Data used in constraint components. Composed by slack, dual (Lagrange multiplier), primal residual, complementary slackness between the slack and dual, and directions of slack and dual. More...

#include <constraint_component_data.hpp>

Public Member Functions
	ConstraintComponentData (const int dimc, const double barrier_param)
	Constructor. More...

	ConstraintComponentData ()
	Default constructor. More...

	~ConstraintComponentData ()=default
	Default destructor. More...

	ConstraintComponentData (const ConstraintComponentData &)=default
	Default copy constructor. More...

ConstraintComponentData &	operator= (const ConstraintComponentData &)=default
	Default copy operator. More...

	ConstraintComponentData (ConstraintComponentData &&) noexcept=default
	Default move constructor. More...

ConstraintComponentData &	operator= (ConstraintComponentData &&) noexcept=default
	Default move assign operator. More...

double	KKTError () const
	Returns the squared norm of the KKT reisdual, that is, the sum of the squared norm of the primal residual and complementary slackness of the constraint. More...

template<int p = 1>
double	primalFeasibility () const
	Returns the lp norm of the primal feasibility, i.e., the constraint violation. Default norm is l1-norm. You can also specify l-infty norm by passing Eigen::Infinity as the template parameter. More...

template<int p = 1>
double	dualFeasibility () const
	Returns the lp norm of the dual feasibility. Default norm is l1-norm. You can also specify l-infty norm by passing Eigen::Infinity as the template parameter. More...

void	resize (const int dimc)
	Resizes the constraint. More...

int	dimc () const
	Dimension of the constraint. More...

bool	checkDimensionalConsistency () const
	Check whether dimensions of slack, dual, residual, cmpl, dslack, ddual are ConstraintComponentData::dimc(). More...

bool	isApprox (const ConstraintComponentData &other) const
	Checks the equivalence of two ConstraintComponentData. More...

Public Attributes
Eigen::VectorXd	slack
	Slack variable of the constraint. Size is ConstraintComponentData::dimc(). All elements must be positive. More...

Eigen::VectorXd	dual
	Dual variable (Lagrange multiplier) of the constraint. Size is ConstraintComponentData::dimc(). All elements must be positive. More...

Eigen::VectorXd	residual
	Primal residual of the constraint. Size is ConstraintComponentData::dimc(). More...

Eigen::VectorXd	cmpl
	Residual in the complementary slackness between slack and dual. Size is ConstraintComponentData::dimc(). More...

Eigen::VectorXd	dslack
	Newton direction of the slack. Size is ConstraintComponentData::dimc(). More...

Eigen::VectorXd	ddual
	Newton direction of the dual. Size is ConstraintComponentData::dimc(). More...

Eigen::VectorXd	cond
	Used in condensing of slack and dual. Size is ConstraintComponentData::dimc(). More...

double	log_barrier
	Value of the log berrier function of the slack variable. More...

std::vector< Eigen::VectorXd >	r
	std vector of Eigen::VectorXd used to store residual temporaly. Only be allocated in ConstraintComponentBase::allocateExtraData(). More...

std::vector< Eigen::MatrixXd >	J
	std vector of Eigen::MatrixXd used to store Jacobian temporaly. Only be allocated in ConstraintComponentBase::allocateExtraData(). More...

Detailed Description

Data used in constraint components. Composed by slack, dual (Lagrange multiplier), primal residual, complementary slackness between the slack and dual, and directions of slack and dual.

Constructor & Destructor Documentation

◆ ConstraintComponentData() [1/4]

robotoc::ConstraintComponentData::ConstraintComponentData	(	const int	dimc,
		const double	barrier_param
	)

Constructor.

Parameters

[in]	dimc	Dimension of the constraint component. Must be positive.
[in]	barrier_param	Barrier parameter. Must be positive. Should be small. Only used to initialize the slack and dual variables.

◆ ConstraintComponentData() [2/4]

robotoc::ConstraintComponentData::ConstraintComponentData ( )

Default constructor.

◆ ~ConstraintComponentData()

robotoc::ConstraintComponentData::~ConstraintComponentData ( )

default

Default destructor.

◆ ConstraintComponentData() [3/4]

robotoc::ConstraintComponentData::ConstraintComponentData ( const ConstraintComponentData & )

default

Default copy constructor.

◆ ConstraintComponentData() [4/4]

robotoc::ConstraintComponentData::ConstraintComponentData ( ConstraintComponentData && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ checkDimensionalConsistency()

bool robotoc::ConstraintComponentData::checkDimensionalConsistency ( ) const

Check whether dimensions of slack, dual, residual, cmpl, dslack, ddual are ConstraintComponentData::dimc().

Returns: Dimension of the constraint.

◆ dimc()

int robotoc::ConstraintComponentData::dimc ( ) const

inline

Dimension of the constraint.

Returns: Dimension of the constraint.

◆ dualFeasibility()

template<int p = 1>

double robotoc::ConstraintComponentData::dualFeasibility ( ) const

inline

Returns the lp norm of the dual feasibility. Default norm is l1-norm. You can also specify l-infty norm by passing Eigen::Infinity as the template parameter.

Template Parameters

p	Index of norm. Default is 1 (l1-norm).

Returns: The lp norm of the dual feasibility.

◆ isApprox()

bool robotoc::ConstraintComponentData::isApprox ( const ConstraintComponentData & other ) const

Checks the equivalence of two ConstraintComponentData.

Parameters

[in] other Other object.

Returns: true if this and other is same. false otherwise.

◆ KKTError()

double robotoc::ConstraintComponentData::KKTError ( ) const

inline

Returns the squared norm of the KKT reisdual, that is, the sum of the squared norm of the primal residual and complementary slackness of the constraint.

Returns: Squared norm of the KKT residual.

◆ operator=() [1/2]

ConstraintComponentData & robotoc::ConstraintComponentData::operator= ( const ConstraintComponentData & )

default

Default copy operator.

◆ operator=() [2/2]

ConstraintComponentData & robotoc::ConstraintComponentData::operator= ( ConstraintComponentData && )

defaultnoexcept

Default move assign operator.

◆ primalFeasibility()

template<int p = 1>

double robotoc::ConstraintComponentData::primalFeasibility ( ) const

inline

Returns the lp norm of the primal feasibility, i.e., the constraint violation. Default norm is l1-norm. You can also specify l-infty norm by passing Eigen::Infinity as the template parameter.

Template Parameters

p	Index of norm. Default is 1 (l1-norm).

Returns: The lp norm of the primal feasibility.

◆ resize()

void robotoc::ConstraintComponentData::resize ( const int dimc )

Resizes the constraint.

Parameters

[in] dimc The new size.

Member Data Documentation

◆ cmpl

Eigen::VectorXd robotoc::ConstraintComponentData::cmpl

Residual in the complementary slackness between slack and dual. Size is ConstraintComponentData::dimc().

◆ cond

Eigen::VectorXd robotoc::ConstraintComponentData::cond

Used in condensing of slack and dual. Size is ConstraintComponentData::dimc().

◆ ddual

Eigen::VectorXd robotoc::ConstraintComponentData::ddual

Newton direction of the dual. Size is ConstraintComponentData::dimc().

◆ dslack

Eigen::VectorXd robotoc::ConstraintComponentData::dslack

Newton direction of the slack. Size is ConstraintComponentData::dimc().

◆ dual

Eigen::VectorXd robotoc::ConstraintComponentData::dual

Dual variable (Lagrange multiplier) of the constraint. Size is ConstraintComponentData::dimc(). All elements must be positive.

◆ J

std::vector<Eigen::MatrixXd> robotoc::ConstraintComponentData::J

std vector of Eigen::MatrixXd used to store Jacobian temporaly. Only be allocated in ConstraintComponentBase::allocateExtraData().

◆ log_barrier

double robotoc::ConstraintComponentData::log_barrier

Value of the log berrier function of the slack variable.

◆ r

std::vector<Eigen::VectorXd> robotoc::ConstraintComponentData::r

std vector of Eigen::VectorXd used to store residual temporaly. Only be allocated in ConstraintComponentBase::allocateExtraData().

◆ residual

Eigen::VectorXd robotoc::ConstraintComponentData::residual

Primal residual of the constraint. Size is ConstraintComponentData::dimc().

◆ slack

Eigen::VectorXd robotoc::ConstraintComponentData::slack

Slack variable of the constraint. Size is ConstraintComponentData::dimc(). All elements must be positive.

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

/github/workspace/include/robotoc/constraints/constraint_component_data.hpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ConstraintComponentData() [1/4]

◆ ConstraintComponentData() [2/4]

◆ ~ConstraintComponentData()

◆ ConstraintComponentData() [3/4]

◆ ConstraintComponentData() [4/4]

Member Function Documentation

◆ checkDimensionalConsistency()

◆ dimc()

◆ dualFeasibility()

◆ isApprox()

◆ KKTError()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ primalFeasibility()

◆ resize()

Member Data Documentation

◆ cmpl

◆ cond

◆ ddual

◆ dslack

◆ dual

◆ J

◆ log_barrier

◆ r

◆ residual

◆ slack