#include <tvm/constraint/internal/LinearizedTaskConstraint.h>

Inheritance diagram for tvm::constraint::internal::LinearizedTaskConstraint:

[legend]

Collaboration diagram for tvm::constraint::internal::LinearizedTaskConstraint:

[legend]

Public Member Functions
	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

Public Member Functions inherited from tvm::constraint::abstract::LinearConstraint
void	updateValue ()

Public Member Functions inherited from tvm::constraint::abstract::Constraint
virtual const Eigen::VectorXd &	l () const

virtual const Eigen::VectorXd &	u () const

virtual const Eigen::VectorXd &	e () const

Type	type () const

bool	isEquality () const

RHS	rhs () const

Public Member Functions inherited from tvm::internal::ObjWithId
	ObjWithId (const ObjWithId &)=delete

	ObjWithId (ObjWithId &&other)

ObjWithId &	operator= (const ObjWithId &)=delete

ObjWithId &	operator= (ObjWithId &&other)

int	id () const

Public Member Functions inherited from tvm::graph::abstract::OutputSelector< Constraint, tvm::internal::FirstOrderProvider >
	OutputSelector (Args &&... args)

void	lock ()

void	unlock ()

bool	isLocked () const

Public Member Functions inherited from tvm::internal::FirstOrderProvider
virtual const Eigen::VectorXd &	value () const

bool	linearIn (const Variable &x) const

const Space &	imageSpace () const

int	size () const

int	rSize () const

int	tSize () const

const VariableVector &	variables () const

Public Member Functions inherited from tvm::graph::internal::AbstractNode
template<typename EnumT >
bool	isUpdateEnabled (EnumT e) const

virtual bool	isUpdateStaticallyEnabled (int) const

virtual bool	isUpdateCustomEnabled (int) const

virtual	~AbstractNode ()=default

void	update (int i)

Public Member Functions inherited from tvm::graph::internal::Inputs
virtual	~Inputs ()=default

template<typename T , typename EnumI , typename... Args>
void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)

template<typename T , typename EnumI , typename... Args, typename std::enable_if< std::is_base_of< abstract::Outputs, T >::value, int >::type = 0>
void	addInput (T &source, EnumI i, Args... args)

template<typename T >
void	removeInput (T *source)

template<typename T , typename... Args>
void	removeInput (T *source, Args... args)

template<typename T >
Iterator	getInput (T *source)

template<typename T >
Iterator	getInput (const std::shared_ptr< T > &source)

Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default

template<typename EnumT >
bool	isOutputEnabled (EnumT e) const

bool	isOutputEnabled (int i) const

virtual bool	isOutputStaticallyEnabled (int) const

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum class	Update_

using	UpdateParent = AbstractNode

using	UpdateBase = AbstractNode

Public Types inherited from tvm::graph::internal::Inputs
using	inputs_t = std::unordered_map< abstract::Outputs *, std::set< int > >

using	store_t = std::unordered_set< std::shared_ptr< abstract::Outputs > >

Public Types inherited from tvm::graph::abstract::Outputs
enum class	Output_

using	OutputParent = Outputs

using	OutputBase = Outputs

Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)

template<typename EnumT >
static constexpr bool	UpdateStaticallyEnabled (EnumT)

Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)

template<typename EnumT >
static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize = 0

static constexpr auto	UpdateBaseName = "AbstractNode"

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize = 0

static constexpr auto	OutputBaseName = "Outputs"

Protected Types inherited from tvm::graph::internal::AbstractNode
using	input_dependency_t = std::map< Outputs *, std::set< int > >

Protected Member Functions inherited from tvm::constraint::abstract::LinearConstraint
	LinearConstraint (Type ct, RHS cr, int m)

Protected Member Functions inherited from tvm::constraint::abstract::Constraint
	Constraint (Type ct, RHS cr, int m=0)

void	resizeCache () override

Eigen::VectorXd &	lRef ()

Eigen::VectorXd &	uRef ()

Eigen::VectorXd &	eRef ()

Protected Member Functions inherited from tvm::internal::ObjWithId
	ObjWithId ()

Protected Member Functions inherited from tvm::graph::abstract::OutputSelector< Constraint, tvm::internal::FirstOrderProvider >
void	disableOutput (EnumT e)

void	disableOutput (EnumT e, Args... args)

void	enableOutput (EnumT e)

void	enableOutput (EnumT e, Args... args)

bool	isOutputCustomEnabled (int e) const override

Protected Member Functions inherited from tvm::internal::FirstOrderProvider
	FirstOrderProvider (int m)

	FirstOrderProvider (Space image)

void	resizeValueCache ()

void	resizeJacobianCache ()

void	addVariable (VariablePtr v, bool linear)

void	removeVariable (VariablePtr v)

void	addVariable (const VariableVector &v, bool linear)

virtual void	addVariable_ (VariablePtr)

virtual void	removeVariable_ (VariablePtr)

void	splitJacobian (const MatrixConstRef &J, const std::vector< VariablePtr > &vars, bool keepProperties=false)

void	splitJacobian (const MatrixConstRef &J, const VariableVector &vars, bool keepProperties=false)

void	resize (int m)

Protected Member Functions inherited from tvm::graph::abstract::Node< FirstOrderProvider >
void	registerUpdates (EnumT u, void(U::*fn)(), Args... args)

void	registerUpdates (EnumT u, void(U::*fn)())

void	addOutputDependency (EnumO o, EnumU u)

void	addOutputDependency (std::initializer_list< EnumO > os, EnumU u)

void	addInternalDependency (EnumU1 uDependent, EnumU2 u)

void	addInputDependency (EnumU u, std::shared_ptr< S > source, EnumO i, Args... args)

void	addInputDependency (EnumU u, S &source, EnumO i, Args... args)

void	addDirectDependency (EnumO o, std::shared_ptr< S > source, EnumI i)

void	addDirectDependency (EnumO o, S &source, EnumI i)

Protected Attributes inherited from tvm::constraint::abstract::Constraint
internal::RHSVectors	vectors_

Protected Attributes inherited from tvm::internal::FirstOrderProvider
Eigen::VectorXd	value_

utils::internal::MapWithVariableAsKey< MatrixWithProperties, slice_matrix, true >	jacobian_

Space	imageSpace_

VariableVector	variables_

utils::internal::MapWithVariableAsKey< bool, slice_linear >	linear_

Protected Attributes inherited from tvm::graph::internal::AbstractNode
std::map< int, std::function< void(AbstractNode &)> >	updates_

std::map< int, std::vector< int > >	outputDependencies_

std::map< int, std::vector< int > >	internalDependencies_

std::map< int, input_dependency_t >	inputDependencies_

std::map< int, std::pair< Outputs *, int > >	directDependencies_

Protected Attributes inherited from tvm::graph::abstract::Outputs
bool	is_node_ = false

Protected Attributes inherited from tvm::graph::abstract::SelectorMembers< add >
std::vector< bool >	dynamicallyEnabled_

bool	locked_ = false

Detailed Description

Given a task \((e, op, rhs, e^*)\), this class derives the constraint \(d^k e/dt^k\ op\ e^*(e,de/dt,...de^{k-1}/dt^{k-1}, rhs [,g])\), where e is an error function, op is ==, >= or <= and \(e^*\) is a desired error dynamics. k is specified by \(e^*\) and (optional) g is any other quantities.

EQUAL (E) \ GREATER_THAN (L) \ LOWER_THAN (U) cases. Dotted dependencies correspond by default to the second order dynamics case (k=2), unless specified otherwise by the task dynamics used.

DOUBLE_SIDED case. Dotted dependencies correspond by default to the second order dynamics case (k=2), unless specified otherwise by the task dynamics used.

Constructor & Destructor Documentation

◆ LinearizedTaskConstraint() [1/2]

tvm::constraint::internal::LinearizedTaskConstraint::LinearizedTaskConstraint ( const Task & task )

Constructor from a task

◆ LinearizedTaskConstraint() [2/2]

template<constraint::Type T>

tvm::constraint::internal::LinearizedTaskConstraint::LinearizedTaskConstraint	(	const utils::ProtoTask< T > &	pt,
		const task_dynamics::abstract::TaskDynamics &	td
	)

Constructor from a ProtoTask and a TaskDynamics

Member Function Documentation

◆ jacobian()

tvm::internal::MatrixConstRefWithProperties tvm::constraint::internal::LinearizedTaskConstraint::jacobian ( const Variable & x ) const

overridevirtual

Return the jacobian matrix corresponding to x

Reimplemented from tvm::internal::FirstOrderProvider.

◆ updateEDyn()

void tvm::constraint::internal::LinearizedTaskConstraint::updateEDyn ( )

Update the e vector, for dynamic tasks.

◆ updateEKin()

void tvm::constraint::internal::LinearizedTaskConstraint::updateEKin ( )

Update the e vector, for kinematic tasks.

◆ updateLDyn()

void tvm::constraint::internal::LinearizedTaskConstraint::updateLDyn ( )

Update the l vector, for dynamic tasks.

◆ updateLKin()

void tvm::constraint::internal::LinearizedTaskConstraint::updateLKin ( )

Update the l vector, for kinematic tasks.

◆ updateU2Dyn()

void tvm::constraint::internal::LinearizedTaskConstraint::updateU2Dyn ( )

Update the u vector, for dynamic, double-sided tasks.

◆ updateU2Kin()

void tvm::constraint::internal::LinearizedTaskConstraint::updateU2Kin ( )

Update the u vector, for kinematic, double-sided tasks.

◆ updateUDyn()

void tvm::constraint::internal::LinearizedTaskConstraint::updateUDyn ( )

Update the u vector, for dynamic, single-sided tasks.

◆ updateUKin()

void tvm::constraint::internal::LinearizedTaskConstraint::updateUKin ( )

Update the u vector, for kinematic, single-sided tasks.

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

include/tvm/constraint/internal/LinearizedTaskConstraint.h

Public Member Functions

Additional Inherited Members