Stack of the inequality constraints. Composed by constraint components that inherits ConstraintComponentBase or ImpactConstraintComponentBase. More...

#include <constraints.hpp>

Public Types
using	ConstraintComponentBasePtr = std::shared_ptr< ConstraintComponentBase >

using	ImpactConstraintComponentBasePtr = std::shared_ptr< ImpactConstraintComponentBase >

Public Member Functions
	Constraints (const double barrier_param=1.0e-03, const double fraction_to_boundary_rule=0.995)
	Constructor. More...

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

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

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

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

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

bool	exist (const std::string &name) const
	Checks if thsi has a constraint component of the specified name. More...

void	add (const std::string &name, ConstraintComponentBasePtr constraint)
	Adds a constraint component. If a component of the same name exists, throws an exeption. More...

void	add (const std::string &name, ImpactConstraintComponentBasePtr constraint)
	Adds a constraint component. If a component of the same name exists, throws an exeption. More...

void	erase (const std::string &name)
	Erases a constraint component. If a component of the specified name does not exist, throws an exeption. More...

ConstraintComponentBasePtr	getConstraintComponent (const std::string &name) const
	Gets a constraint component. If a component of the specified name does not exist, throws an exeption. More...

ImpactConstraintComponentBasePtr	getImpactConstraintComponent (const std::string &name) const
	Gets a constraint component. If a component of the specified name does not exist, throws an exeption. More...

void	clear ()
	Clears constraints by removing all components. More...

ConstraintsData	createConstraintsData (const Robot &robot, const int time_stage=-1) const
	Creates ConstraintsData according to robot model and constraint components. More...

bool	isFeasible (Robot &robot, const ContactStatus &contact_status, ConstraintsData &data, const SplitSolution &s) const
	Checks whether the current split solution s is feasible or not. More...

bool	isFeasible (Robot &robot, const ImpactStatus &impact_status, ConstraintsData &data, const SplitSolution &s) const
	Checks whether the current impact split solution s is feasible or not. More...

void	setSlackAndDual (Robot &robot, const ContactStatus &contact_status, ConstraintsData &data, const SplitSolution &s) const
	Sets the slack and dual variables of each constraint components. More...

void	setSlackAndDual (Robot &robot, const ImpactStatus &impact_status, ConstraintsData &data, const SplitSolution &s) const
	Sets the slack and dual variables of each impact constraint components. More...

void	evalConstraint (Robot &robot, const ContactStatus &contact_status, ConstraintsData &data, const SplitSolution &s) const
	Computes the primal residual, residual in the complementary slackness, and the log-barrier function of the slack varible. More...

void	evalConstraint (Robot &robot, const ImpactStatus &impact_status, ConstraintsData &data, const SplitSolution &s) const
	Computes the primal residual, residual in the complementary slackness, and the log-barrier function of the slack varible. More...

void	linearizeConstraints (Robot &robot, const ContactStatus &contact_status, ConstraintsData &data, const SplitSolution &s, SplitKKTResidual &kkt_residual) const
	Evaluates the constraints (i.e., calls evalConstraint()) and adds the products of the Jacobian of the constraints and Lagrange multipliers. More...

void	linearizeConstraints (Robot &robot, const ImpactStatus &impact_status, ConstraintsData &data, const SplitSolution &s, SplitKKTResidual &kkt_residual) const
	Evaluates the constraints (i.e., calls evalConstraint()) and adds the products of the Jacobian of the constraints and Lagrange multipliers. More...

void	condenseSlackAndDual (const ContactStatus &contact_status, ConstraintsData &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual) const
	Condenses the slack and dual variables. linearizeConstraints() must be called before this function. More...

void	condenseSlackAndDual (const ImpactStatus &impact_status, ConstraintsData &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual) const
	Condenses the slack and dual variables. linearizeConstraints() must be called before this function. More...

void	expandSlackAndDual (const ContactStatus &contact_status, ConstraintsData &data, const SplitDirection &d) const
	Expands the slack and dual, i.e., computes the directions of the slack and dual variables from the directions of the primal variables. More...

void	expandSlackAndDual (const ImpactStatus &impact_status, ConstraintsData &data, const SplitDirection &d) const
	Expands the slack and dual, i.e., computes the directions of the slack and dual variables from the directions of the primal variables. More...

double	maxSlackStepSize (const ConstraintsData &data) const
	Computes and returns the maximum step size by applying fraction-to-boundary-rule to the directions of the slack variables. More...

double	maxDualStepSize (const ConstraintsData &data) const
	Computes and returns the maximum step size by applying fraction-to-boundary-rule to the directions of the dual variables. More...

void	setBarrierParam (const double barrier_param)
	Sets the barrier parameter for all the constraint components. More...

void	setFractionToBoundaryRule (const double fraction_to_boundary_rule)
	Sets the parameter of the fraction-to-boundary-rule for all the constraint components. More...

double	getBarrierParam () const
	Gets the barrier parameter. More...

double	getFractionToBoundaryRule () const
	Gets the parameter of the fraction-to-boundary-rule. More...

std::vector< std::string >	getPositionLevelConstraintList () const
	Gets a list of the position-level constraints. More...

std::vector< std::string >	getVelocityLevelConstraintList () const
	Gets a list of the velocity-level constraints. More...

std::vector< std::string >	getAccelerationLevelConstraintList () const
	Gets a list of the acceleration-level constraints. More...

std::vector< std::string >	getImpactLevelConstraintList () const
	Gets a list of the impact-level constraints. More...

std::vector< std::string >	getConstraintList () const
	Gets a list of the constraints. More...

void	disp (std::ostream &os) const
	Displays the constraints onto a ostream. More...

Static Public Member Functions
static void	updateSlack (ConstraintsData &data, const double step_size)
	Updates the slack variables according to step_size. More...

static void	updateDual (ConstraintsData &data, const double step_size)
	Updates the dual variables according to step_size. More...

Friends
std::ostream &	operator<< (std::ostream &os, const Constraints &constraints)

std::ostream &	operator<< (std::ostream &os, const std::shared_ptr< Constraints > &constraints)

Detailed Description

Stack of the inequality constraints. Composed by constraint components that inherits ConstraintComponentBase or ImpactConstraintComponentBase.

Member Typedef Documentation

◆ ConstraintComponentBasePtr

using robotoc::Constraints::ConstraintComponentBasePtr = std::shared_ptr<ConstraintComponentBase>

◆ ImpactConstraintComponentBasePtr

using robotoc::Constraints::ImpactConstraintComponentBasePtr = std::shared_ptr<ImpactConstraintComponentBase>

Constructor & Destructor Documentation

◆ Constraints() [1/3]

robotoc::Constraints::Constraints	(	const double	barrier_param = `1.0e-03`,
		const double	fraction_to_boundary_rule = `0.995`
	)

Constructor.

Parameters

[in]	barrier_param	Barrier parameter. Must be positive. Should be small. Default is 1.0e-03
[in]	fraction_to_boundary_rule	Must be larger than 0 and smaller than 1. Should be between 0.9 and 0.995. Default is 0.995.

◆ ~Constraints()

robotoc::Constraints::~Constraints ( )

default

Default destructor.

◆ Constraints() [2/3]

robotoc::Constraints::Constraints ( const Constraints & )

default

Default copy constructor.

◆ Constraints() [3/3]

robotoc::Constraints::Constraints ( Constraints && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ add() [1/2]

void robotoc::Constraints::add	(	const std::string &	name,
		ConstraintComponentBasePtr	constraint
	)

Adds a constraint component. If a component of the same name exists, throws an exeption.

Parameters

[in]	name	Name of the constraint component.
[in]	constraint	shared pointer to the constraint component.

◆ add() [2/2]

void robotoc::Constraints::add	(	const std::string &	name,
		ImpactConstraintComponentBasePtr	constraint
	)

Adds a constraint component. If a component of the same name exists, throws an exeption.

Parameters

[in]	name	Name of the constraint component.
[in]	constraint	shared pointer to the constraint component.

◆ clear()

void robotoc::Constraints::clear ( )

Clears constraints by removing all components.

◆ condenseSlackAndDual() [1/2]

void robotoc::Constraints::condenseSlackAndDual	(	const ContactStatus &	contact_status,
		ConstraintsData &	data,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)		const

Condenses the slack and dual variables. linearizeConstraints() must be called before this function.

Parameters

[in]	contact_status	Contact status.
[in]	data	Constraints data.
[out]	kkt_matrix	Split KKT matrix. The condensed Hessians are added to this data.
[out]	kkt_residual	Split KKT residual. The condensed residual are added to this data.

◆ condenseSlackAndDual() [2/2]

void robotoc::Constraints::condenseSlackAndDual	(	const ImpactStatus &	impact_status,
		ConstraintsData &	data,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)		const

Condenses the slack and dual variables. linearizeConstraints() must be called before this function.

Parameters

[in]	impact_status	Impact status.
[in]	data	Constraints data.
[out]	kkt_matrix	Impact split KKT matrix. The condensed Hessians are added to this data.
[out]	kkt_residual	Impact split KKT residual. The condensed residual are added to this data.

◆ createConstraintsData()

ConstraintsData robotoc::Constraints::createConstraintsData	(	const Robot &	robot,
		const int	time_stage = `-1`
	)		const

Creates ConstraintsData according to robot model and constraint components.

Parameters

[in]	robot	Robot model.
[in]	time_stage	Time stage. If -1, the impact stage is assumed.

Returns: Constraints data.

◆ disp()

void robotoc::Constraints::disp ( std::ostream & os ) const

Displays the constraints onto a ostream.

◆ erase()

void robotoc::Constraints::erase ( const std::string & name )

Erases a constraint component. If a component of the specified name does not exist, throws an exeption.

Parameters

[in] name Name of the constraint component.

◆ evalConstraint() [1/2]

void robotoc::Constraints::evalConstraint	(	Robot &	robot,
		const ContactStatus &	contact_status,
		ConstraintsData &	data,
		const SplitSolution &	s
	)		const

Computes the primal residual, residual in the complementary slackness, and the log-barrier function of the slack varible.

Computes the primal and dual residuals of the constraints.

Parameters

[in]	robot	Robot model.
[in]	contact_status	Contact status.
[in]	data	Constraints data.
[in]	s	Split solution.

◆ evalConstraint() [2/2]

void robotoc::Constraints::evalConstraint	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		ConstraintsData &	data,
		const SplitSolution &	s
	)		const

Computes the primal residual, residual in the complementary slackness, and the log-barrier function of the slack varible.

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status.
[in]	data	Constraints data.
[in]	s	Impact split solution.

◆ exist()

bool robotoc::Constraints::exist ( const std::string & name ) const

Checks if thsi has a constraint component of the specified name.

Parameters

[in] name Name of the constraint component.

Returns: treu if a constraint component of the specified name exists.

◆ expandSlackAndDual() [1/2]

void robotoc::Constraints::expandSlackAndDual	(	const ContactStatus &	contact_status,
		ConstraintsData &	data,
		const SplitDirection &	d
	)		const

Expands the slack and dual, i.e., computes the directions of the slack and dual variables from the directions of the primal variables.

Parameters

[in]	contact_status	Contact status.
[in,out]	data	Constraints data.
[in]	d	Split direction.

◆ expandSlackAndDual() [2/2]

void robotoc::Constraints::expandSlackAndDual	(	const ImpactStatus &	impact_status,
		ConstraintsData &	data,
		const SplitDirection &	d
	)		const

Expands the slack and dual, i.e., computes the directions of the slack and dual variables from the directions of the primal variables.

Parameters

[in]	impact_status	Impact status.
[in,out]	data	Constraints data.
[in]	d	Impact split direction.

◆ getAccelerationLevelConstraintList()

std::vector< std::string > robotoc::Constraints::getAccelerationLevelConstraintList ( ) const

Gets a list of the acceleration-level constraints.

Returns: Name list of the acceleration-level constraints.

◆ getBarrierParam()

double robotoc::Constraints::getBarrierParam ( ) const

Gets the barrier parameter.

Returns: Barrier parameter.

◆ getConstraintComponent()

ConstraintComponentBasePtr robotoc::Constraints::getConstraintComponent ( const std::string & name ) const

Gets a constraint component. If a component of the specified name does not exist, throws an exeption.

Parameters

[in] name Name of the constraint component.

Returns: Shared ptr to the specified constraint component.

◆ getConstraintList()

std::vector< std::string > robotoc::Constraints::getConstraintList ( ) const

Gets a list of the constraints.

Returns: Name list of acceleration impact-level constraints.

◆ getFractionToBoundaryRule()

double robotoc::Constraints::getFractionToBoundaryRule ( ) const

Gets the parameter of the fraction-to-boundary-rule.

Returns: The parameter of the fraction-to-boundary-rule.

◆ getImpactConstraintComponent()

ImpactConstraintComponentBasePtr robotoc::Constraints::getImpactConstraintComponent ( const std::string & name ) const

Gets a constraint component. If a component of the specified name does not exist, throws an exeption.

Parameters

[in] name Name of the constraint component.

Returns: Shared ptr to the specified constraint component.

◆ getImpactLevelConstraintList()

std::vector< std::string > robotoc::Constraints::getImpactLevelConstraintList ( ) const

Gets a list of the impact-level constraints.

Returns: Name list of acceleration impact-level constraints.

◆ getPositionLevelConstraintList()

std::vector< std::string > robotoc::Constraints::getPositionLevelConstraintList ( ) const

Gets a list of the position-level constraints.

Returns: Name list of the position-level constraints.

◆ getVelocityLevelConstraintList()

std::vector< std::string > robotoc::Constraints::getVelocityLevelConstraintList ( ) const

Gets a list of the velocity-level constraints.

Returns: Name list of the velocity-level constraints.

◆ isFeasible() [1/2]

bool robotoc::Constraints::isFeasible	(	Robot &	robot,
		const ContactStatus &	contact_status,
		ConstraintsData &	data,
		const SplitSolution &	s
	)		const

Checks whether the current split solution s is feasible or not.

Parameters

[in]	robot	Robot model.
[in]	contact_status	Contact status.
[in]	data	Constraints data.
[in]	s	Split solution.

Returns: true if s is feasible. false if not.

◆ isFeasible() [2/2]

bool robotoc::Constraints::isFeasible	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		ConstraintsData &	data,
		const SplitSolution &	s
	)		const

Checks whether the current impact split solution s is feasible or not.

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status.
[in]	data	Constraints data.
[in]	s	Split solution.

Returns: true if s is feasible. false if not.

◆ linearizeConstraints() [1/2]

void robotoc::Constraints::linearizeConstraints	(	Robot &	robot,
		const ContactStatus &	contact_status,
		ConstraintsData &	data,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)		const

Evaluates the constraints (i.e., calls evalConstraint()) and adds the products of the Jacobian of the constraints and Lagrange multipliers.

Parameters

[in]	robot	Robot model.
[in]	contact_status	Contact status.
[in]	data	Constraints data.
[in]	s	Split solution.
[out]	kkt_residual	KKT residual.

◆ linearizeConstraints() [2/2]

void robotoc::Constraints::linearizeConstraints	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		ConstraintsData &	data,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)		const

Evaluates the constraints (i.e., calls evalConstraint()) and adds the products of the Jacobian of the constraints and Lagrange multipliers.

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status.
[in]	data	Constraints data.
[in]	s	Split solution.
[out]	kkt_residual	KKT residual.

◆ maxDualStepSize()

double robotoc::Constraints::maxDualStepSize ( const ConstraintsData & data ) const

Computes and returns the maximum step size by applying fraction-to-boundary-rule to the directions of the dual variables.

Parameters

[in] data Constraints data.

Returns: Maximum step size regarding the dual variables.

◆ maxSlackStepSize()

double robotoc::Constraints::maxSlackStepSize ( const ConstraintsData & data ) const

Computes and returns the maximum step size by applying fraction-to-boundary-rule to the directions of the slack variables.

Parameters

[in] data Constraints data.

Returns: Maximum step size regarding the slack variables.

◆ operator=() [1/2]

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

default

Default copy operator.

◆ operator=() [2/2]

Constraints & robotoc::Constraints::operator= ( Constraints && )

defaultnoexcept

Default move assign operator.

◆ setBarrierParam()

void robotoc::Constraints::setBarrierParam ( const double barrier_param )

Sets the barrier parameter for all the constraint components.

Parameters

[in] barrier_param Barrier parameter. Must be positive. Should be small.

◆ setFractionToBoundaryRule()

void robotoc::Constraints::setFractionToBoundaryRule ( const double fraction_to_boundary_rule )

Sets the parameter of the fraction-to-boundary-rule for all the constraint components.

Parameters

[in] fraction_to_boundary_rule Must be larger than 0 and smaller than 1. Should be between 0.9 and 0.995.

◆ setSlackAndDual() [1/2]

void robotoc::Constraints::setSlackAndDual	(	Robot &	robot,
		const ContactStatus &	contact_status,
		ConstraintsData &	data,
		const SplitSolution &	s
	)		const

Sets the slack and dual variables of each constraint components.

Parameters

[in]	robot	Robot model.
[in]	contact_status	Contact status.
[out]	data	Constraints data.
[in]	s	Split solution.

◆ setSlackAndDual() [2/2]

void robotoc::Constraints::setSlackAndDual	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		ConstraintsData &	data,
		const SplitSolution &	s
	)		const

Sets the slack and dual variables of each impact constraint components.

Parameters

[in]	robot	Robot model.
[in]	impact_status	Impact status.
[out]	data	Constraints data.
[in]	s	Split solution.

◆ updateDual()

static void robotoc::Constraints::updateDual	(	ConstraintsData &	data,
		const double	step_size
	)

static

Updates the dual variables according to step_size.

Parameters

[in,out]	data	Constraints data.
[in]	step_size	Step size.

◆ updateSlack()

static void robotoc::Constraints::updateSlack	(	ConstraintsData &	data,
		const double	step_size
	)

static

Updates the slack variables according to step_size.

Parameters

[in,out]	data	Constraints data.
[in]	step_size	Step size.

Friends And Related Function Documentation

◆ operator<< [1/2]

std::ostream & operator<<	(	std::ostream &	os,
		const Constraints &	constraints
	)

friend

◆ operator<< [2/2]

std::ostream & operator<<	(	std::ostream &	os,
		const std::shared_ptr< Constraints > &	constraints
	)

friend

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

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

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

◆ ConstraintComponentBasePtr

◆ ImpactConstraintComponentBasePtr

Constructor & Destructor Documentation

◆ Constraints() [1/3]

◆ ~Constraints()

◆ Constraints() [2/3]

◆ Constraints() [3/3]

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ clear()

◆ condenseSlackAndDual() [1/2]

◆ condenseSlackAndDual() [2/2]

◆ createConstraintsData()

◆ disp()

◆ erase()

◆ evalConstraint() [1/2]

◆ evalConstraint() [2/2]

◆ exist()

◆ expandSlackAndDual() [1/2]

◆ expandSlackAndDual() [2/2]

◆ getAccelerationLevelConstraintList()

◆ getBarrierParam()

◆ getConstraintComponent()

◆ getConstraintList()

◆ getFractionToBoundaryRule()

◆ getImpactConstraintComponent()

◆ getImpactLevelConstraintList()

◆ getPositionLevelConstraintList()

◆ getVelocityLevelConstraintList()

◆ isFeasible() [1/2]

◆ isFeasible() [2/2]

◆ linearizeConstraints() [1/2]

◆ linearizeConstraints() [2/2]

◆ maxDualStepSize()

◆ maxSlackStepSize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setBarrierParam()

◆ setFractionToBoundaryRule()

◆ setSlackAndDual() [1/2]

◆ setSlackAndDual() [2/2]

◆ updateDual()

◆ updateSlack()

Friends And Related Function Documentation

◆ operator<< [1/2]

◆ operator<< [2/2]