Base class for the constraints used in this toolbox. More...

#include <ConstraintBase.h>

Inheritance diagram for ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >:

Public Types
typedef core::StateVector< STATE_DIM, SCALAR >	state_vector_t

typedef core::ControlVector< CONTROL_DIM, SCALAR >	control_vector_t

typedef Eigen::Matrix< SCALAR, Eigen::Dynamic, 1 >	VectorXs

typedef Eigen::Matrix< SCALAR, Eigen::Dynamic, Eigen::Dynamic >	MatrixXs

Public Member Functions
	ConstraintBase (std::string name="Unnamed")
	Custom constructor. More...

	ConstraintBase (const ConstraintBase &arg)
	Copy constructor. More...

virtual ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR > *	clone () const =0
	Creates a new instance of the object with same properties than original. More...

virtual	~ConstraintBase ()
	Destructor. More...

virtual VectorXs	evaluate (const state_vector_t &x, const control_vector_t &u, const SCALAR t)=0
	The evaluation of the constraint violation. Note this method is SCALAR typed. More...

virtual size_t	getConstraintSize () const =0
	The evaluate method used for jit compilation in constraint container ad. More...

virtual MatrixXs	jacobianState (const state_vector_t &x, const control_vector_t &u, const SCALAR t)
	Returns the constraint jacobian wrt state. More...

virtual MatrixXs	jacobianInput (const state_vector_t &x, const control_vector_t &u, const SCALAR t)
	Returns the constraint jacobian wrt input. More...

virtual VectorXs	getLowerBound () const
	Returns the lower constraint bound. More...

virtual VectorXs	getUpperBound () const
	Returns the upper constraint bound. More...

void	getName (std::string &constraintName) const
	Returns the constraint name. More...

void	setName (const std::string constraintName)
	Sets the constraint name. More...

virtual size_t	getNumNonZerosJacobianState () const
	Returns the number of nonzeros in the jacobian wrt state. The default implementation assumes a dense matrix with only nonzero elements. More...

virtual size_t	getNumNonZerosJacobianInput () const
	Returns the number of nonzeros in the jacobian wrt control input. The default implementation assumes a dense matrix with only nonzero elements. More...

virtual VectorXs	jacobianStateSparse (const state_vector_t &x, const control_vector_t &u, const SCALAR t)
	Returns the constraint jacobian wrt state in sparse structure. The default implementation maps the JacobianState matrix to a vector. More...

virtual VectorXs	jacobianInputSparse (const state_vector_t &x, const control_vector_t &u, const SCALAR t)
	Returns the constraint jacobian wrt control input in sparse structure. The default implementation maps the JacobianState matrix to a vector. More...

virtual void	sparsityPatternState (Eigen::VectorXi &rows, Eigen::VectorXi &cols)
	Generates the sparsity pattern of the jacobian wrt state. The default implementation returns a vector of ones corresponding to the dense jacobianState. More...

virtual void	sparsityPatternInput (Eigen::VectorXi &rows, Eigen::VectorXi &cols)
	Generates the sparsity pattern of the jacobian wrt control input. The default implementation returns a vector of ones corresponding to the dense jacobianInput. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::tpl::TraitSelector< SCALAR >::Trait	Trait

Static Protected Member Functions
static void	genDiagonalIndices (const size_t num_elements, Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec)
	upper bound on the constraints More...

static void	genSparseDiagonalIndices (const Eigen::VectorXi &diag_sparsity, Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec)
	Generates indices of a sparse diagonal square matrix. More...

static void	genBlockIndices (const size_t num_rows, const size_t num_cols, Eigen::VectorXi &iRow_vec, Eigen::VectorXi &jCol_vec)
	Generates indices of a full matrix. More...

Protected Attributes
VectorXs	lb_

VectorXs	ub_
	lower bound on the constraints More...

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >

Base class for the constraints used in this toolbox.

Template Parameters

STATE_DIM	The state dimension
CONTROL_DIM	The control dimension
SCALAR	The Scalar type

Examples:: ConstraintComparison.h, ConstraintTest.h, and NLOC_generalConstrained.cpp.

Member Typedef Documentation

◆ state_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef core::StateVector<STATE_DIM, SCALAR> ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::state_vector_t

◆ control_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef core::ControlVector<CONTROL_DIM, SCALAR> ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::control_vector_t

◆ VectorXs

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, 1> ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs

◆ MatrixXs

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

typedef Eigen::Matrix<SCALAR, Eigen::Dynamic, Eigen::Dynamic> ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs

Constructor & Destructor Documentation

◆ ConstraintBase() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintBase ( std::string name = "Unnamed" )

Custom constructor.

Parameters

[in] name The name of the constraint

◆ ConstraintBase() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintBase ( const ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR > & arg )

Copy constructor.

Parameters

[in] arg The object to be copied

◆ ~ConstraintBase()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::~ConstraintBase ( )

virtual

Destructor.

Member Function Documentation

◆ clone()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual ConstraintBase<STATE_DIM, CONTROL_DIM, SCALAR>* ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::clone ( ) const

pure virtual

Creates a new instance of the object with same properties than original.

Returns: Copy of this object.

◆ evaluate()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual VectorXs ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::evaluate	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t
	)

pure virtual

The evaluation of the constraint violation. Note this method is SCALAR typed.

Parameters

[in]	x	The state vector
[in]	u	The control vector
[in]	t	The time

Returns: The constraint violation

◆ getConstraintSize()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

virtual size_t ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::getConstraintSize ( ) const

pure virtual

The evaluate method used for jit compilation in constraint container ad.

Parameters

[in]	x	The state vector
[in]	u	The control vector
[in]	t	The time

Returns: The constraint violation Returns the number of constraints; The number of constraints

◆ jacobianState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR>

ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianState	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t
	)

virtual

Returns the constraint jacobian wrt state.

Returns: The constraint jacobian

◆ jacobianInput()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR>

ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::MatrixXs ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInput	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t
	)

virtual

Returns the constraint jacobian wrt input.

Returns: The constraint jacobian

Examples:: ConstraintTest.h.

◆ getLowerBound()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::getLowerBound ( ) const

virtual

Returns the lower constraint bound.

Returns: The lower constraint bound

◆ getUpperBound()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::getUpperBound ( ) const

virtual

Returns the upper constraint bound.

Returns: The upper constraint bound

◆ getName()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::getName ( std::string & constraintName ) const

Returns the constraint name.

Parameters

[out] constraintName The constraint name

◆ setName()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::setName ( const std::string constraintName )

Sets the constraint name.

Parameters

[in] constraintName The constraint name

◆ getNumNonZerosJacobianState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::getNumNonZerosJacobianState ( ) const

virtual

Returns the number of nonzeros in the jacobian wrt state. The default implementation assumes a dense matrix with only nonzero elements.

Returns: The number of non zeros

Reimplemented in ct::optcon::BoxConstraintBase< DERIVED_DIM, STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::BoxConstraintBase< STATE_DIM, STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::StateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ getNumNonZerosJacobianInput()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

size_t ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::getNumNonZerosJacobianInput ( ) const

virtual

Returns the number of nonzeros in the jacobian wrt control input. The default implementation assumes a dense matrix with only nonzero elements.

Returns: The number of non zeros

Reimplemented in ct::optcon::BoxConstraintBase< DERIVED_DIM, STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::BoxConstraintBase< STATE_DIM, STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::StateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ jacobianStateSparse()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR>

ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianStateSparse	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t
	)

virtual

Returns the constraint jacobian wrt state in sparse structure. The default implementation maps the JacobianState matrix to a vector.

Returns: The sparse constraint jacobian

Reimplemented in ct::optcon::BoxConstraintBase< DERIVED_DIM, STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::BoxConstraintBase< STATE_DIM, STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::StateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ jacobianInputSparse()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR>

ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::VectorXs ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::jacobianInputSparse	(	const state_vector_t &	x,
		const control_vector_t &	u,
		const SCALAR	t
	)

virtual

Returns the constraint jacobian wrt control input in sparse structure. The default implementation maps the JacobianState matrix to a vector.

Returns: The sparse constraint jacobian

Reimplemented in ct::optcon::BoxConstraintBase< DERIVED_DIM, STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::BoxConstraintBase< CONTROL_DIM, STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::BoxConstraintBase< STATE_DIM, STATE_DIM, CONTROL_DIM, SCALAR >, ct::optcon::StateConstraint< STATE_DIM, CONTROL_DIM, SCALAR >, and ct::optcon::ControlInputConstraint< STATE_DIM, CONTROL_DIM, SCALAR >.

◆ sparsityPatternState()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternState	(	Eigen::VectorXi &	rows,
		Eigen::VectorXi &	cols
	)

virtual

Generates the sparsity pattern of the jacobian wrt state. The default implementation returns a vector of ones corresponding to the dense jacobianState.

Parameters

rows	The vector of the row indices containing non zero elements in the constraint jacobian
cols	The vector of the column indices containing non zero elements in the constraint jacobian

◆ sparsityPatternInput()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternInput	(	Eigen::VectorXi &	rows,
		Eigen::VectorXi &	cols
	)

virtual

Generates the sparsity pattern of the jacobian wrt control input. The default implementation returns a vector of ones corresponding to the dense jacobianInput.

Parameters

rows	The vector of the row indices containing non zero elements in the constraint jacobian
cols	The vector of the column indices containing non zero elements in the constraint jacobian

◆ genDiagonalIndices()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::genDiagonalIndices	(	const size_t	num_elements,
		Eigen::VectorXi &	iRow_vec,
		Eigen::VectorXi &	jCol_vec
	)

staticprotected

upper bound on the constraints

Generates indices of a diagonal square matrix

Parameters

[in]	num_elements	The number of elements
[out]	iRow_vec	The row vector
[out]	jCol_vec	The column vector

Referenced by ct::optcon::TerminalConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::sparsityPatternState().

◆ genSparseDiagonalIndices()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::genSparseDiagonalIndices	(	const Eigen::VectorXi &	diag_sparsity,
		Eigen::VectorXi &	iRow_vec,
		Eigen::VectorXi &	jCol_vec
	)

staticprotected

Generates indices of a sparse diagonal square matrix.

Parameters

[in]	diag_sparsity	Sparsity pattern for the diagonal (Example: [0 1 0 0 1 1])
[out]	iRow_vec	The row vector
[out]	jCol_vec	The column vector

◆ genBlockIndices()

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR >

void ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::genBlockIndices	(	const size_t	num_rows,
		const size_t	num_cols,
		Eigen::VectorXi &	iRow_vec,
		Eigen::VectorXi &	jCol_vec
	)

staticprotected

Generates indices of a full matrix.

Parameters

[in]	num_rows	The number of rows of the matrix
[in]	num_cols	The number columns of the matrix
[out]	iRow_vec	The row vector
[out]	jCol_vec	The col vector

Member Data Documentation

◆ Trait

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef ct::core::tpl::TraitSelector<SCALAR>::Trait ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::Trait

◆ lb_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

VectorXs ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::lb_

protected

Examples:: ConstraintComparison.h, and ConstraintTest.h.

Referenced by ct::optcon::example::ConstraintTerm1D< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintTerm1D(), ct::optcon::example::ConstraintTerm2D< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintTerm2D(), ct::optcon::ObstacleConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::ObstacleConstraint(), ct::optcon::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::PureStateConstraint_Example(), and ct::optcon::example::StateInputConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::StateInputConstraint_Example().

◆ ub_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>

VectorXs ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >::ub_

protected

lower bound on the constraints

Examples:: ConstraintComparison.h, and ConstraintTest.h.

Referenced by ct::optcon::example::ConstraintTerm1D< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintTerm1D(), ct::optcon::example::ConstraintTerm2D< STATE_DIM, CONTROL_DIM, SCALAR >::ConstraintTerm2D(), ct::optcon::ObstacleConstraint< STATE_DIM, CONTROL_DIM, SCALAR >::ObstacleConstraint(), ct::optcon::example::PureStateConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::PureStateConstraint_Example(), and ct::optcon::example::StateInputConstraint_Example< STATE_DIM, CONTROL_DIM, SCALAR >::StateInputConstraint_Example().

The documentation for this class was generated from the following files:

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/constraint/term/ConstraintBase.h
/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/constraint/term/ConstraintBase-impl.h

Public Types

Public Member Functions

Public Attributes

Static Protected Member Functions

Protected Attributes

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double> class ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >

Member Typedef Documentation

◆ state_vector_t

◆ control_vector_t

◆ VectorXs

◆ MatrixXs

Constructor & Destructor Documentation

◆ ConstraintBase() [1/2]

◆ ConstraintBase() [2/2]

◆ ~ConstraintBase()

Member Function Documentation

◆ clone()

◆ evaluate()

◆ getConstraintSize()

◆ jacobianState()

◆ jacobianInput()

◆ getLowerBound()

◆ getUpperBound()

◆ getName()

◆ setName()

◆ getNumNonZerosJacobianState()

◆ getNumNonZerosJacobianInput()

◆ jacobianStateSparse()

◆ jacobianInputSparse()

◆ sparsityPatternState()

◆ sparsityPatternInput()

◆ genDiagonalIndices()

◆ genSparseDiagonalIndices()

◆ genBlockIndices()

Member Data Documentation

◆ Trait

◆ lb_

◆ ub_

template<size_t STATE_DIM, size_t CONTROL_DIM, typename SCALAR = double>
class ct::optcon::ConstraintBase< STATE_DIM, CONTROL_DIM, SCALAR >