Class Aggregated

Defined in File Aggregated.h

Inheritance Relationships

Base Type

public OpenSoT::Constraint< Eigen::MatrixXd, Eigen::VectorXd > (Template Class Constraint)

Class Documentation

class Aggregated : public OpenSoT::Constraint<Eigen::MatrixXd, Eigen::VectorXd>

The Aggregated class builds a new Constraing by piling up simpler constraints so that:

For equality constraints: Aeq = [Aeq1; Aeq2], beq=[beq1;beq2]
For inequality constraints: Aineq = [Aineq1; Aeq2], bLowerBound=[bLowerBound1;bLowerBound2] bUpperBound=[bUpperBound1;bUpperBound2]
For bounds: lowerBound = max(bLowerBound1, bLowerBound2), upperBound = min(bUpperBound1,bUpperBound2)

Public Types

enum AggregationPolicy

Values:

enumerator EQUALITIES_TO_INEQUALITIES: transform equalities Ax = b to inequalities b <= Ax <= b

enumerator UNILATERAL_TO_BILATERAL: if enabled, unilateral bounds will be converted to unilateral: x <= u becomes -inf <= x <= u, l <= x becomes l <= x <= inf if not enabled, bilateral bounds will be converted to unilateral: l <= x <= u becomes x <= u && -x <= -l

typedef std::shared_ptr<Aggregated> Ptr

typedef MatrixPiler VectorPiler

Public Functions

Aggregated(const std::list<ConstraintPtr> constraints, const unsigned int x_size, const unsigned int aggregationPolicy = EQUALITIES_TO_INEQUALITIES | UNILATERAL_TO_BILATERAL)

Aggregated.

Parameters

bounds – a std::list of Bounds
x_size – the size of the x vector. Notice this constructor will NOT call update() on the base tasks

Aggregated(ConstraintPtr bound1, ConstraintPtr bound2, const unsigned int &x_size, const unsigned int aggregationPolicy = EQUALITIES_TO_INEQUALITIES | UNILATERAL_TO_BILATERAL)

Aggregated.

Parameters

bound1 – pointer to the first bound
bound2 – pointer to the second bound
x_size – the size of the x vector. Notice this constructor will NOT call update() on the base tasks

virtual void update(): Updates the A, b, Aeq, beq, Aineq, b*Bound matrices.

virtual void log(XBot::MatLogger2::Ptr logger) override

log logs common Constraint internal variables

Parameters: logger – a shared pointer to a MathLogger

inline std::list<ConstraintPtr> &getConstraintsList()

void generateAll()

Protected Functions

inline void initSupportVectorsAndMatrices(const int bound_size)

void checkSizes()

inline void pile(Eigen::MatrixXd &A, const Eigen::MatrixXd &B)

inline void pile(Eigen::VectorXd &a, const Eigen::VectorXd &b)

virtual void _log(XBot::MatLogger2::Ptr logger)

_log can be used to log internal Constraint variables

Parameters: logger – a shared pointer to a MatLogger

Protected Attributes

std::vector<Eigen::VectorXd> _boundUpperBounds

std::vector<Eigen::VectorXd> _boundLowerBounds

std::vector<Eigen::VectorXd> _boundbeqs

std::vector<Eigen::VectorXd> _boundbUpperBounds

std::vector<Eigen::VectorXd> _boundbLowerBounds

std::vector<Eigen::MatrixXd> _boundAeqs

std::vector<Eigen::MatrixXd> _boundAineqs

VectorPiler _tmpupperBound

VectorPiler _tmplowerBound

MatrixPiler _tmpAeq

VectorPiler _tmpbeq

MatrixPiler _tmpAineq

VectorPiler _tmpbUpperBound

VectorPiler _tmpbLowerBound

std::list<ConstraintPtr> _bounds

unsigned int _number_of_bounds

unsigned int _aggregationPolicy

Protected Static Functions

static const std::string concatenateConstraintsIds(const std::list<ConstraintPtr> constraints)

Protected Static Attributes

static const std::string _CONSTRAINT_PLUS_

static const std::string _CONSTRAINT_AGGREGATED_

static std::string concatenatedId