFor()

void tvm::LinearizedControlProblem::removeSubstitutionFor

(

const constraint::abstract::LinearConstraint &

cstr

)

substitutions()

const hint::internal::Substitutions& tvm::LinearizedControlProblem::substitutions

(

)

const

update_()

void tvm::LinearizedControlProblem::update_ ( )

overrideprotectedvirtual

Compute all quantities necessary for solving the problem.

Reimplemented from tvm::ControlProblem.

variables()

VariableVector tvm::LinearizedControlProblem::variables

(

)

const

Access to the variables of the problem.

Note

These are all the variables irrespective of any substitutions as substitutions are hints for the solver.

The result is not cached, i.e. it is recomputed at each call.

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

• include/tvm/LinearizedControlProblem.h