Data for constraints. Composed of ConstraintComponentData corrensponding to the components of Constraints. More...

#include <constraints_data.hpp>

Public Member Functions
	ConstraintsData (const int time_stage)
	Constructor. More...

	ConstraintsData ()
	Default constructor. More...

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

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

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

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

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

void	setTimeStage (const int time_stage)
	Sets the time stage info. More...

bool	isPositionLevelValid () const
	Checks wheather the position-level constraints are valid or not. More...

bool	isVelocityLevelValid () const
	Checks wheather the velocity-level constraints are valid or not. More...

bool	isAccelerationLevelValid () const
	Checks wheather the acceleration-level constraints are valid or not. More...

bool	isImpactLevelValid () const
	Checks wheather the impact-level constraints are valid or not. More...

double	KKTError () const
	Returns the sum of the squared norm of the KKT error (primal residual and complementary slackness) of all the constraints. More...

double	logBarrier () const
	Returns the sum of the log-barrier of the slack variables of all the constraints. 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...

Public Attributes
std::vector< ConstraintComponentData >	position_level_data
	The collection of the position-level constraints data. More...

std::vector< ConstraintComponentData >	velocity_level_data
	The collection of the velocity-level constraints data. More...

std::vector< ConstraintComponentData >	acceleration_level_data
	The collection of the acceleration-level constraints data. More...

std::vector< ConstraintComponentData >	impact_level_data
	The collection of the impact-level constraints data. More...

Detailed Description

Data for constraints. Composed of ConstraintComponentData corrensponding to the components of Constraints.

Constructor & Destructor Documentation

◆ ConstraintsData() [1/4]

robotoc::ConstraintsData::ConstraintsData ( const int time_stage )

Constructor.

Parameters

[in] time_stage Time stage.

◆ ConstraintsData() [2/4]

robotoc::ConstraintsData::ConstraintsData ( )

Default constructor.

◆ ~ConstraintsData()

robotoc::ConstraintsData::~ConstraintsData ( )

default

Default destructor.

◆ ConstraintsData() [3/4]

robotoc::ConstraintsData::ConstraintsData ( const ConstraintsData & )

default

Default copy constructor.

◆ ConstraintsData() [4/4]

robotoc::ConstraintsData::ConstraintsData ( ConstraintsData && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ dualFeasibility()

template<int p>

double robotoc::ConstraintsData::dualFeasibility

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.

◆ isAccelerationLevelValid()

bool robotoc::ConstraintsData::isAccelerationLevelValid ( ) const

inline

Checks wheather the acceleration-level constraints are valid or not.

Returns: true if the acceleration-level constraints are valid. false otherwise.

◆ isImpactLevelValid()

bool robotoc::ConstraintsData::isImpactLevelValid ( ) const

inline

Checks wheather the impact-level constraints are valid or not.

Returns: true if the impact-level constraints are valid. false otherwise.

◆ isPositionLevelValid()

bool robotoc::ConstraintsData::isPositionLevelValid ( ) const

inline

Checks wheather the position-level constraints are valid or not.

Returns: true if the position-level constraints are valid. false otherwise.

◆ isVelocityLevelValid()

bool robotoc::ConstraintsData::isVelocityLevelValid ( ) const

inline

Checks wheather the velocity-level constraints are valid or not.

Returns: true if the velocity-level constraints are valid. false otherwise.

◆ KKTError()

double robotoc::ConstraintsData::KKTError ( ) const

inline

Returns the sum of the squared norm of the KKT error (primal residual and complementary slackness) of all the constraints.

Returns: true if the impact-level constraints are valid. false otherwise.

◆ logBarrier()

double robotoc::ConstraintsData::logBarrier ( ) const

inline

Returns the sum of the log-barrier of the slack variables of all the constraints.

Returns: The sum of the log-barrier of the slack variables of all the constraints.

◆ operator=() [1/2]

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

default

Default copy operator.

◆ operator=() [2/2]

ConstraintsData & robotoc::ConstraintsData::operator= ( ConstraintsData && )

defaultnoexcept

Default move assign operator.

◆ primalFeasibility()

template<int p>

double robotoc::ConstraintsData::primalFeasibility

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.

◆ setTimeStage()

void robotoc::ConstraintsData::setTimeStage ( const int time_stage )

Sets the time stage info.

Parameters

[in] time_stage Time stage.

Member Data Documentation

◆ acceleration_level_data

std::vector<ConstraintComponentData> robotoc::ConstraintsData::acceleration_level_data

The collection of the acceleration-level constraints data.

◆ impact_level_data

std::vector<ConstraintComponentData> robotoc::ConstraintsData::impact_level_data

The collection of the impact-level constraints data.

◆ position_level_data

std::vector<ConstraintComponentData> robotoc::ConstraintsData::position_level_data

The collection of the position-level constraints data.

◆ velocity_level_data

std::vector<ConstraintComponentData> robotoc::ConstraintsData::velocity_level_data

The collection of the velocity-level constraints data.

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

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ConstraintsData() [1/4]

◆ ConstraintsData() [2/4]

◆ ~ConstraintsData()

◆ ConstraintsData() [3/4]

◆ ConstraintsData() [4/4]

Member Function Documentation

◆ dualFeasibility()

◆ isAccelerationLevelValid()

◆ isImpactLevelValid()

◆ isPositionLevelValid()

◆ isVelocityLevelValid()

◆ KKTError()

◆ logBarrier()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ primalFeasibility()

◆ setTimeStage()

Member Data Documentation

◆ acceleration_level_data

◆ impact_level_data

◆ position_level_data

◆ velocity_level_data