Constraints evaluated at discretized times along a trajectory. More...

#include <time_discretization_constraint.h>

Inheritance diagram for towr::TimeDiscretizationConstraint:

Public Member Functions
void	FillJacobianBlock (std::string var_set, Jacobian &) const override
VecBound	GetBounds () const override
Eigen::VectorXd	GetValues () const override
	TimeDiscretizationConstraint (double T, double dt, std::string constraint_name)
	Constructs a constraint for ifopt.
	TimeDiscretizationConstraint (const VecTimes &dts, std::string name)
	construct a constraint for ifopt.
virtual	~TimeDiscretizationConstraint ()
Protected Member Functions
int	GetNumberOfNodes () const
Protected Attributes
VecTimes	dts_
	times at which the constraint is evaluated.
Private Member Functions
virtual void	UpdateBoundsAtInstance (double t, int k, VecBound &b) const =0
	Sets upper/lower bound a specific time t, corresponding to node k.
virtual void	UpdateConstraintAtInstance (double t, int k, VectorXd &g) const =0
	Sets the constraint value a specific time t, corresponding to node k.
virtual void	UpdateJacobianAtInstance (double t, int k, std::string var_set, Jacobian &jac) const =0
	Sets Jacobian rows at a specific time t, corresponding to node k.

Detailed Description

Constraints evaluated at discretized times along a trajectory.

Often one want to check the values of a specific constraint, e.g. RangeOfMotion, or DynamicConstraint at specific times t along the trajectory. This class is responsible for building the overall Jacobian from the individual Jacobians at each time instance.

Definition at line 50 of file time_discretization_constraint.h.

Constructor & Destructor Documentation

towr::TimeDiscretizationConstraint::TimeDiscretizationConstraint	(	double	T,
		double	dt,
		std::string	constraint_name
	)

Constructs a constraint for ifopt.

Parameters:

T	The total duration of the trajectory.
dt	The discretization interval at which each constraint is evaluated.
constraint_name	The name of the constraint.

Definition at line 37 of file time_discretization_constraint.cc.

towr::TimeDiscretizationConstraint::TimeDiscretizationConstraint	(	const VecTimes &	dts,
		std::string	name
	)

construct a constraint for ifopt.

Parameters:

dts	Time instances at which to evaluate the constraints.
name	The name of the constraint.

Definition at line 52 of file time_discretization_constraint.cc.

virtual towr::TimeDiscretizationConstraint::~TimeDiscretizationConstraint ( ) [virtual]

Member Function Documentation

void towr::TimeDiscretizationConstraint::FillJacobianBlock	(	std::string	var_set,
		Jacobian &	jac
	)		const `[override]`

Definition at line 90 of file time_discretization_constraint.cc.

TimeDiscretizationConstraint::VecBound towr::TimeDiscretizationConstraint::GetBounds ( ) const [override]

Definition at line 78 of file time_discretization_constraint.cc.

int towr::TimeDiscretizationConstraint::GetNumberOfNodes ( ) const [protected]

Definition at line 60 of file time_discretization_constraint.cc.

TimeDiscretizationConstraint::VectorXd towr::TimeDiscretizationConstraint::GetValues ( ) const [override]

Definition at line 66 of file time_discretization_constraint.cc.

virtual void towr::TimeDiscretizationConstraint::UpdateBoundsAtInstance	(	double	t,
		int	k,
		VecBound &	b
	)		const `[private, pure virtual]`

Sets upper/lower bound a specific time t, corresponding to node k.

Parameters:

t	The time along the trajectory to set the bounds.
k	The index of the time t, so t=k*dt
in/out]	b The complete vector of bounds, for which the corresponding row must be set.

Implemented in towr::DynamicConstraint, towr::RangeOfMotionConstraint, and towr::BaseMotionConstraint.

virtual void towr::TimeDiscretizationConstraint::UpdateConstraintAtInstance	(	double	t,
		int	k,
		VectorXd &	g
	)		const `[private, pure virtual]`

Sets the constraint value a specific time t, corresponding to node k.

Parameters:

t	The time along the trajectory to set the constraint.
k	The index of the time t, so t=k*dt
in/out]	g The complete vector of constraint values, for which the corresponding row must be filled.

Implemented in towr::DynamicConstraint, towr::RangeOfMotionConstraint, and towr::BaseMotionConstraint.

virtual void towr::TimeDiscretizationConstraint::UpdateJacobianAtInstance	(	double	t,
		int	k,
		std::string	var_set,
		Jacobian &	jac
	)		const `[private, pure virtual]`

Sets Jacobian rows at a specific time t, corresponding to node k.

Parameters:

t	The time along the trajcetory to set the bounds.
k	The index of the time t, so t=k*dt
var_set	The name of the ifopt variables currently being queried for.
in/out]	jac The complete Jacobian, for which the corresponding row and columns must be set.

Implemented in towr::DynamicConstraint, towr::RangeOfMotionConstraint, and towr::BaseMotionConstraint.

Member Data Documentation

VecTimes towr::TimeDiscretizationConstraint::dts_ [protected]

times at which the constraint is evaluated.

Definition at line 77 of file time_discretization_constraint.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation