Base class for impact constraint components. More...

#include <impact_constraint_component_base.hpp>

Inheritance diagram for robotoc::ImpactConstraintComponentBase:

[legend]

Collaboration diagram for robotoc::ImpactConstraintComponentBase:

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

virtual	~ImpactConstraintComponentBase ()
	Destructor. More...

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

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

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

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

virtual KinematicsLevel	kinematicsLevel () const =0
	Checks the kinematics level of the constraint component. More...

virtual void	allocateExtraData (ConstraintComponentData &data) const =0
	Allocates extra data in ConstraintComponentData. More...

virtual bool	isFeasible (Robot &robot, const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitSolution &s) const =0
	Checks whether the current solution s is feasible or not. More...

virtual void	setSlack (Robot &robot, const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitSolution &s) const =0
	Sets the slack variables of each constraint components. More...

virtual void	evalConstraint (Robot &robot, const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitSolution &s) const =0
	Computes the primal residual, residual in the complementary slackness, and the log-barrier function of the slack varible. More...

virtual void	evalDerivatives (Robot &robot, const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitSolution &s, SplitKKTResidual &kkt_residual) const =0
	Computes the derivatives of the priaml residual, i.e., the Jacobian of the inequality constraint, and add the product of the Jacobian and the dual variable to the KKT residual. This function is always called just after evalConstraint(). More...

virtual void	condenseSlackAndDual (const ImpactStatus &impact_status, ConstraintComponentData &data, SplitKKTMatrix &kkt_matrix, SplitKKTResidual &kkt_residual) const =0
	Condenses the slack and dual variables, i.e., factorizes the condensed Hessians and KKT residuals. This function is always called just after evalDerivatives(). More...

virtual void	expandSlackAndDual (const ImpactStatus &impact_status, ConstraintComponentData &data, const SplitDirection &d) const =0
	Expands the slack and dual, i.e., computes the directions of the slack and dual variables from the directions of the primal variables. More...

virtual int	dimc () const =0
	Returns the size of the constraint. More...

void	setSlackAndDualPositive (ConstraintComponentData &data) const
	Sets the slack and dual variables positive. More...

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

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

virtual double	getBarrierParam () const final
	Returns the barrier parameter. More...

virtual double	getFractionToBoundaryRule () const final
	Returns the parameter of the fraction-to-boundary-rule. More...

virtual void	setBarrierParam (const double barrier_param) final
	Sets the barrier parameter. More...

virtual void	setFractionToBoundaryRule (const double fraction_to_boundary_rule) final
	Sets the parameter of the fraction-to-boundary-rule. More...

template<typename Derived >
std::shared_ptr< Derived >	as_shared_ptr ()
	Gets the shared ptr of this object as the specified type. If this fails in dynamic casting, throws an exception. More...

Static Public Member Functions
static void	updateSlack (ConstraintComponentData &data, const double step_size)
	Updates the slack variable according to the step size. More...

static void	updateDual (ConstraintComponentData &data, const double step_size)
	Updates the dual variable according to the step size. More...

Protected Member Functions
void	computeComplementarySlackness (ConstraintComponentData &data) const
	Computes the residual in the complementarity slackness between the slack and dual variables. More...

void	computeComplementarySlackness (ConstraintComponentData &data, const int start, const int size) const
	Computes the residual in the complementarity slackness between the slack and dual variables. More...

template<int Size>
void	computeComplementarySlackness (ConstraintComponentData &data, const int start) const
	Computes the residual in the complementarity slackness between the slack and dual variables. More...

double	computeComplementarySlackness (const double slack, const double dual) const
	Computes the residual in the complementarity slackness between the slack and dual variables. More...

template<typename VectorType >
double	logBarrier (const Eigen::MatrixBase< VectorType > &slack) const
	Computes the log barrier function of the slack variable. More...

Static Protected Member Functions
static void	computeCondensingCoeffcient (ConstraintComponentData &data)
	Computes the coefficient of the condensing. More...

static void	computeCondensingCoeffcient (ConstraintComponentData &data, const int start, const int size)
	Computes the coefficient of the condensing. More...

template<int Size>
static void	computeCondensingCoeffcient (ConstraintComponentData &data, const int start)
	Computes the coefficient of the condensing. More...

static double	computeCondensingCoeffcient (const double slack, const double dual, const double residual, const double cmpl)
	Computes the residual in the complementarity slackness between the slack and dual variables. More...

static void	computeDualDirection (ConstraintComponentData &data)
	Computes the direction of the dual variable from slack, primal residual, complementarity slackness, and the direction of the slack. More...

static void	computeDualDirection (ConstraintComponentData &data, const int start, const int size)
	Computes the direction of the dual variable from slack, primal residual, complementarity slackness, and the direction of the slack. More...

template<int Size>
static void	computeDualDirection (ConstraintComponentData &data, const int start)
	Computes the direction of the dual variable from slack, primal residual, complementary slackness, and the direction of the slack. More...

static double	computeDualDirection (const double slack, const double dual, const double dslack, const double cmpl)
	Computes the direction of the dual variable from slack, primal residual, complementary slackness, and the direction of the slack. More...

Detailed Description

Base class for impact constraint components.

Constructor & Destructor Documentation

◆ ImpactConstraintComponentBase() [1/3]

robotoc::ImpactConstraintComponentBase::ImpactConstraintComponentBase	(	const double	barrier = `1.0e-03`,
		const double	fraction_to_boundary_rule = `0.995`
	)

Constructor.

Parameters

[in]	barrier	Barrier parameter. Must be positive. Should be small. Default is 1.0e-03.
[in]	fraction_to_boundary_rule	Parameter of the 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.

◆ ~ImpactConstraintComponentBase()

virtual robotoc::ImpactConstraintComponentBase::~ImpactConstraintComponentBase ( )

inlinevirtual

Destructor.

◆ ImpactConstraintComponentBase() [2/3]

robotoc::ImpactConstraintComponentBase::ImpactConstraintComponentBase ( const ImpactConstraintComponentBase & )

default

Default copy constructor.

◆ ImpactConstraintComponentBase() [3/3]

robotoc::ImpactConstraintComponentBase::ImpactConstraintComponentBase ( ImpactConstraintComponentBase && )

defaultnoexcept

Default move constructor.

Member Function Documentation

◆ allocateExtraData()

virtual void robotoc::ImpactConstraintComponentBase::allocateExtraData ( ConstraintComponentData & data ) const

pure virtual

Allocates extra data in ConstraintComponentData.

Parameters

[in] data Constraint component data.

Implemented in robotoc::ImpactFrictionCone, and robotoc::ImpactWrenchCone.

◆ as_shared_ptr()

template<typename Derived >

std::shared_ptr< Derived > robotoc::ImpactConstraintComponentBase::as_shared_ptr

inline

Gets the shared ptr of this object as the specified type. If this fails in dynamic casting, throws an exception.

Template Parameters

Derived The derived type.

Returns: shared ptr of this object as the specified type.

◆ computeComplementarySlackness() [1/4]

double robotoc::ImpactConstraintComponentBase::computeComplementarySlackness	(	const double	slack,
		const double	dual
	)		const

inlineprotected

Computes the residual in the complementarity slackness between
the slack and dual variables.

Parameters

[in]	slack	An element of the slack variable.
[in]	dual	An element of the dual variable.

Returns: The complementarity slackness between the slack and dual variables.

◆ computeComplementarySlackness() [2/4]

void robotoc::ImpactConstraintComponentBase::computeComplementarySlackness ( ConstraintComponentData & data ) const

inlineprotected

Computes the residual in the complementarity slackness between
the slack and dual variables.

Parameters

[in,out] data Constraint data.

◆ computeComplementarySlackness() [3/4]

template<int Size>

void robotoc::ImpactConstraintComponentBase::computeComplementarySlackness	(	ConstraintComponentData &	data,
		const int	start
	)		const

inlineprotected

Computes the residual in the complementarity slackness between
the slack and dual variables.

Parameters

[in,out]	data	Constraint data.
[in]	start	Start position of the segment.

Template Parameters

Size	Size of the segment.

◆ computeComplementarySlackness() [4/4]

void robotoc::ImpactConstraintComponentBase::computeComplementarySlackness	(	ConstraintComponentData &	data,
		const int	start,
		const int	size
	)		const

inlineprotected

Computes the residual in the complementarity slackness between
the slack and dual variables.

Parameters

[in,out]	data	Constraint data.
[in]	start	Start position of the segment.
[in]	size	Size of the segment.

◆ computeCondensingCoeffcient() [1/4]

double robotoc::ImpactConstraintComponentBase::computeCondensingCoeffcient	(	const double	slack,
		const double	dual,
		const double	residual,
		const double	cmpl
	)

inlinestaticprotected

Computes the residual in the complementarity slackness between
the slack and dual variables.

Parameters

[in]	slack	An element of the slack variable.
[in]	dual	An element of the dual variable.
[in]	residual	An element of the primal residual.
[in]	cmpl	An element of the complementarity slackness.

Returns: Coefficient of the condensing.

◆ computeCondensingCoeffcient() [2/4]

void robotoc::ImpactConstraintComponentBase::computeCondensingCoeffcient ( ConstraintComponentData & data )

inlinestaticprotected

Computes the coefficient of the condensing.

Parameters

[in,out] data Constraint component data.

◆ computeCondensingCoeffcient() [3/4]

template<int Size>

void robotoc::ImpactConstraintComponentBase::computeCondensingCoeffcient	(	ConstraintComponentData &	data,
		const int	start
	)

inlinestaticprotected

Computes the coefficient of the condensing.

Parameters

[in,out]	data	Constraint data.
[in]	start	Start position of the segment.

Template Parameters

Size	Size of the segment.

◆ computeCondensingCoeffcient() [4/4]

void robotoc::ImpactConstraintComponentBase::computeCondensingCoeffcient	(	ConstraintComponentData &	data,
		const int	start,
		const int	size
	)

inlinestaticprotected

Computes the coefficient of the condensing.

Parameters

[in,out]	data	Constraint data.
[in]	start	Start position of the segment.
[in]	size	Size of the segment.

◆ computeDualDirection() [1/4]

double robotoc::ImpactConstraintComponentBase::computeDualDirection	(	const double	slack,
		const double	dual,
		const double	dslack,
		const double	cmpl
	)

inlinestaticprotected

Computes the direction of the dual variable from slack, primal residual, complementary slackness, and the direction of the slack.

Parameters

[in]	slack	The slack variable.
[in]	dual	The dual variable.
[in]	dslack	The direction of the slack variable.
[in]	cmpl	The complementary slackness.

Returns: The direction of the dual variable.

◆ computeDualDirection() [2/4]

void robotoc::ImpactConstraintComponentBase::computeDualDirection ( ConstraintComponentData & data )

inlinestaticprotected

Computes the direction of the dual variable from slack, primal residual, complementarity slackness, and the direction of the slack.

Parameters

[in,out] data Constraint data.

◆ computeDualDirection() [3/4]

template<int Size>

void robotoc::ImpactConstraintComponentBase::computeDualDirection	(	ConstraintComponentData &	data,
		const int	start
	)

inlinestaticprotected

Computes the direction of the dual variable from slack, primal residual, complementary slackness, and the direction of the slack.

Parameters

[in,out]	data	Constraint data.
[in]	start	Start position of the segment.

Template Parameters

Size	Size of the segment.

◆ computeDualDirection() [4/4]

void robotoc::ImpactConstraintComponentBase::computeDualDirection	(	ConstraintComponentData &	data,
		const int	start,
		const int	size
	)

inlinestaticprotected

Computes the direction of the dual variable from slack, primal residual, complementarity slackness, and the direction of the slack.

Parameters

[in,out]	data	Constraint data.
[in]	start	Start position of the segment.
[in]	size	Size of the segment.

◆ condenseSlackAndDual()

virtual void robotoc::ImpactConstraintComponentBase::condenseSlackAndDual	(	const ImpactStatus &	impact_status,
		ConstraintComponentData &	data,
		SplitKKTMatrix &	kkt_matrix,
		SplitKKTResidual &	kkt_residual
	)		const

pure virtual

Condenses the slack and dual variables, i.e., factorizes the
condensed Hessians and KKT residuals. This function is always called just after evalDerivatives().

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 KKT residual are added to this data.

Implemented in robotoc::ImpactFrictionCone, and robotoc::ImpactWrenchCone.

◆ dimc()

virtual int robotoc::ImpactConstraintComponentBase::dimc ( ) const

pure virtual

Returns the size of the constraint.

Returns: Size of the constraints.

Implemented in robotoc::ImpactFrictionCone, and robotoc::ImpactWrenchCone.

◆ evalConstraint()

virtual void robotoc::ImpactConstraintComponentBase::evalConstraint	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		ConstraintComponentData &	data,
		const SplitSolution &	s
	)		const

pure virtual

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.

Implemented in robotoc::ImpactFrictionCone, and robotoc::ImpactWrenchCone.

◆ evalDerivatives()

virtual void robotoc::ImpactConstraintComponentBase::evalDerivatives	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		ConstraintComponentData &	data,
		const SplitSolution &	s,
		SplitKKTResidual &	kkt_residual
	)		const

pure virtual

Computes the derivatives of the priaml residual, i.e., the Jacobian of the inequality constraint, and add the product of the Jacobian and the dual variable to the KKT residual. This function is always called just after evalConstraint().

Parameters

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

Implemented in robotoc::ImpactFrictionCone, and robotoc::ImpactWrenchCone.

◆ expandSlackAndDual()

virtual void robotoc::ImpactConstraintComponentBase::expandSlackAndDual	(	const ImpactStatus &	impact_status,
		ConstraintComponentData &	data,
		const SplitDirection &	d
	)		const

pure virtual

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.

Implemented in robotoc::ImpactFrictionCone, and robotoc::ImpactWrenchCone.

◆ getBarrierParam()

virtual double robotoc::ImpactConstraintComponentBase::getBarrierParam ( ) const

finalvirtual

Returns the barrier parameter.

◆ getFractionToBoundaryRule()

virtual double robotoc::ImpactConstraintComponentBase::getFractionToBoundaryRule ( ) const

finalvirtual

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

◆ isFeasible()

virtual bool robotoc::ImpactConstraintComponentBase::isFeasible	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		ConstraintComponentData &	data,
		const SplitSolution &	s
	)		const

pure virtual

Checks whether the current solution s is feasible or not.

Parameters

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

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

Implemented in robotoc::ImpactFrictionCone, and robotoc::ImpactWrenchCone.

◆ kinematicsLevel()

virtual KinematicsLevel robotoc::ImpactConstraintComponentBase::kinematicsLevel ( ) const

pure virtual

Checks the kinematics level of the constraint component.

Returns: Kinematics level of the constraint component.

Implemented in robotoc::ImpactFrictionCone, and robotoc::ImpactWrenchCone.

◆ logBarrier()

template<typename VectorType >

double robotoc::ImpactConstraintComponentBase::logBarrier ( const Eigen::MatrixBase< VectorType > & slack ) const

inlineprotected

Computes the log barrier function of the slack variable.

Parameters

[in] slack Slack variable. All the components must be positive.

Returns: log barrier function of the slack variable.

◆ maxDualStepSize()

double robotoc::ImpactConstraintComponentBase::maxDualStepSize ( const ConstraintComponentData & data ) const

inline

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

Parameters

[in] data Constraint data.

Returns: Maximum step size regarding the dual variable.

◆ maxSlackStepSize()

double robotoc::ImpactConstraintComponentBase::maxSlackStepSize ( const ConstraintComponentData & data ) const

inline

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

Parameters

[in] data Constraint data.

Returns: Maximum step size regarding the slack variable.

◆ operator=() [1/2]

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

default

Default copy operator.

◆ operator=() [2/2]

ImpactConstraintComponentBase & robotoc::ImpactConstraintComponentBase::operator= ( ImpactConstraintComponentBase && )

defaultnoexcept

Default move assign operator.

◆ setBarrierParam()

virtual void robotoc::ImpactConstraintComponentBase::setBarrierParam ( const double barrier_param )

finalvirtual

Sets the barrier parameter.

Parameters

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

◆ setFractionToBoundaryRule()

virtual void robotoc::ImpactConstraintComponentBase::setFractionToBoundaryRule ( const double fraction_to_boundary_rule )

finalvirtual

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

Parameters

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

◆ setSlack()

virtual void robotoc::ImpactConstraintComponentBase::setSlack	(	Robot &	robot,
		const ImpactStatus &	impact_status,
		ConstraintComponentData &	data,
		const SplitSolution &	s
	)		const

pure virtual

Sets the slack variables of each constraint components.

Parameters

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

Implemented in robotoc::ImpactFrictionCone, and robotoc::ImpactWrenchCone.

◆ setSlackAndDualPositive()

void robotoc::ImpactConstraintComponentBase::setSlackAndDualPositive ( ConstraintComponentData & data ) const

Sets the slack and dual variables positive.

Parameters

[in,out] data Constraint data.

◆ updateDual()

void robotoc::ImpactConstraintComponentBase::updateDual	(	ConstraintComponentData &	data,
		const double	step_size
	)

inlinestatic

Updates the dual variable according to the step size.

Parameters

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

◆ updateSlack()

void robotoc::ImpactConstraintComponentBase::updateSlack	(	ConstraintComponentData &	data,
		const double	step_size
	)

inlinestatic

Updates the slack variable according to the step size.

Parameters

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

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ImpactConstraintComponentBase() [1/3]

◆ ~ImpactConstraintComponentBase()

◆ ImpactConstraintComponentBase() [2/3]

◆ ImpactConstraintComponentBase() [3/3]

Member Function Documentation

◆ allocateExtraData()

◆ as_shared_ptr()

◆ computeComplementarySlackness() [1/4]

◆ computeComplementarySlackness() [2/4]

◆ computeComplementarySlackness() [3/4]

◆ computeComplementarySlackness() [4/4]

◆ computeCondensingCoeffcient() [1/4]

◆ computeCondensingCoeffcient() [2/4]

◆ computeCondensingCoeffcient() [3/4]

◆ computeCondensingCoeffcient() [4/4]

◆ computeDualDirection() [1/4]

◆ computeDualDirection() [2/4]

◆ computeDualDirection() [3/4]

◆ computeDualDirection() [4/4]

◆ condenseSlackAndDual()

◆ dimc()

◆ evalConstraint()

◆ evalDerivatives()

◆ expandSlackAndDual()

◆ getBarrierParam()

◆ getFractionToBoundaryRule()

◆ isFeasible()

◆ kinematicsLevel()

◆ logBarrier()

◆ maxDualStepSize()

◆ maxSlackStepSize()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setBarrierParam()

◆ setFractionToBoundaryRule()

◆ setSlack()

◆ setSlackAndDualPositive()

◆ updateDual()

◆ updateSlack()