Template Class ConstraintModelManagerTpl

Class Documentation

template<typename _Scalar>
class ConstraintModelManagerTpl

Manage the individual constraint models.

This class serves to manage a set of added constraint models. The constraint functions might active or inactive, with this approach we avoid dynamic allocation of memory. Each constraint model is added through addConstraint, where its status can be defined.

The main computations are carring out in calc and calcDiff routines. calc computes the constraint residuals and calcDiff computes the Jacobians of the constraint functions. Concretely speaking, calcDiff builds a linear approximation of the total constraint function (both inequality and equality) with the form: \(\mathbf{g_u}\in\mathbb{R}^{ng\times nu}\), \(\mathbf{h_x}\in\mathbb{R}^{nh\times ndx}\) \(\mathbf{h_u}\in\mathbb{R}^{nh\times nu}\).

See also

StateAbstractTpl, calc(), calcDiff(), createData()

Public Types

typedef MathBaseTpl<Scalar> MathBase
typedef ConstraintDataManagerTpl<Scalar> ConstraintDataManager
typedef StateAbstractTpl<Scalar> StateAbstract
typedef ConstraintModelAbstractTpl<Scalar> ConstraintModelAbstract
typedef ConstraintDataAbstractTpl<Scalar> ConstraintDataAbstract
typedef DataCollectorAbstractTpl<Scalar> DataCollectorAbstract
typedef ConstraintItemTpl<Scalar> ConstraintItem
typedef MathBase::VectorXs VectorXs
typedef MathBase::MatrixXs MatrixXs
typedef std::map<std::string, std::shared_ptr<ConstraintItem>> ConstraintModelContainer
typedef std::map<std::string, std::shared_ptr<ConstraintDataAbstract>> ConstraintDataContainer

Public Functions

ConstraintModelManagerTpl(std::shared_ptr<StateAbstract> state, const std::size_t nu)

Initialize the constraint-manager model.

Parameters:

  • state – [in] State of the multibody system

  • nu – [in] Dimension of control vector

explicit ConstraintModelManagerTpl(std::shared_ptr<StateAbstract> state)

Initialize the constraint-manager model.

The default nu value is obtained from StateAbstractTpl::get_nv().

Parameters:

state – [in] State of the multibody system

~ConstraintModelManagerTpl()
void addConstraint(const std::string &name, std::shared_ptr<ConstraintModelAbstract> constraint, const bool active = true)

Add a constraint item.

Parameters:

  • name – [in] Constraint name

  • constraint – [in] Constraint model

  • weight – [in] Constraint weight

  • active – [in] True if the constraint is activated (default true)

void removeConstraint(const std::string &name)

Remove a constraint item.

Parameters:

name – [in] Constraint name

void changeConstraintStatus(const std::string &name, bool active)

Change the constraint status.

Parameters:

  • name – [in] Constraint name

  • active – [in] Constraint status (true for active and false for inactive)

void calc(const std::shared_ptr<ConstraintDataManager> &data, const Eigen::Ref<const VectorXs> &x, const Eigen::Ref<const VectorXs> &u)

Compute the total constraint value.

Parameters:

  • data – [in] Constraint data

  • x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

  • u – [in] Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

void calc(const std::shared_ptr<ConstraintDataManager> &data, const Eigen::Ref<const VectorXs> &x)

Compute the total constraint value for nodes that depends only on the state.

It updates the constraint based on the state only. This function is commonly used in the terminal nodes of an optimal control problem.

Parameters:

  • data – [in] Constraint data

  • x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

void calcDiff(const std::shared_ptr<ConstraintDataManager> &data, const Eigen::Ref<const VectorXs> &x, const Eigen::Ref<const VectorXs> &u)

Compute the Jacobian of the total constraint.

Parameters:

  • data – [in] Constraint data

  • x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

  • u – [in] Control input \(\mathbf{u}\in\mathbb{R}^{nu}\)

void calcDiff(const std::shared_ptr<ConstraintDataManager> &data, const Eigen::Ref<const VectorXs> &x)

Compute the Jacobian of the total constraint with respect to the state only.

It computes the Jacobian of the constraint function based on the state only. This function is commonly used in the terminal nodes of an optimal control problem.

Parameters:

  • data – [in] Constraint data

  • x – [in] State point \(\mathbf{x}\in\mathbb{R}^{ndx}\)

std::shared_ptr<ConstraintDataManager> createData(DataCollectorAbstract *const data)

Create the constraint data.

The default data contains objects to store the values of the constraint and their derivatives (i.e. Jacobians). However, it is possible to specialize this function is we need to create additional data, for instance, to avoid dynamic memory allocation.

Parameters:

data – Data collector

Returns:

the constraint data

template<typename NewScalar>
ConstraintModelManagerTpl<NewScalar> cast() const

Cast the constraint-manager model to a different scalar type.

It is useful for operations requiring different precision or scalar types.

Template Parameters:

NewScalar – The new scalar type to cast to.

Returns:

ConstraintModelManagerTpl<NewScalar> A constraint-manager model with the new scalar type.

const std::shared_ptr<StateAbstract> &get_state() const

Return the state.

const ConstraintModelContainer &get_constraints() const

Return the stack of constraint models.

std::size_t get_nu() const

Return the dimension of the control input.

std::size_t get_ng() const

Return the number of active inequality constraints.

std::size_t get_nh() const

Return the number of active equality constraints.

std::size_t get_ng_T() const

Return the number of active inequality terminal constraints.

std::size_t get_nh_T() const

Return the number of active equality terminal constraints.

const std::set<std::string> &get_active_set() const

Return the names of the set of active constraints.

const std::set<std::string> &get_inactive_set() const

Return the names of the set of inactive constraints.

const VectorXs &get_lb() const

Return the state lower bound.

const VectorXs &get_ub() const

Return the state upper bound.

bool getConstraintStatus(const std::string &name) const

Return the status of a given constraint name.

Parameters:

name – [in] Constraint name

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef _Scalar Scalar

Friends

template<class Scalar>
friend std::ostream &operator<<(std::ostream &os, const ConstraintModelManagerTpl<Scalar> &model)

Print information on the stack of constraints.