Namespaces
	internal

Classes
class	LinearExpr

class	AffineExpr

class	CheckOptions

class	ProtoTaskCommon

class	ProtoTaskCommon< constraint::Type::DOUBLE_SIDED, FunT >

class	UpdatelessFunction

Typedefs
template<constraint::Type T>
using	ProtoTask = ProtoTaskCommon< T, FunctionPtr >

template<constraint::Type T>
using	LinearProtoTask = ProtoTaskCommon< T, LinearFunctionPtr >

template<typename T , typename IfNotLinearFunction , typename IfLinearFunction >
using	ProtoChoice = typename std::enable_if< std::is_base_of< tvm::function::abstract::Function, T >::value, typename std::conditional< std::is_base_of< tvm::function::abstract::LinearFunction, T >::value, IfLinearFunction, IfNotLinearFunction >::type >::type

using	ProtoTaskEQ = ProtoTask< constraint::Type::EQUAL >

using	LinearProtoTaskEQ = LinearProtoTask< constraint::Type::EQUAL >

template<typename T >
using	ProtoTaskEQRet = ProtoChoice< T, tvm::utils::ProtoTaskEQ, tvm::utils::LinearProtoTaskEQ >

using	ProtoTaskLT = ProtoTask< constraint::Type::LOWER_THAN >

using	LinearProtoTaskLT = LinearProtoTask< constraint::Type::LOWER_THAN >

template<typename T >
using	ProtoTaskLTRet = ProtoChoice< T, tvm::utils::ProtoTaskLT, tvm::utils::LinearProtoTaskLT >

using	ProtoTaskGT = ProtoTask< constraint::Type::GREATER_THAN >

using	LinearProtoTaskGT = LinearProtoTask< constraint::Type::GREATER_THAN >

template<typename T >
using	ProtoTaskGTRet = ProtoChoice< T, tvm::utils::ProtoTaskGT, tvm::utils::LinearProtoTaskGT >

using	ProtoTaskDS = ProtoTask< constraint::Type::DOUBLE_SIDED >

using	LinearProtoTaskDS = LinearProtoTask< constraint::Type::DOUBLE_SIDED >

template<typename T >
using	ProtoTaskDSRet = ProtoChoice< T, tvm::utils::ProtoTaskDS, tvm::utils::LinearProtoTaskDS >

Functions
template<unsigned int N>
constexpr unsigned int	count_va_args (const char(&s)[N], unsigned int i=0, unsigned int ret=0)

template<typename CstDerived , typename... Derived>
AffineExpr< CstDerived, Derived... >	make_AffineExpr (const CstDerived &constant, const std::tuple< LinearExpr< Derived >... > &linear)

bool TVM_DLLAPI	checkJacobian (FunctionPtr f, CheckOptions opt=CheckOptions())

template<typename Object , typename... Args>
std::unique_ptr< graph::CallGraph >	generateUpdateGraph (std::shared_ptr< Object > obj, Args &&... args)

template<typename Derived >
auto	operator- (const tvm::utils::LinearExpr< Derived > &lin)

template<typename CstDerived , typename... Derived>
auto	operator- (const tvm::utils::AffineExpr< CstDerived, Derived... > &aff)

template<typename MultDerived , typename CstDerived , typename... Derived>
auto	operator* (const MultDerived &m, const tvm::utils::AffineExpr< CstDerived, Derived... > &aff)

template<typename Derived , typename CstDerived >
tvm::utils::AffineExpr< CstDerived, Derived >	operator+ (const tvm::utils::LinearExpr< Derived > &lin, const Eigen::MatrixBase< CstDerived > &cst)

template<typename Derived , typename CstDerived >
tvm::utils::AffineExpr< CstDerived, Derived >	operator+ (const Eigen::MatrixBase< CstDerived > &cst, const tvm::utils::LinearExpr< Derived > &lin)

template<typename LhsDerived , typename RhsDerived >
tvm::utils::AffineExpr< tvm::utils::internal::NoConstant, LhsDerived, RhsDerived >	operator+ (const tvm::utils::LinearExpr< LhsDerived > &lhs, const tvm::utils::LinearExpr< RhsDerived > &rhs)

template<typename RhsDerived , typename CstDerived , typename... LhsDerived>
tvm::utils::AffineExpr< CstDerived, LhsDerived..., RhsDerived >	operator+ (const tvm::utils::AffineExpr< CstDerived, LhsDerived... > &lhs, const tvm::utils::LinearExpr< RhsDerived > &rhs)

template<typename LhsDerived , typename CstDerived , typename... RhsDerived>
tvm::utils::AffineExpr< CstDerived, LhsDerived, RhsDerived... >	operator+ (const tvm::utils::LinearExpr< LhsDerived > &lhs, const tvm::utils::AffineExpr< CstDerived, RhsDerived... > &rhs)

template<typename RhsDerived , typename CstDerived , typename... LhsDerived>
tvm::utils::AffineExpr< tvm::utils::internal::AddConstantsRetType< CstDerived, RhsDerived >, LhsDerived... >	operator+ (const tvm::utils::AffineExpr< CstDerived, LhsDerived... > &lhs, const Eigen::MatrixBase< RhsDerived > &rhs)

template<typename LhsDerived , typename CstDerived , typename... RhsDerived>
tvm::utils::AffineExpr< tvm::utils::internal::AddConstantsRetType< LhsDerived, CstDerived >, RhsDerived... >	operator+ (const Eigen::MatrixBase< LhsDerived > &lhs, const tvm::utils::AffineExpr< CstDerived, RhsDerived... > &rhs)

template<typename LCstDerived , typename RCstDerived , typename... LhsDerived, typename... RhsDerived>
tvm::utils::AffineExpr< tvm::utils::internal::AddConstantsRetType< LCstDerived, RCstDerived >, LhsDerived..., RhsDerived... >	operator+ (const tvm::utils::AffineExpr< LCstDerived, LhsDerived... > &lhs, const tvm::utils::AffineExpr< RCstDerived, RhsDerived... > &rhs)

template<typename MultType , typename Derived >
auto	operator* (const MultType &m, const tvm::utils::LinearExpr< Derived > &lin)

template<typename Derived , typename SubType , typename tvm::internal::enable_for_templated_t< SubType, Eigen::MatrixBase, tvm::utils::LinearExpr, tvm::utils::AffineExpr > = 0>
auto	operator- (const tvm::utils::LinearExpr< Derived > &lin, const SubType &rhs)

template<typename CstDerived , typename SubType , typename... Derived, typename tvm::internal::enable_for_templated_t< SubType, Eigen::MatrixBase, tvm::utils::LinearExpr, tvm::utils::AffineExpr > = 0>
auto	operator- (const tvm::utils::AffineExpr< CstDerived, Derived... > &aff, const SubType &rhs)

bool	is_malloc_allowed ()

bool	set_is_malloc_allowed (bool allow)

void	override_is_malloc_allowed (bool allow)

void	restore_is_malloc_allowed ()

TVM_DLLAPI void	transform (sch::S_Object &obj, const sva::PTransformd &t)

TVM_DLLAPI std::unique_ptr< sch::S_Polyhedron >	Polyhedron (const std::string &filename)

TVM_DLLAPI double	distance (sch::CD_Pair &pair, Eigen::Vector3d &p1, Eigen::Vector3d &p2)

Detailed Description

Typedef Documentation

◆ LinearProtoTask

template<constraint::Type T>

using tvm::utils::LinearProtoTask = typedef ProtoTaskCommon<T, LinearFunctionPtr>

A utility class to represent the "constraint" part of a Task, specialized for linear functions

◆ LinearProtoTaskDS

using tvm::utils::LinearProtoTaskDS = typedef LinearProtoTask<constraint::Type::DOUBLE_SIDED>

◆ LinearProtoTaskEQ

using tvm::utils::LinearProtoTaskEQ = typedef LinearProtoTask<constraint::Type::EQUAL>

◆ LinearProtoTaskGT

using tvm::utils::LinearProtoTaskGT = typedef LinearProtoTask<constraint::Type::GREATER_THAN>

◆ LinearProtoTaskLT

using tvm::utils::LinearProtoTaskLT = typedef LinearProtoTask<constraint::Type::LOWER_THAN>

◆ ProtoChoice

template<typename T , typename IfNotLinearFunction , typename IfLinearFunction >

using tvm::utils::ProtoChoice = typedef typename std::enable_if<std::is_base_of<tvm::function::abstract::Function, T>::value, typename std::conditional<std::is_base_of<tvm::function::abstract::LinearFunction, T>::value, IfLinearFunction, IfNotLinearFunction>::type>::type

A helper alias that is IfNotLinearFunction if T is a tvm::abstract::Function, but not a tvm::abstract::LinearFunction, IfLinearFunction if it is a tvm::abstract::LinearFunction, and nothing (discarded by SFINAE) otherwise.

◆ ProtoTask

template<constraint::Type T>

using tvm::utils::ProtoTask = typedef ProtoTaskCommon<T, FunctionPtr>

A utility class to represent the "constraint" part of a Task, for general functions

◆ ProtoTaskDS

using tvm::utils::ProtoTaskDS = typedef ProtoTask<constraint::Type::DOUBLE_SIDED>

Double sided inequality ProtoTask l <= f <= u

◆ ProtoTaskDSRet

template<typename T >

using tvm::utils::ProtoTaskDSRet = typedef ProtoChoice<T, tvm::utils::ProtoTaskDS, tvm::utils::LinearProtoTaskDS>

◆ ProtoTaskEQ

using tvm::utils::ProtoTaskEQ = typedef ProtoTask<constraint::Type::EQUAL>

Equality ProtoTask f = rhs

◆ ProtoTaskEQRet

template<typename T >

using tvm::utils::ProtoTaskEQRet = typedef ProtoChoice<T, tvm::utils::ProtoTaskEQ, tvm::utils::LinearProtoTaskEQ>

◆ ProtoTaskGT

using tvm::utils::ProtoTaskGT = typedef ProtoTask<constraint::Type::GREATER_THAN>

Inequality ProtoTask f >= rhs

◆ ProtoTaskGTRet

template<typename T >

using tvm::utils::ProtoTaskGTRet = typedef ProtoChoice<T, tvm::utils::ProtoTaskGT, tvm::utils::LinearProtoTaskGT>

◆ ProtoTaskLT

using tvm::utils::ProtoTaskLT = typedef ProtoTask<constraint::Type::LOWER_THAN>

Inequality ProtoTask f <= rhs

◆ ProtoTaskLTRet

template<typename T >

using tvm::utils::ProtoTaskLTRet = typedef ProtoChoice<T, tvm::utils::ProtoTaskLT, tvm::utils::LinearProtoTaskLT>

Function Documentation

◆ count_va_args()

template<unsigned int N>

constexpr unsigned int tvm::utils::count_va_args	(	const char(&)	s[N],
		unsigned int	i = `0`,
		unsigned int	ret = `0`
	)

constexpr

Constexpr function to compute the size of VA_ARGS in a macro.

Does not work if VA_ARGS arguments contains a string with an embedded ',' character. This should not happen in the context we use this function.

Inspired by https://stackoverflow.com/a/35868609

Counts the number of ',' in the stringified version of VA_ARGS

◆ distance()

TVM_DLLAPI double tvm::utils::distance	(	sch::CD_Pair &	pair,
		Eigen::Vector3d &	p1,
		Eigen::Vector3d &	p2
	)

Compute distance between two objects

Parameters

pair	pair of SCH objects
p1	will be the closest point in the first object
p2	will be the closes point in the second object

Returns: The squared distance between the two objects, returns a negative distance in case of inter-penetration

◆ generateUpdateGraph()

template<typename Object , typename... Args>

std::unique_ptr< graph::CallGraph > tvm::utils::generateUpdateGraph	(	std::shared_ptr< Object >	obj,
		Args &&...	args
	)

inline

Generate the graph of updates for a list of objects and their specified outputs

g = generateUpdateGraph(obj1, o1_1, ..., o1_n1, obj2, o2_1, ..., o2_n2, ..., objk, ok_1, ..., ok_nk) generates a graph g such that g.execute() ensures that outputs o1_1, ... o1_n1 for obj1, o2_1, ... o2_1 for obj2, etc. are up to date.

◆ is_malloc_allowed()

bool tvm::utils::is_malloc_allowed ( )

inline

Return whether dynamic allocation of memory in Eigen objects is allowed or not.

◆ make_AffineExpr()

template<typename CstDerived , typename... Derived>

AffineExpr<CstDerived, Derived...> tvm::utils::make_AffineExpr	(	const CstDerived &	constant,
		const std::tuple< LinearExpr< Derived >... > &	linear
	)

Helper function to create a AffineExpr and infer automatically the template arguments.

◆ operator*() [1/2]

template<typename MultDerived , typename CstDerived , typename... Derived>

auto tvm::utils::operator*	(	const MultDerived &	m,
		const tvm::utils::AffineExpr< CstDerived, Derived... > &	aff
	)

inline

Aff = m*Aff, where m is any type accepted by Eigen for pre-multiplication (in particular scalar or matrix expression).

◆ operator*() [2/2]

template<typename MultType , typename Derived >

auto tvm::utils::operator*	(	const MultType &	m,
		const tvm::utils::LinearExpr< Derived > &	lin
	)

inline

Lin = m * Lin

◆ operator+() [1/8]

template<typename Derived , typename CstDerived >

tvm::utils::AffineExpr<CstDerived, Derived> tvm::utils::operator+	(	const Eigen::MatrixBase< CstDerived > &	cst,
		const tvm::utils::LinearExpr< Derived > &	lin
	)

inline

Aff = b + Lin

◆ operator+() [2/8]

template<typename LhsDerived , typename CstDerived , typename... RhsDerived>

tvm::utils::AffineExpr<tvm::utils::internal::AddConstantsRetType<LhsDerived, CstDerived>, RhsDerived...> tvm::utils::operator+	(	const Eigen::MatrixBase< LhsDerived > &	lhs,
		const tvm::utils::AffineExpr< CstDerived, RhsDerived... > &	rhs
	)

inline

Aff = b + Aff

◆ operator+() [3/8]

template<typename RhsDerived , typename CstDerived , typename... LhsDerived>

tvm::utils::AffineExpr<tvm::utils::internal::AddConstantsRetType<CstDerived, RhsDerived>, LhsDerived...> tvm::utils::operator+	(	const tvm::utils::AffineExpr< CstDerived, LhsDerived... > &	lhs,
		const Eigen::MatrixBase< RhsDerived > &	rhs
	)

inline

Aff = Aff + b

◆ operator+() [4/8]

template<typename RhsDerived , typename CstDerived , typename... LhsDerived>

tvm::utils::AffineExpr<CstDerived, LhsDerived..., RhsDerived> tvm::utils::operator+	(	const tvm::utils::AffineExpr< CstDerived, LhsDerived... > &	lhs,
		const tvm::utils::LinearExpr< RhsDerived > &	rhs
	)

inline

Aff = Aff + Lin

◆ operator+() [5/8]

template<typename LCstDerived , typename RCstDerived , typename... LhsDerived, typename... RhsDerived>

tvm::utils:: AffineExpr<tvm::utils::internal::AddConstantsRetType<LCstDerived, RCstDerived>, LhsDerived..., RhsDerived...> tvm::utils::operator+	(	const tvm::utils::AffineExpr< LCstDerived, LhsDerived... > &	lhs,
		const tvm::utils::AffineExpr< RCstDerived, RhsDerived... > &	rhs
	)

inline

Aff = Aff + Aff

◆ operator+() [6/8]

template<typename Derived , typename CstDerived >

tvm::utils::AffineExpr<CstDerived, Derived> tvm::utils::operator+	(	const tvm::utils::LinearExpr< Derived > &	lin,
		const Eigen::MatrixBase< CstDerived > &	cst
	)

inline

Aff = Lin + b

◆ operator+() [7/8]

template<typename LhsDerived , typename CstDerived , typename... RhsDerived>

tvm::utils::AffineExpr<CstDerived, LhsDerived, RhsDerived...> tvm::utils::operator+	(	const tvm::utils::LinearExpr< LhsDerived > &	lhs,
		const tvm::utils::AffineExpr< CstDerived, RhsDerived... > &	rhs
	)

inline

Aff = Lin + Aff

◆ operator+() [8/8]

template<typename LhsDerived , typename RhsDerived >

tvm::utils::AffineExpr<tvm::utils::internal::NoConstant, LhsDerived, RhsDerived> tvm::utils::operator+	(	const tvm::utils::LinearExpr< LhsDerived > &	lhs,
		const tvm::utils::LinearExpr< RhsDerived > &	rhs
	)

inline

Aff = Lin + Lin

◆ operator-() [1/4]

template<typename CstDerived , typename... Derived>

auto tvm::utils::operator- ( const tvm::utils::AffineExpr< CstDerived, Derived... > & aff )

inline

Aff = -Aff

◆ operator-() [2/4]

template<typename CstDerived , typename SubType , typename... Derived, typename tvm::internal::enable_for_templated_t< SubType, Eigen::MatrixBase, tvm::utils::LinearExpr, tvm::utils::AffineExpr > = 0>

auto tvm::utils::operator-	(	const tvm::utils::AffineExpr< CstDerived, Derived... > &	aff,
		const SubType &	rhs
	)

inline

Aff = Aff - a

◆ operator-() [3/4]

template<typename Derived >

auto tvm::utils::operator- ( const tvm::utils::LinearExpr< Derived > & lin )

inline

Lin = -Lin

◆ operator-() [4/4]

template<typename Derived , typename SubType , typename tvm::internal::enable_for_templated_t< SubType, Eigen::MatrixBase, tvm::utils::LinearExpr, tvm::utils::AffineExpr > = 0>

auto tvm::utils::operator-	(	const tvm::utils::LinearExpr< Derived > &	lin,
		const SubType &	rhs
	)

inline

Aff = Lin - a

◆ override_is_malloc_allowed()

void tvm::utils::override_is_malloc_allowed ( bool allow )

inline

Record whether dynamic allocation of memory in Eigen objects is allowed or not and set allow instead. Records are made with a stack.

Any call to this function should be mirrored by a call to restore_is_malloc_allowed(). It is advised to call restore_is_malloc_allowed() in the same scope.

◆ Polyhedron()

TVM_DLLAPI std::unique_ptr<sch::S_Polyhedron> tvm::utils::Polyhedron ( const std::string & filename )

Loads an sch::S_Polyhedron object using filename

◆ restore_is_malloc_allowed()

void tvm::utils::restore_is_malloc_allowed ( )

inline

Restore the latest value recorded by override_is_malloc_allowed that was not already restored.

◆ set_is_malloc_allowed()

bool tvm::utils::set_is_malloc_allowed ( bool allow )

inline

Set whether dynamic allocation of memory in Eigen objects is allowed or not.

◆ transform()

TVM_DLLAPI void tvm::utils::transform	(	sch::S_Object &	obj,
		const sva::PTransformd &	t
	)

Set obj pose to t

Namespaces

Classes

Typedefs

Functions

Detailed Description

Typedef Documentation

◆ LinearProtoTask

◆ LinearProtoTaskDS

◆ LinearProtoTaskEQ

◆ LinearProtoTaskGT

◆ LinearProtoTaskLT

◆ ProtoChoice

◆ ProtoTask

◆ ProtoTaskDS

◆ ProtoTaskDSRet

◆ ProtoTaskEQ

◆ ProtoTaskEQRet

◆ ProtoTaskGT

◆ ProtoTaskGTRet

◆ ProtoTaskLT

◆ ProtoTaskLTRet

Function Documentation

◆ count_va_args()

◆ distance()

◆ generateUpdateGraph()

◆ is_malloc_allowed()

◆ make_AffineExpr()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator+() [1/8]

◆ operator+() [2/8]

◆ operator+() [3/8]

◆ operator+() [4/8]

◆ operator+() [5/8]

◆ operator+() [6/8]

◆ operator+() [7/8]

◆ operator+() [8/8]

◆ operator-() [1/4]

◆ operator-() [2/4]

◆ operator-() [3/4]

◆ operator-() [4/4]

◆ override_is_malloc_allowed()

◆ Polyhedron()

◆ restore_is_malloc_allowed()

◆ set_is_malloc_allowed()

◆ transform()