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

#include <time_discretization_constraint.h>

Inheritance diagram for towr::TimeDiscretizationConstraint:

[legend]

Public Types
using	Bounds = ifopt::Bounds

using	VecTimes = std::vector< double >

Public Types inherited from ifopt::ConstraintSet
typedef std::shared_ptr< ConstraintSet >	Ptr

typedef Composite::Ptr	VariablesPtr

Public Types inherited from ifopt::Component
typedef Eigen::SparseMatrix< double, Eigen::RowMajor >	Jacobian

typedef std::shared_ptr< Component >	Ptr

typedef std::vector< Bounds >	VecBound

typedef Eigen::VectorXd	VectorXd

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. More...

	TimeDiscretizationConstraint (const VecTimes &dts, std::string name)
	construct a constraint for ifopt. More...

virtual	~TimeDiscretizationConstraint ()=default

Public Member Functions inherited from ifopt::ConstraintSet
	ConstraintSet (int n_constraints, const std::string &name)

Jacobian	GetJacobian () const final

void	LinkWithVariables (const VariablesPtr &x)

virtual	~ConstraintSet ()=default

Public Member Functions inherited from ifopt::Component
	Component (int num_rows, const std::string &name)

std::string	GetName () const

int	GetRows () const

virtual void	Print (double tolerance, int &index_start) const

void	SetRows (int num_rows)

virtual	~Component ()=default

Protected Member Functions
int	GetNumberOfNodes () const

Protected Member Functions inherited from ifopt::ConstraintSet
const VariablesPtr	GetVariables () const

Protected Attributes
VecTimes	dts_
	times at which the constraint is evaluated. More...

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. More...

virtual void	UpdateConstraintAtInstance (double t, int k, VectorXd &g) const =0
	Sets the constraint value a specific time t, corresponding to node k. More...

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. More...

Additional Inherited Members
Static Public Attributes inherited from ifopt::Component
static const int	kSpecifyLater

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.

Member Typedef Documentation

◆ Bounds

using towr::TimeDiscretizationConstraint::Bounds = ifopt::Bounds

Definition at line 53 of file time_discretization_constraint.h.

◆ VecTimes

using towr::TimeDiscretizationConstraint::VecTimes = std::vector<double>

Definition at line 52 of file time_discretization_constraint.h.

Constructor & Destructor Documentation

◆ TimeDiscretizationConstraint() [1/2]

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.

◆ TimeDiscretizationConstraint() [2/2]

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.

◆ ~TimeDiscretizationConstraint()

virtual towr::TimeDiscretizationConstraint::~TimeDiscretizationConstraint ( )

virtualdefault

Member Function Documentation

◆ FillJacobianBlock()

void towr::TimeDiscretizationConstraint::FillJacobianBlock	(	std::string	var_set,
		Jacobian &	jac
	)		const

overridevirtual

Implements ifopt::ConstraintSet.

Definition at line 90 of file time_discretization_constraint.cc.

◆ GetBounds()

TimeDiscretizationConstraint::VecBound towr::TimeDiscretizationConstraint::GetBounds ( ) const

overridevirtual

Implements ifopt::Component.

Definition at line 78 of file time_discretization_constraint.cc.

◆ GetNumberOfNodes()

int towr::TimeDiscretizationConstraint::GetNumberOfNodes ( ) const

protected

Definition at line 60 of file time_discretization_constraint.cc.

◆ GetValues()

TimeDiscretizationConstraint::VectorXd towr::TimeDiscretizationConstraint::GetValues ( ) const

overridevirtual

Implements ifopt::Component.

Definition at line 66 of file time_discretization_constraint.cc.

◆ UpdateBoundsAtInstance()

virtual void towr::TimeDiscretizationConstraint::UpdateBoundsAtInstance	(	double	t,
		int	k,
		VecBound &	b
	)		const

privatepure 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

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

◆ UpdateConstraintAtInstance()

virtual void towr::TimeDiscretizationConstraint::UpdateConstraintAtInstance	(	double	t,
		int	k,
		VectorXd &	g
	)		const

privatepure 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

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

◆ UpdateJacobianAtInstance()

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

privatepure 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.

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

Member Data Documentation

◆ dts_

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 Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Bounds

◆ VecTimes

Constructor & Destructor Documentation

◆ TimeDiscretizationConstraint() [1/2]

◆ TimeDiscretizationConstraint() [2/2]

◆ ~TimeDiscretizationConstraint()

Member Function Documentation

◆ FillJacobianBlock()

◆ GetBounds()

◆ GetNumberOfNodes()

◆ GetValues()

◆ UpdateBoundsAtInstance()

◆ UpdateConstraintAtInstance()

◆ UpdateJacobianAtInstance()

Member Data Documentation

◆ dts_