total_duration_constraint.cc
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00002 Copyright (c) 2018, Alexander W. Winkler. All rights reserved.
00003 
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00029 
00030 #include <towr/constraints/total_duration_constraint.h>
00031 #include <towr/variables/variable_names.h>
00032 
00033 namespace towr {
00034 
00035 
00036 TotalDurationConstraint::TotalDurationConstraint (double T_total, int ee)
00037     :ConstraintSet(1, "DurationConstraint_ee_-" + std::to_string(ee))
00038 {
00039   T_total_ = T_total;
00040   ee_ = ee;
00041 }
00042 
00043 void
00044 TotalDurationConstraint::InitVariableDependedQuantities (const VariablesPtr& x)
00045 {
00046   phase_durations_ = x->GetComponent<PhaseDurations>(id::EESchedule(ee_));
00047 }
00048 
00049 Eigen::VectorXd
00050 TotalDurationConstraint::GetValues () const
00051 {
00052   VectorXd g = VectorXd::Zero(GetRows());
00053   g(0) = phase_durations_->GetValues().sum(); // attention: excludes last duration
00054   return g;
00055 }
00056 
00057 TotalDurationConstraint::VecBound
00058 TotalDurationConstraint::GetBounds () const
00059 {
00060   // TODO hacky and should be fixed
00061   // since last phase is not optimized over these hardcoded numbers go here
00062   int min_duration_last_phase = 0.2;
00063   return VecBound(GetRows(), ifopt::Bounds(0.1, T_total_-min_duration_last_phase));
00064 }
00065 
00066 void
00067 TotalDurationConstraint::FillJacobianBlock (std::string var_set, Jacobian& jac) const
00068 {
00069   if (var_set == phase_durations_->GetName())
00070     for (int col=0; col<phase_durations_->GetRows(); ++col)
00071       jac.coeffRef(0, col) = 1.0;
00072 }
00073 
00074 } // namespace towr


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