dynamicgraph::sot::SolverHierarchicalInequalities Class Reference

#include <sot/core/solver-hierarchical-inequalities.hh>

List of all members.

Public Types
enum	ActivationTodoType {   TODO_NOTHING,   TODO_ACTIVATE,   TODO_INACTIVATE }
typedef bub::matrix< double, bub::column_major >	bubMatrixQRWide
typedef bub::matrix_range < bubMatrixQRWide >	bubMatrixQR
typedef bub::matrix_range < const bubMatrixQRWide >	bubMatrixQRConst
typedef bub::triangular_adaptor < bubMatrixQR, bub::upper >	bubMatrixQRTri
typedef bub::triangular_adaptor < bubMatrixQRConst, bub::upper >	bubMatrixQRTriConst
typedef bub::indirect_array	bubOrder
typedef bub::matrix_indirect < bubMatrix >	bubMatrixOrdered
typedef bub::matrix_indirect < bubMatrixQRWide >	bubMatrixQRWideOrdered
typedef bub::matrix_indirect < bubMatrixQR >	bubMatrixQROrdered
typedef bub::triangular_adaptor < bubMatrixQROrdered, bub::upper >	bubMatrixQROrderedTri
typedef bub::matrix_indirect < const bubMatrixQRWide >	bubMatrixQRWideOrderedConst
typedef bub::matrix_indirect < bubMatrixQRConst >	bubMatrixQROrderedConst
typedef bub::triangular_adaptor < bubMatrixQROrderedConst, bub::upper >	bubMatrixQROrderedTriConst
typedef std::vector < ConstraintMem >	ConstraintList
typedef std::vector < ConstraintMem * >	ConstraintRefList
Public Member Functions
	SolverHierarchicalInequalities (unsigned int _nJ, sotRotationComposedInExtenso &_Qh, bubMatrix &_Rh, ConstraintList &_cH)
void	initConstraintSize (const unsigned int size)
void	setInitialCondition (const bubVector &_u0, const unsigned int _rankh)
void	setInitialConditionVoid (void)
void	setNbDof (const unsigned int nJ)
unsigned int	getNbDof (void)
void	recordInitialConditions (void)
void	computeDifferentialCondition (void)
const std::vector < ConstraintRef > &	getToActivateList (void) const
const std::vector < ConstraintRef > &	getToInactivateList (void) const
const bubVector &	getDifferentialU0 (void) const
const std::vector < ConstraintRef > &	getSlackActiveSet (void) const
void	printDifferentialCondition (std::ostream &os) const
bub::range	fullrange (void) const
bub::range	rangeh (void) const
bub::range	rangehs (void) const
bub::range	freerange (void) const
bub::range	freeranges (void) const
bubMatrixQROrderedTriConst	accessRsConst (void) const
bub::triangular_adaptor < bub::matrix_range< const bubMatrix >, bub::upper >	accessRhConst (void) const
bub::triangular_adaptor < bub::matrix_range< bubMatrix > , bub::upper >	accessRh (void)
template<typename bubTemplateMatrix >
unsigned int	rankDetermination (const bubTemplateMatrix &A, const double threshold=THRESHOLD_ZERO)
void	printDebug (void)
void	warmStart (void)
void	applyFreeSpaceMotion (const bubVector &_du)
void	forceUpdateHierachic (ConstraintRefList &toUpdate, const ConstraintMem::BoundSideVector &boundSide)
void	forceDowndateHierachic (ConstraintRefList &toDowndate)
void	solve (const bubMatrix &Jse, const bubVector &ese, const bubMatrix &Jsi, const bubVector &esiInf, const bubVector &esiSup, const std::vector< ConstraintMem::BoundSideType > esiBoundSide, bool pushBackAtTheEnd=true)
void	solve (const bubMatrix &Jse, const bubVector &ese, const bubMatrix &Jsi, const bubVector &esiInf, const bubVector &esiSup, const ConstraintMem::BoundSideVector &esiBoundSide, const std::vector< ConstraintRef > &slackActiveWarmStart, bool pushBackAtTheEnd=true)
void	initializeConstraintMemory (const bubMatrix &Jse, const bubVector &ese, const bubMatrix &Jsi, const bubVector &esiInf, const bubVector &esiSup, const ConstraintMem::BoundSideVector &esiBoundSide, const std::vector< ConstraintRef > &warmStartSide)
void	initializeDecompositionSlack (void)
void	updateConstraintHierarchic (const unsigned int constraintId, const ConstraintMem::BoundSideType side)
void	downdateConstraintHierarchic (const unsigned int kdown)
void	updateRankOneDowndate (void)
void	updateRankOneUpdate (void)
void	updateConstraintSlack (const unsigned int kup, const ConstraintMem::BoundSideType activeSide)
void	regularizeQhJs (void)
void	regularizeQhJsU (void)
void	downdateConstraintSlack (const unsigned int kdown)
void	computeGradient (bubVector &gradientWide)
void	computePrimal (void)
void	computeSlack (void)
void	computeLagrangian (void)
bool	selecActivationHierarchic (double &tau)
bool	selecInactivationHierarchic (void)
bool	selecActivationSlack (void)
bool	selecInactivationSlack (void)
void	pushBackSlackToHierarchy (void)
Static Public Member Functions
static void	displayConstraint (ConstraintList &cs)
Public Attributes
unsigned int	nJ
bubVector	u0
sotRotationComposedInExtenso &	Qh
bubMatrix &	Rh
unsigned int	rankh
unsigned int	freeRank
ConstraintList &	constraintH
bool	Hactivation
bool	Hinactivation
unsigned int	HactivationRef
unsigned int	HinactivationRef
ConstraintMem::BoundSideType	HactivationSide
bubMatrixQRWide	QhJsU
bubMatrixQRWide	QhJs
unsigned int	ranks
unsigned int	sizes
bubOrder	orderS
ConstraintList	constraintS
ConstraintRefList	constraintSactive
bool	Sactivation
bool	Sinactivation
unsigned int	SactivationRef
unsigned int	SinactivationRef
ConstraintMem::BoundSideType	SactivationSide
double	SactivationScore
double	SinactivationScore
double	HactivationScore
double	HinactivationScore
bubVector	du
bubVector	slackInf
bubVector	slackSup
bubVector	lagrangian
sotRotationComposed	lastRotation
int	freeRankChange
std::vector< bool >	initialActiveH
ConstraintMem::BoundSideVector	initialSideH
bubVector	du0
std::vector< ConstraintRef >	slackActiveSet
std::vector< ConstraintRef >	toActivate
std::vector< ConstraintRef >	toInactivate
bool	warmStartReady
Static Public Attributes
static double	THRESHOLD_ZERO

---

Member Typedef Documentation

typedef bub::matrix_indirect<bubMatrix> dynamicgraph::sot::SolverHierarchicalInequalities::bubMatrixOrdered

typedef bub::matrix_range<bubMatrixQRWide> dynamicgraph::sot::SolverHierarchicalInequalities::bubMatrixQR

typedef bub::matrix_range<const bubMatrixQRWide> dynamicgraph::sot::SolverHierarchicalInequalities::bubMatrixQRConst

typedef bub::matrix_indirect<bubMatrixQR> dynamicgraph::sot::SolverHierarchicalInequalities::bubMatrixQROrdered

typedef bub::matrix_indirect<bubMatrixQRConst> dynamicgraph::sot::SolverHierarchicalInequalities::bubMatrixQROrderedConst

typedef bub::triangular_adaptor<bubMatrixQROrdered,bub::upper> dynamicgraph::sot::SolverHierarchicalInequalities::bubMatrixQROrderedTri

typedef bub::triangular_adaptor<bubMatrixQROrderedConst,bub::upper> dynamicgraph::sot::SolverHierarchicalInequalities::bubMatrixQROrderedTriConst

typedef bub::triangular_adaptor<bubMatrixQR,bub::upper> dynamicgraph::sot::SolverHierarchicalInequalities::bubMatrixQRTri

typedef bub::triangular_adaptor<bubMatrixQRConst,bub::upper> dynamicgraph::sot::SolverHierarchicalInequalities::bubMatrixQRTriConst

typedef bub::matrix<double,bub::column_major> dynamicgraph::sot::SolverHierarchicalInequalities::bubMatrixQRWide

typedef bub::matrix_indirect<bubMatrixQRWide> dynamicgraph::sot::SolverHierarchicalInequalities::bubMatrixQRWideOrdered

typedef bub::matrix_indirect<const bubMatrixQRWide> dynamicgraph::sot::SolverHierarchicalInequalities::bubMatrixQRWideOrderedConst

typedef bub::indirect_array dynamicgraph::sot::SolverHierarchicalInequalities::bubOrder

typedef std::vector<ConstraintMem> dynamicgraph::sot::SolverHierarchicalInequalities::ConstraintList

typedef std::vector<ConstraintMem*> dynamicgraph::sot::SolverHierarchicalInequalities::ConstraintRefList

---

Member Enumeration Documentation

enum dynamicgraph::sot::SolverHierarchicalInequalities::ActivationTodoType

Enumerator:

TODO_NOTHING
TODO_ACTIVATE
TODO_INACTIVATE

---

Constructor & Destructor Documentation

dynamicgraph::sot::SolverHierarchicalInequalities::SolverHierarchicalInequalities	(	unsigned int	_nJ,
		sotRotationComposedInExtenso &	_Qh,
		bubMatrix &	_Rh,
		ConstraintList &	_cH
	)		[inline]

---

Member Function Documentation

bub::triangular_adaptor<bub::matrix_range< bubMatrix >,bub::upper> dynamicgraph::sot::SolverHierarchicalInequalities::accessRh

(

void

)

bub::triangular_adaptor<bub::matrix_range< const bubMatrix >,bub::upper> dynamicgraph::sot::SolverHierarchicalInequalities::accessRhConst

(

void

)

const

bubMatrixQROrderedTriConst dynamicgraph::sot::SolverHierarchicalInequalities::accessRsConst

(

void

)

const

void dynamicgraph::sot::SolverHierarchicalInequalities::applyFreeSpaceMotion

(

const bubVector &

_du

)

void dynamicgraph::sot::SolverHierarchicalInequalities::computeDifferentialCondition

(

void

)

void dynamicgraph::sot::SolverHierarchicalInequalities::computeGradient

(

bubVector &

gradientWide

)

void dynamicgraph::sot::SolverHierarchicalInequalities::computeLagrangian

(

void

)

void dynamicgraph::sot::SolverHierarchicalInequalities::computePrimal

(

void

)

void dynamicgraph::sot::SolverHierarchicalInequalities::computeSlack

(

void

)

static void dynamicgraph::sot::SolverHierarchicalInequalities::displayConstraint

(

ConstraintList &

cs

)

[static]

void dynamicgraph::sot::SolverHierarchicalInequalities::downdateConstraintHierarchic

(

const unsigned int

kdown

)

void dynamicgraph::sot::SolverHierarchicalInequalities::downdateConstraintSlack

(

const unsigned int

kdown

)

void dynamicgraph::sot::SolverHierarchicalInequalities::forceDowndateHierachic

(

ConstraintRefList &

toDowndate

)

void dynamicgraph::sot::SolverHierarchicalInequalities::forceUpdateHierachic	(	ConstraintRefList &	toUpdate,
		const ConstraintMem::BoundSideVector &	boundSide
	)

bub::range dynamicgraph::sot::SolverHierarchicalInequalities::freerange

(

void

)

const [inline]

bub::range dynamicgraph::sot::SolverHierarchicalInequalities::freeranges

(

void

)

const [inline]

bub::range dynamicgraph::sot::SolverHierarchicalInequalities::fullrange

(

void

)

const [inline]

const bubVector& dynamicgraph::sot::SolverHierarchicalInequalities::getDifferentialU0

(

void

)

const [inline]

unsigned int dynamicgraph::sot::SolverHierarchicalInequalities::getNbDof

(

void

)

[inline]

const std::vector<ConstraintRef>& dynamicgraph::sot::SolverHierarchicalInequalities::getSlackActiveSet

(

void

)

const [inline]

const std::vector<ConstraintRef>& dynamicgraph::sot::SolverHierarchicalInequalities::getToActivateList

(

void

)

const [inline]

const std::vector<ConstraintRef>& dynamicgraph::sot::SolverHierarchicalInequalities::getToInactivateList

(

void

)

const [inline]

void dynamicgraph::sot::SolverHierarchicalInequalities::initConstraintSize

(

const unsigned int

size

)

void dynamicgraph::sot::SolverHierarchicalInequalities::initializeConstraintMemory	(	const bubMatrix &	Jse,
		const bubVector &	ese,
		const bubMatrix &	Jsi,
		const bubVector &	esiInf,
		const bubVector &	esiSup,
		const ConstraintMem::BoundSideVector &	esiBoundSide,
		const std::vector< ConstraintRef > &	warmStartSide
	)

void dynamicgraph::sot::SolverHierarchicalInequalities::initializeDecompositionSlack

(

void

)

void dynamicgraph::sot::SolverHierarchicalInequalities::printDebug

(

void

)

void dynamicgraph::sot::SolverHierarchicalInequalities::printDifferentialCondition

(

std::ostream &

os

)

const

void dynamicgraph::sot::SolverHierarchicalInequalities::pushBackSlackToHierarchy

(

void

)

bub::range dynamicgraph::sot::SolverHierarchicalInequalities::rangeh

(

void

)

const [inline]

bub::range dynamicgraph::sot::SolverHierarchicalInequalities::rangehs

(

void

)

const [inline]

template<typename bubTemplateMatrix >

unsigned int dynamicgraph::sot::SolverHierarchicalInequalities::rankDetermination	(	const bubTemplateMatrix &	A,
		const double	threshold = THRESHOLD_ZERO
	)

void dynamicgraph::sot::SolverHierarchicalInequalities::recordInitialConditions

(

void

)

void dynamicgraph::sot::SolverHierarchicalInequalities::regularizeQhJs

(

void

)

void dynamicgraph::sot::SolverHierarchicalInequalities::regularizeQhJsU

(

void

)

bool dynamicgraph::sot::SolverHierarchicalInequalities::selecActivationHierarchic

(

double &

tau

)

bool dynamicgraph::sot::SolverHierarchicalInequalities::selecActivationSlack

(

void

)

bool dynamicgraph::sot::SolverHierarchicalInequalities::selecInactivationHierarchic

(

void

)

bool dynamicgraph::sot::SolverHierarchicalInequalities::selecInactivationSlack

(

void

)

void dynamicgraph::sot::SolverHierarchicalInequalities::setInitialCondition	(	const bubVector &	_u0,
		const unsigned int	_rankh
	)

void dynamicgraph::sot::SolverHierarchicalInequalities::setInitialConditionVoid

(

void

)

void dynamicgraph::sot::SolverHierarchicalInequalities::setNbDof

(

const unsigned int

nJ

)

void dynamicgraph::sot::SolverHierarchicalInequalities::solve	(	const bubMatrix &	Jse,
		const bubVector &	ese,
		const bubMatrix &	Jsi,
		const bubVector &	esiInf,
		const bubVector &	esiSup,
		const std::vector< ConstraintMem::BoundSideType >	esiBoundSide,
		bool	pushBackAtTheEnd = true
	)

void dynamicgraph::sot::SolverHierarchicalInequalities::solve	(	const bubMatrix &	Jse,
		const bubVector &	ese,
		const bubMatrix &	Jsi,
		const bubVector &	esiInf,
		const bubVector &	esiSup,
		const ConstraintMem::BoundSideVector &	esiBoundSide,
		const std::vector< ConstraintRef > &	slackActiveWarmStart,
		bool	pushBackAtTheEnd = true
	)

void dynamicgraph::sot::SolverHierarchicalInequalities::updateConstraintHierarchic	(	const unsigned int	constraintId,
		const ConstraintMem::BoundSideType	side
	)

void dynamicgraph::sot::SolverHierarchicalInequalities::updateConstraintSlack	(	const unsigned int	kup,
		const ConstraintMem::BoundSideType	activeSide
	)

void dynamicgraph::sot::SolverHierarchicalInequalities::updateRankOneDowndate

(

void

)

void dynamicgraph::sot::SolverHierarchicalInequalities::updateRankOneUpdate

(

void

)

void dynamicgraph::sot::SolverHierarchicalInequalities::warmStart

(

void

)

---

Member Data Documentation

ConstraintList& dynamicgraph::sot::SolverHierarchicalInequalities::constraintH

ConstraintList dynamicgraph::sot::SolverHierarchicalInequalities::constraintS

ConstraintRefList dynamicgraph::sot::SolverHierarchicalInequalities::constraintSactive

bubVector dynamicgraph::sot::SolverHierarchicalInequalities::du

bubVector dynamicgraph::sot::SolverHierarchicalInequalities::du0

unsigned int dynamicgraph::sot::SolverHierarchicalInequalities::freeRank

int dynamicgraph::sot::SolverHierarchicalInequalities::freeRankChange

bool dynamicgraph::sot::SolverHierarchicalInequalities::Hactivation

unsigned int dynamicgraph::sot::SolverHierarchicalInequalities::HactivationRef

double dynamicgraph::sot::SolverHierarchicalInequalities::HactivationScore

ConstraintMem::BoundSideType dynamicgraph::sot::SolverHierarchicalInequalities::HactivationSide

bool dynamicgraph::sot::SolverHierarchicalInequalities::Hinactivation

unsigned int dynamicgraph::sot::SolverHierarchicalInequalities::HinactivationRef

double dynamicgraph::sot::SolverHierarchicalInequalities::HinactivationScore

std::vector<bool> dynamicgraph::sot::SolverHierarchicalInequalities::initialActiveH

ConstraintMem::BoundSideVector dynamicgraph::sot::SolverHierarchicalInequalities::initialSideH

bubVector dynamicgraph::sot::SolverHierarchicalInequalities::lagrangian

sotRotationComposed dynamicgraph::sot::SolverHierarchicalInequalities::lastRotation

unsigned int dynamicgraph::sot::SolverHierarchicalInequalities::nJ

bubOrder dynamicgraph::sot::SolverHierarchicalInequalities::orderS

sotRotationComposedInExtenso& dynamicgraph::sot::SolverHierarchicalInequalities::Qh

bubMatrixQRWide dynamicgraph::sot::SolverHierarchicalInequalities::QhJs

bubMatrixQRWide dynamicgraph::sot::SolverHierarchicalInequalities::QhJsU

unsigned int dynamicgraph::sot::SolverHierarchicalInequalities::rankh

unsigned int dynamicgraph::sot::SolverHierarchicalInequalities::ranks

bubMatrix& dynamicgraph::sot::SolverHierarchicalInequalities::Rh

bool dynamicgraph::sot::SolverHierarchicalInequalities::Sactivation

unsigned int dynamicgraph::sot::SolverHierarchicalInequalities::SactivationRef

double dynamicgraph::sot::SolverHierarchicalInequalities::SactivationScore

ConstraintMem::BoundSideType dynamicgraph::sot::SolverHierarchicalInequalities::SactivationSide

bool dynamicgraph::sot::SolverHierarchicalInequalities::Sinactivation

unsigned int dynamicgraph::sot::SolverHierarchicalInequalities::SinactivationRef

double dynamicgraph::sot::SolverHierarchicalInequalities::SinactivationScore

unsigned int dynamicgraph::sot::SolverHierarchicalInequalities::sizes

std::vector<ConstraintRef> dynamicgraph::sot::SolverHierarchicalInequalities::slackActiveSet

bubVector dynamicgraph::sot::SolverHierarchicalInequalities::slackInf

bubVector dynamicgraph::sot::SolverHierarchicalInequalities::slackSup

double dynamicgraph::sot::SolverHierarchicalInequalities::THRESHOLD_ZERO [static]

std::vector<ConstraintRef> dynamicgraph::sot::SolverHierarchicalInequalities::toActivate

std::vector<ConstraintRef> dynamicgraph::sot::SolverHierarchicalInequalities::toInactivate

bubVector dynamicgraph::sot::SolverHierarchicalInequalities::u0

bool dynamicgraph::sot::SolverHierarchicalInequalities::warmStartReady