time_discretization_constraint.cc
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00001 /******************************************************************************
00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
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00007 * Redistributions of source code must retain the above copyright notice, this
00008   list of conditions and the following disclaimer.
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00010 * Redistributions in binary form must reproduce the above copyright notice,
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00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00029 
00030 #include <towr/constraints/time_discretization_constraint.h>
00031 
00032 #include <cmath>
00033 
00034 namespace towr {
00035 
00036 
00037 TimeDiscretizationConstraint::TimeDiscretizationConstraint (double T, double dt,
00038                                                             std::string name)
00039     :ConstraintSet(kSpecifyLater, name)
00040 {
00041   double t = 0.0;
00042   dts_ = {t};
00043 
00044   for (int i=0; i<floor(T/dt); ++i) {
00045     t += dt;
00046     dts_.push_back(t);
00047   }
00048 
00049   dts_.push_back(T); // also ensure constraints at very last node/time.
00050 }
00051 
00052 TimeDiscretizationConstraint::TimeDiscretizationConstraint (const VecTimes& times,
00053                                                             std::string name)
00054    :ConstraintSet(kSpecifyLater, name) // just placeholder
00055 {
00056   dts_ = times;
00057 }
00058 
00059 int
00060 TimeDiscretizationConstraint::GetNumberOfNodes () const
00061 {
00062   return dts_.size();
00063 }
00064 
00065 TimeDiscretizationConstraint::VectorXd
00066 TimeDiscretizationConstraint::GetValues () const
00067 {
00068   VectorXd g = VectorXd::Zero(GetRows());
00069 
00070   int k = 0;
00071   for (double t : dts_)
00072     UpdateConstraintAtInstance(t, k++, g);
00073 
00074   return g;
00075 }
00076 
00077 TimeDiscretizationConstraint::VecBound
00078 TimeDiscretizationConstraint::GetBounds () const
00079 {
00080   VecBound bounds(GetRows());
00081 
00082   int k = 0;
00083   for (double t : dts_)
00084     UpdateBoundsAtInstance(t, k++, bounds);
00085 
00086   return bounds;
00087 }
00088 
00089 void
00090 TimeDiscretizationConstraint::FillJacobianBlock (std::string var_set,
00091                                                   Jacobian& jac) const
00092 {
00093   int k = 0;
00094   for (double t : dts_)
00095     UpdateJacobianAtInstance(t, k++, var_set, jac);
00096 }
00097 
00098 } /* namespace towr */
00099 
00100 


towr_core
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 9 2018 03:12:44